diff --git a/CMakeLists.txt b/CMakeLists.txt index df144105f..2aa958ff7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,6 +11,7 @@ message("RTKLIB version: ${VERSION}-${PATCH_LEVEL}") project(rtklib LANGUAGES C CXX VERSION 2.4.3) +include(GNUInstallDirs) include(CTest) option(IERS_MODEL "Use Earth models from IERS" OFF) diff --git a/app/consapp/convbin/bcc/_convbin.cbproj b/app/consapp/convbin/bcc/_convbin.cbproj index 23be7b23f..b6391586d 100644 --- a/app/consapp/convbin/bcc/_convbin.cbproj +++ b/app/consapp/convbin/bcc/_convbin.cbproj @@ -478,7 +478,6 @@ - diff --git a/app/consapp/convbin/gcc/makefile b/app/consapp/convbin/gcc/makefile index 809ed5201..b6399ceac 100644 --- a/app/consapp/convbin/gcc/makefile +++ b/app/consapp/convbin/gcc/makefile @@ -52,8 +52,6 @@ ephemeris.o: $(SRC)/ephemeris.c $(CC) -c $(CFLAGS) $(SRC)/ephemeris.c novatel.o : $(SRC)/rcv/novatel.c $(CC) -c $(CFLAGS) $(SRC)/rcv/novatel.c -ss2.o : $(SRC)/rcv/ss2.c - $(CC) -c $(CFLAGS) $(SRC)/rcv/ss2.c ublox.o : $(SRC)/rcv/ublox.c $(CC) -c $(CFLAGS) $(SRC)/rcv/ublox.c crescent.o : $(SRC)/rcv/crescent.c @@ -93,7 +91,6 @@ pntpos.o : $(SRC)/rtklib.h ephemeris.o: $(SRC)/rtklib.h ionex.o : $(SRC)/rtklib.h novatel.o : $(SRC)/rtklib.h -ss2.o : $(SRC)/rtklib.h ublox.o : $(SRC)/rtklib.h crescent.o : $(SRC)/rtklib.h skytraq.o : $(SRC)/rtklib.h diff --git a/app/consapp/convbin/msc/msc.sln b/app/consapp/convbin/msc/msc.sln index 13ce11219..7407f7e8f 100644 --- a/app/consapp/convbin/msc/msc.sln +++ b/app/consapp/convbin/msc/msc.sln @@ -1,20 +1,31 @@  -Microsoft Visual Studio Solution File, Format Version 11.00 -# Visual C++ Express 2010 +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 18 +VisualStudioVersion = 18.6.11822.322 +MinimumVisualStudioVersion = 10.0.40219.1 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "msc", "msc.vcxproj", "{A9A9B274-2448-4FA0-AC05-857D411DCA48}" EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution Debug|Win32 = Debug|Win32 + Debug|x64 = Debug|x64 Release|Win32 = Release|Win32 + Release|x64 = Release|x64 EndGlobalSection GlobalSection(ProjectConfigurationPlatforms) = postSolution {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Debug|Win32.ActiveCfg = Debug|Win32 {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Debug|Win32.Build.0 = Debug|Win32 + {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Debug|x64.ActiveCfg = Debug|x64 + {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Debug|x64.Build.0 = Debug|x64 {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Release|Win32.ActiveCfg = Release|Win32 {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Release|Win32.Build.0 = Release|Win32 + {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Release|x64.ActiveCfg = Release|x64 + {A9A9B274-2448-4FA0-AC05-857D411DCA48}.Release|x64.Build.0 = Release|x64 EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {3E1704BE-3ED0-4969-81B9-0AD591AF4943} + EndGlobalSection EndGlobal diff --git a/app/consapp/convbin/msc/msc.vcxproj b/app/consapp/convbin/msc/msc.vcxproj index c71333b49..7186a99e8 100644 --- a/app/consapp/convbin/msc/msc.vcxproj +++ b/app/consapp/convbin/msc/msc.vcxproj @@ -5,28 +5,47 @@ Debug Win32 + + Debug + x64 + Release Win32 + + Release + x64 + {A9A9B274-2448-4FA0-AC05-857D411DCA48} msc Win32Proj - 10.0.10586.0 + 10.0 Application NotSet true - v141 + v145 + + + Application + NotSet + true + v145 Application - Unicode - v141 + NotSet + v145 + + + Application + NotSet + v145 @@ -34,27 +53,36 @@ + + + + + + <_ProjectFileVersion>10.0.40219.1 $(SolutionDir)$(Configuration)\ $(Configuration)\ true + true $(SolutionDir)$(Configuration)\ $(Configuration)\ false + false convbin + convbin convbin + convbin Disabled - ..\..\..\src;%(AdditionalIncludeDirectories) - WIN32;TRACE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=3;NEXOBS=3;%(PreprocessorDefinitions) - true + ..\..\..\..\src;%(AdditionalIncludeDirectories) + WIN32;WIN_STATIC;TRACE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) EnableFastChecks MultiThreadedDebugDLL @@ -73,10 +101,32 @@ MachineX86 + + + Disabled + ..\..\..\..\src;%(AdditionalIncludeDirectories) + WIN32;WIN_STATIC;TRACE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) + EnableFastChecks + MultiThreadedDebugDLL + + + Level3 + EditAndContinue + + + winmm.lib;%(AdditionalDependencies) + $(OutDir)convbin.exe + true + Console + false + + + + - ..\..\..\src;%(AdditionalIncludeDirectories) - WIN32;TRACE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=3;NEXOBS=3;%(PreprocessorDefinitions) + ..\..\..\..\src;%(AdditionalIncludeDirectories) + WIN32;WIN_STATIC;TRACE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) MultiThreadedDLL @@ -97,38 +147,58 @@ MachineX86 + + + ..\..\..\..\src;%(AdditionalIncludeDirectories) + WIN32;WIN_STATIC;TRACE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) + MultiThreadedDLL + + + Level3 + ProgramDatabase + + + winmm.lib;%(AdditionalDependencies) + $(OutDir)convbin.exe + %(AdditionalLibraryDirectories) + true + Console + true + true + false + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - diff --git a/app/consapp/rnx2rtkp/msc/msc.sln b/app/consapp/rnx2rtkp/msc/msc.sln index 00228f3ef..6076ececf 100644 --- a/app/consapp/rnx2rtkp/msc/msc.sln +++ b/app/consapp/rnx2rtkp/msc/msc.sln @@ -1,7 +1,7 @@  Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 15 -VisualStudioVersion = 15.0.26430.14 +# Visual Studio Version 18 +VisualStudioVersion = 18.6.11822.322 MinimumVisualStudioVersion = 10.0.40219.1 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "msc", "msc.vcxproj", "{830901EE-9359-489F-BA7E-04289F28D5E0}" EndProject @@ -15,12 +15,17 @@ Global GlobalSection(ProjectConfigurationPlatforms) = postSolution {830901EE-9359-489F-BA7E-04289F28D5E0}.Debug|Win32.ActiveCfg = Debug|Win32 {830901EE-9359-489F-BA7E-04289F28D5E0}.Debug|Win32.Build.0 = Debug|Win32 - {830901EE-9359-489F-BA7E-04289F28D5E0}.Debug|x64.ActiveCfg = Debug|Win32 + {830901EE-9359-489F-BA7E-04289F28D5E0}.Debug|x64.ActiveCfg = Debug|x64 + {830901EE-9359-489F-BA7E-04289F28D5E0}.Debug|x64.Build.0 = Debug|x64 {830901EE-9359-489F-BA7E-04289F28D5E0}.Release|Win32.ActiveCfg = Release|Win32 {830901EE-9359-489F-BA7E-04289F28D5E0}.Release|Win32.Build.0 = Release|Win32 - {830901EE-9359-489F-BA7E-04289F28D5E0}.Release|x64.ActiveCfg = Release|Win32 + {830901EE-9359-489F-BA7E-04289F28D5E0}.Release|x64.ActiveCfg = Release|x64 + {830901EE-9359-489F-BA7E-04289F28D5E0}.Release|x64.Build.0 = Release|x64 EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {5E8C4733-2D0A-4323-A580-F50E9C46CA7F} + EndGlobalSection EndGlobal diff --git a/app/consapp/rnx2rtkp/msc/msc.vcxproj b/app/consapp/rnx2rtkp/msc/msc.vcxproj index 7ae86f740..f5871f51f 100644 --- a/app/consapp/rnx2rtkp/msc/msc.vcxproj +++ b/app/consapp/rnx2rtkp/msc/msc.vcxproj @@ -5,10 +5,18 @@ Debug Win32 + + Debug + x64 + Release Win32 + + Release + x64 + {830901EE-9359-489F-BA7E-04289F28D5E0} @@ -21,12 +29,23 @@ Application NotSet true - v142 + v145 + + + Application + NotSet + true + v145 Application NotSet - v142 + v145 + + + Application + NotSet + v145 @@ -34,27 +53,36 @@ + + + + + + <_ProjectFileVersion>10.0.30319.1 $(SolutionDir)$(Configuration)\ $(Configuration)\ true + true $(SolutionDir)$(Configuration)\ $(Configuration)\ false + false rnx2rtkp + rnx2rtkp rnx2rtkp + rnx2rtkp Disabled ..\..\..\..\src;%(AdditionalIncludeDirectories);..\ - WIN32;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=3;NEXOBS=3;%(PreprocessorDefinitions) - false + WIN32;WIN_STATIC;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) EnableFastChecks MultiThreadedDebugDLL @@ -77,10 +105,36 @@ false + + + Disabled + ..\..\..\..\src;%(AdditionalIncludeDirectories);..\ + WIN32;WIN_STATIC;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) + EnableFastChecks + MultiThreadedDebugDLL + + + Level3 + EditAndContinue + + + $(OutDir)rnx2rtkp.exe + true + Console + false + + + winmm.lib;%(AdditionalDependencies) + false + + + false + + ..\..\..\..\src;%(AdditionalIncludeDirectories);..\ - WIN32;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=3;NEXOBS=3;%(PreprocessorDefinitions) + WIN32;WIN_STATIC;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) MultiThreadedDLL @@ -101,13 +155,34 @@ false + + + ..\..\..\..\src;%(AdditionalIncludeDirectories);..\ + WIN32;WIN_STATIC;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=4;NEXOBS=3;%(PreprocessorDefinitions) + MultiThreadedDLL + + + Level3 + ProgramDatabase + + + winmm.lib;%(AdditionalDependencies) + $(OutDir)rnx2rtkp.exe + true + Console + true + true + false + + + false + + - - WIN32;TRACE;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;ENACMP;ENAIRN;NFREQ=3;NEXOBS=3;%(PreprocessorDefinitions) - + @@ -116,6 +191,7 @@ + diff --git a/app/consapp/rnx2rtkp/rnx2rtkp.c b/app/consapp/rnx2rtkp/rnx2rtkp.c index 95d2e49be..8e237dc1e 100644 --- a/app/consapp/rnx2rtkp/rnx2rtkp.c +++ b/app/consapp/rnx2rtkp/rnx2rtkp.c @@ -75,7 +75,7 @@ static const char *help[]={ " -x level debug trace level (0:off) [0]", " --rover list rover names for processing, separated by a space", " --base list base names for processing, separated by a space", -" --version display release version", +" --version display release version" }; /* show message --------------------------------------------------------------*/ extern int showmsg(const char *format, ...) @@ -193,7 +193,7 @@ int main(int argc, char **argv) else if (nopt.mode==PMODE_SINGLE&&!rtk->ssat[i].vs) continue; - if (rtk->opt.mode!=PMODE_SINGLE&&!rtk->ssat[i].vsat[0]) continue; + + int n = 0; + for (int i=0;iopt.mode == PMODE_SINGLE) { + if (!rtk->ssat[i].vs) continue; + } else { + int any = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (rtk->ssat[i].vsat[fi]) { any = 1; break; } + if (!any) continue; + } azel[ n*2]=rtk->ssat[i].azel[0]; azel[1+n*2]=rtk->ssat[i].azel[1]; n++; @@ -743,27 +755,31 @@ static void prstatus(vt_t *vt) vt_printf(vt,"%-28s: %d\n","cpu time for a cycle (ms)",cputime); vt_printf(vt,"%-28s: %d\n","missing obs data count",prcout); vt_printf(vt,"%-28s: %d,%d\n","bytes in input buffer",nb[0],nb[1]); - for (i=0;i<3;i++) { + for (int i=0;i<3;i++) { sprintf(s,"# of input data %s",type[i]); vt_printf(vt,"%-28s: obs(%d),nav(%d),gnav(%d),ion(%d),sbs(%d),pos(%d),dgps(%d),ssr(%d),err(%d)\n", s,nmsg[i][0],nmsg[i][1],nmsg[i][6],nmsg[i][2],nmsg[i][3], nmsg[i][4],nmsg[i][5],nmsg[i][7],nmsg[i][9]); } - for (i=0;i<3;i++) { + for (int i=0;i<3;i++) { p=s; *p='\0'; for (j=1;j<100;j++) { - if (rtcm[i].nmsg2[j]==0) continue; - p+=sprintf(p,"%s%d(%d)",p>s?",":"",j,rtcm[i].nmsg2[j]); + if (rtcm[i]->nmsg2[j]==0) continue; + p+=sprintf(p,"%s%d(%d)",p>s?",":"",j,rtcm[i]->nmsg2[j]); } - if (rtcm[i].nmsg2[0]>0) { - sprintf(p,"%sother2(%d)",p>s?",":"",rtcm[i].nmsg2[0]); + if (rtcm[i]->nmsg2[0]>0) { + sprintf(p,"%sother2(%d)",p>s?",":"",rtcm[i]->nmsg2[0]); } for (j=1;j<300;j++) { - if (rtcm[i].nmsg3[j]==0) continue; - p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+1000,rtcm[i].nmsg3[j]); + if (rtcm[i]->nmsg3[j]==0) continue; + p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+1000,rtcm[i]->nmsg3[j]); } - if (rtcm[i].nmsg3[0]>0) { - sprintf(p,"%sother3(%d)",p>s?",":"",rtcm[i].nmsg3[0]); + for (j=300;j<399;j++) { + if (rtcm[i]->nmsg3[j]==0) continue; + p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+3770,rtcm[i]->nmsg3[j]); + } + if (rtcm[i]->nmsg3[0]>0) { + sprintf(p,"%sother3(%d)",p>s?",":"",rtcm[i]->nmsg3[0]); } vt_printf(vt,"%-15s %-9s: %s\n","# of rtcm messages",type[i],s); } @@ -812,11 +828,11 @@ static void prstatus(vt_t *vt) vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","vel enu (m/s) base", vel[0],vel[1],vel[2]); if (rtk->opt.mode>0&&rtk->x&&norm(rtk->x,3)>0.0) { - for (i=0;i<3;i++) rr[i]=rtk->x[i]-rtk->rb[i]; + for (int i=0;i<3;i++) rr[i]=rtk->x[i]-rtk->rb[i]; bl1=norm(rr,3); } if (rtk->opt.mode>0&&rtk->xa&&norm(rtk->xa,3)>0.0) { - for (i=0;i<3;i++) rr[i]=rtk->xa[i]-rtk->rb[i]; + for (int i=0;i<3;i++) rr[i]=rtk->xa[i]-rtk->rb[i]; bl2=norm(rr,3); } vt_printf(vt,"%-28s: %.3f\n","baseline length float (m)",bl1); @@ -824,7 +840,10 @@ static void prstatus(vt_t *vt) vt_printf(vt,"%-28s: %s\n","last time mark",tmcount ? tmstr : "-"); vt_printf(vt,"%-28s: %d\n","receiver time mark count",rcvcount); vt_printf(vt,"%-28s: %d\n","rtklib time mark count",tmcount); + +done: free(rtk); + for (int i = 0; i < 3; i++) free(rtcm[i]); } /* print satellite -----------------------------------------------------------*/ static void prsatellite(vt_t *vt, int nf) @@ -842,7 +861,7 @@ static void prsatellite(vt_t *vt, int nf) *rtk=svr.rtk; rtksvrunlock(&svr); if (nf<=0||nf>NFREQ) nf=NFREQ; - vt_printf(vt,"\n%s%3s %2s %5s %4s",ESC_BOLD,"SAT","C1","Az","El"); + vt_printf(vt,"\n%s%3s %2s %5s %4s",ESC_BOLD,"SAT","V","Az","El"); for (j=0;jssat[i].azel[1]<=0.0) continue; satno2id(i+1,id); - vt_printf(vt,"%3s %2s",id,rtk->ssat[i].vs?"OK":"-"); + int vsat = 0; + if (rtk->opt.mode == PMODE_SINGLE) { + vsat = rtk->ssat[i].vs; + } else { + for (int fi = 0; fi < NFREQ; fi++) + if (rtk->ssat[i].vsat[fi]) { vsat = 1; break; } + } + vt_printf(vt,"%3s %2s",id,vsat?"OK":"-"); az=rtk->ssat[i].azel[0]*R2D; if (az<0.0) az+=360.0; el=rtk->ssat[i].azel[1]*R2D; vt_printf(vt," %5.1f %4.1f",az,el); @@ -917,34 +943,39 @@ static void probserv(vt_t *vt, int nf) free(obs); } /* print navigation data -----------------------------------------------------*/ -static void prnavidata(vt_t *vt) +static void prnavidata(vt_t *vt, int prev, int set) { eph_t eph[MAXSAT]; geph_t geph[MAXPRNGLO]; double ion[8],utc[8]; gtime_t time; char id[8],s1[64],s2[64],s3[64]; - int i,valid,prn; trace(4,"prnavidata:\n"); - + rtksvrlock(&svr); time=svr.rtk.sol.time; - for (i=0;i= 0 && set <= 1 && prev >= 0 && prev <= 1) + for (int i = 0; i < MAXSAT; i++) eph[i] = svr.nav.eph[i + (prev * 2 + set) * MAXSAT]; + else + memset(&eph, 0, sizeof(eph)); + if (set >= 0 && set <= 0 && prev >= 0 && prev <= 1) + for (int i = 0; i < MAXPRNGLO; i++) geph[i] = svr.nav.geph[i + (prev * 1 + set) * MAXPRNGLO]; + else + memset(&geph, 0, sizeof(geph)); + for (int i=0;i<8;i++) ion[i]=svr.nav.ion_gps[i]; + for (int i=0;i<8;i++) utc[i]=svr.nav.utc_gps[i]; rtksvrunlock(&svr); vt_printf(vt,"\n%s%3s %3s %3s %3s %3s %3s %3s %19s %19s %19s %3s %3s%s\n", ESC_BOLD,"SAT","S","IOD","IOC","FRQ","A/A","SVH","Toe","Toc", "Ttr/Tof","L2C","L2P",ESC_RESET); - for (i=0;i 3) + ssr[i] = svr.nav.ssr[i]; + else + ssr[i] = svr.rtcm[ri - 1].ssr[i]; } rtksvrunlock(&svr); p+=sprintf(p,"\n%s%3s %3s %3s %3s %3s %19s %6s %6s %6s %6s %6s %6s %8s " - "%6s %6s %6s%s\n", + "%6s %6s %6s%s%s%s\n", ESC_BOLD,"SAT","S","UDI","IOD","URA","T0","D0-A","D0-C","D0-R", - "D1-A","D1-C","D1-R","C0","C1","C2","C-HR",ESC_RESET); + "D1-A","D1-C","D1-R","C0","C1","C2","C-HR", + cbias ? " CBIAS" : "", pbias ? " PBIAS" : "", ESC_RESET); for (i=0;i1) cycle=(int)(atof(args[1])*1000.0); + for (int i = 1; i < narg; i++) { + if (strcmp(args[i], "-p") == 0) { + prev = 1; + continue; + } + if (sscanf(args[i], "-%d", &set) == 1) continue; + cycle = (int)(atof(args[i]) * 1000.0); + } while (!vt_chkbrk(vt)) { if (cycle>0) vt_printf(vt,ESC_CLEAR); - prnavidata(vt); + prnavidata(vt, prev, set); if (cycle>0) sleepms(cycle); else return; } vt_printf(vt,"\n"); @@ -1202,15 +1263,26 @@ static void cmd_stream(char **args, int narg, vt_t *vt) /* ssr command ---------------------------------------------------------------*/ static void cmd_ssr(char **args, int narg, vt_t *vt) { - int cycle=0; - trace(3,"cmd_ssr:\n"); - if (narg>1) cycle=(int)(atof(args[1])*1000.0); - + int cycle = 0; + int ri = 0, cbias = 0, pbias = 0; + for (int i = 1; i < narg; i++) { + if (sscanf(args[i], "-%d", &ri) == 1) continue; + if (strcmp(args[i], "-c") == 0) { + cbias = 1; + continue; + } + if (strcmp(args[i], "-p") == 0) { + pbias = 1; + continue; + } + cycle = (int)(atof(args[i]) * 1000.0); + } + while (!vt_chkbrk(vt)) { if (cycle>0) vt_printf(vt,ESC_CLEAR); - prssr(vt); + prssr(vt, ri, cbias, pbias); if (cycle>0) sleepms(cycle); else return; } vt_printf(vt,"\n"); @@ -1646,7 +1718,7 @@ static void accept_sock(int ssock, con_t **con) inet_ntoa(addr.sin_addr)); } -static void deamonise(void) +static void daemonise(void) { #ifndef WIN32 /* In case we were not started in the background, fork and let the parent @@ -1694,7 +1766,7 @@ static void deamonise(void) * set, load or save command on the console. To shutdown the program, use * shutdown command on the console or send USR2 signal to the process. * -* The --deamon option implies no console. When used with -s or -nc the RTK +* The --daemon option implies no console. When used with -s or -nc the RTK * server is started on program startup. A telnet console can be used with * this option to start and control the RTK server. * @@ -1709,7 +1781,7 @@ static void deamonise(void) * -r level output solution status file (0:off,1:states,2:residuals) * -t level debug trace level (0:off,1-5:on) * -sta sta station name for receiver dcb -* --deamon detach from the console +* --daemon detach from the console * --version prints the version and exits * * command @@ -1740,12 +1812,19 @@ static void deamonise(void) * Show observation data. Use option cycle for cyclic display. Option -n * specify number of frequencies. * -* navidata [cycle] -* Show navigation data. Use option cycle for cyclic display. +* navidata [-p] [-n] [cycle] +* Show navigation data. Option -p shows the previous set. Option -n +* specifies the set, 0 to 1. Use option cycle for cyclic display. * * stream [cycle] * Show stream status. Use option cycle for cyclic display. * +* ssr [-[1,2,3]] [-c] [-p] [cycle] +* Show the RTCM SSR state. Option -1 -2 or -3 selects the respective +* input, output, or correction RTCM stream index otherwise the combined +* ssr state is used. Option -c includes code biases and option -p +* includes phase biases. Use option cycle for cyclic display. +* * error * Show error/warning messages. To stop messages, send break (ctr-C). * @@ -1800,9 +1879,9 @@ static void deamonise(void) int main(int argc, char **argv) { con_t *con[MAXCON]={0}; - int i,port=0,outstat=0,trace=0,sock=0; + int i,port=0,outstat=0,outstatp=0,trace=0,sock=0; char *dev="",file[MAXSTR]=""; - int deamon=0; + int daemon=0; for (i=1;i0) { traceopen(TRACEFILE); tracelevel(trace); @@ -1846,8 +1929,9 @@ int main(int argc, char **argv) if (!readnav(NAVIFILE,&svr.nav)) { fprintf(stderr,"no navigation data: %s\n",NAVIFILE); } - if (outstat>0) { - rtkopenstat(STATFILE,outstat); + if (!outstatp) outstat = solopt->sstat; + if (outstat > 0) { + rtkopenstat(filopt.solstat[0] != '\0' ? filopt.solstat : STATFILE, outstat); } /* open monitor port */ if (moniport>0&&!openmoni(moniport)) { @@ -1865,7 +1949,7 @@ int main(int argc, char **argv) } if (start&2) { /* Start without console */ startsvr(NULL); - } else if (!deamon) { + } else if (!daemon) { /* open device for local console */ if (!(con[0]=con_open(0,dev))) { fprintf(stderr,"console open error dev=%s\n",dev); diff --git a/app/consapp/str2str/gcc/makefile b/app/consapp/str2str/gcc/makefile index 3d3ab7ea6..0c6bd9c24 100644 --- a/app/consapp/str2str/gcc/makefile +++ b/app/consapp/str2str/gcc/makefile @@ -40,8 +40,6 @@ novatel.o : $(SRC)/rcv/novatel.c $(CC) -c $(CFLAGS) $(SRC)/rcv/novatel.c ublox.o : $(SRC)/rcv/ublox.c $(CC) -c $(CFLAGS) $(SRC)/rcv/ublox.c -ss2.o : $(SRC)/rcv/ss2.c - $(CC) -c $(CFLAGS) $(SRC)/rcv/ss2.c crescent.o : $(SRC)/rcv/crescent.c $(CC) -c $(CFLAGS) $(SRC)/rcv/crescent.c skytraq.o : $(SRC)/rcv/skytraq.c @@ -84,7 +82,6 @@ geoid.o : $(SRC)/rtklib.h rcvraw.o : $(SRC)/rtklib.h novatel.o : $(SRC)/rtklib.h ublox.o : $(SRC)/rtklib.h -ss2.o : $(SRC)/rtklib.h crescent.o : $(SRC)/rtklib.h skytraq.o : $(SRC)/rtklib.h javad.o : $(SRC)/rtklib.h diff --git a/app/consapp/str2str/str2str.c b/app/consapp/str2str/str2str.c index 63be61ebc..7c1708a44 100644 --- a/app/consapp/str2str/str2str.c +++ b/app/consapp/str2str/str2str.c @@ -38,7 +38,7 @@ #define PRGNAME "str2str" /* program name */ #define MAXSTR 5 /* max number of streams */ #define TRACEFILE "str2str_%Y%m%d%h%M.trace" /* Debug trace file */ -#define LOGFILE "str2str_%Y%m%d%h%M.log" /* Deamon log file */ +#define LOGFILE "str2str_%Y%m%d%h%M.log" /* Daemon log file */ /* global variables ----------------------------------------------------------*/ static strsvr_t strsvr; /* stream server */ @@ -116,7 +116,7 @@ static const char *help[]={ " -b str_no relay back messages from output str to input str [no]", " -t level trace level [0]", " -fl file log file [str2str.trace]", -" --deamon detach from the console", +" --daemon detach from the console", " --version print version", " -h print help", "", @@ -246,7 +246,7 @@ static void readcmd(const char *file, char *cmd, size_t size, int type) fclose(fp); } -static void deamonise(void) +static void daemonise(void) { #ifndef WIN32 /* In case we were not started in the background, fork and let the parent @@ -295,7 +295,7 @@ int main(int argc, char **argv) int i,j,n=0,dispint=5000,trlevel=0,opts[]={10000,10000,2000,32768,10,0,30,0}; int types[MAXSTR]={STR_FILE,STR_FILE},stat[MAXSTR]={0},log_stat[MAXSTR]={0}; int byte[MAXSTR]={0},bps[MAXSTR]={0},fmts[MAXSTR]={0},sta=0; - int deamon=0; + int daemon=0; const char *msg = "1004,1019"; // Current messages. const char *msgs[MAXSTR]; // Messages per output stream. const char *log = ""; // Log for the next input or output stream. @@ -364,7 +364,8 @@ int main(int argc, char **argv) else if (!strcmp(argv[i],"-b" )&&i+1out.sta.pos,stapos,3,1); matcpy(conv[i]->out.sta.del,stadel,3,1); } - if (deamon) deamonise(); + if (daemon) daemonise(); signal(SIGTERM,sigfunc); signal(SIGINT ,sigfunc); signal(SIGHUP ,SIG_IGN); diff --git a/app/qtapp/appcmn_qt/navi_post_opt.cpp b/app/qtapp/appcmn_qt/navi_post_opt.cpp index ca9c89be6..37832f840 100644 --- a/app/qtapp/appcmn_qt/navi_post_opt.cpp +++ b/app/qtapp/appcmn_qt/navi_post_opt.cpp @@ -67,7 +67,12 @@ OptDialog::OptDialog(QWidget *parent, int opts) ui->cBTideCorrection->setItemData(0, tr("Not apply earth tides correction"), Qt::ToolTipRole); ui->cBTideCorrection->setItemData(1, tr("Apply solid earth tides correction"), Qt::ToolTipRole); - ui->cBTideCorrection->setItemData(2, tr("Apply solid earth tides, OTL (ocean tide loading) and pole tide corrections"), Qt::ToolTipRole); + ui->cBTideCorrection->setItemData(2, tr("Apply OTL (ocean tide loading)"), Qt::ToolTipRole); + ui->cBTideCorrection->setItemData(3, tr("Apply solid earth tides and OTL (ocean tide loading)"), Qt::ToolTipRole); + ui->cBTideCorrection->setItemData(4, tr("Apply pole tide corrections"), Qt::ToolTipRole); + ui->cBTideCorrection->setItemData(5, tr("Apply solid earth tides and pole tide corrections"), Qt::ToolTipRole); + ui->cBTideCorrection->setItemData(6, tr("Apply OTL (ocean tide loading) and pole tide corrections"), Qt::ToolTipRole); + ui->cBTideCorrection->setItemData(7, tr("Apply solid earth tides, OTL (ocean tide loading) and pole tide corrections"), Qt::ToolTipRole); ui->cBIonosphereOption->setItemData(IONOOPT_OFF, tr("Not apply ionospheric correction"), Qt::ToolTipRole); ui->cBIonosphereOption->setItemData(IONOOPT_BRDC, tr("Apply broadcast ionospheric model"), Qt::ToolTipRole); @@ -134,9 +139,9 @@ OptDialog::OptDialog(QWidget *parent, int opts) QString decSep = QRegularExpression::escape(QLocale().decimalPoint()); regExDMSLat = QRegularExpression(QString("^\\s*(?:(?[%0%1]?90)[°\\s]\\s*(?0{1,2})['\\s]\\s*(?0{1,2}(?:[%2]0*)?)\"?\\s*)|" - "(?:(?[%0%1]?(?:[1-8][0-9]|[0-9]))[°\\s]\\s*(?(?:[0-5][0-9]|[0-9]))['\\s]\\s*(?(?:[0-5][0-9]|[0-9])(?:[%2][0-9]*)?)\"?)\\s*$").arg(posSign, negSign, decSep)); + "(?:(?[%0%1]?(?:[1-8][0-9]|[0-9]))[°\\s]\\s*(?(?:[0-5][0-9]|[0-9]))['\\s]\\s*(?(?:[0-6][0-9]|[0-9])(?:[%2][0-9]*)?)\"?)\\s*$").arg(posSign, negSign, decSep)); regExDMSLon = QRegularExpression(QString("^\\s*(?:(?[%0%1]?180)[°\\s]\\s*(?0{1,2})['\\s]\\s*(?0{1,2}(?:[%2]0*)?)\"?\\s*)|" - "(?:(?[%0%1]?(?:1[0-7][0-9]|[0-9][0-9]|[0-9]))[°\\s]\\s*(?(?:[0-5][0-9]|[0-9]))['\\s]\\s*(?(?:[0-5][0-9]|[0-9])(?:[%2][0-9]*)?)\"?)\\s*$").arg(posSign, negSign, decSep)); + "(?:(?[%0%1]?(?:1[0-7][0-9]|[0-9][0-9]|[0-9]))[°\\s]\\s*(?(?:[0-5][0-9]|[0-9]))['\\s]\\s*(?(?:[0-6][0-9]|[0-9])(?:[%2][0-9]*)?)\"?)\\s*$").arg(posSign, negSign, decSep)); processingOptions = prcopt_default; @@ -705,8 +710,7 @@ void OptDialog::updateOptions() processingOptions.ionoopt = ui->cBIonosphereOption->currentIndex(); processingOptions.tropopt = ui->cBTroposphereOption->currentIndex(); processingOptions.dynamics = ui->cBDynamicModel->currentIndex(); - processingOptions.tidecorr = ui->cBTideCorrection->currentIndex(); - if (processingOptions.tidecorr > 1) processingOptions.tidecorr = 7; + processingOptions.tidecorr = ui->cBTideCorrection->currentIndex() & 7; processingOptions.niter = ui->sBNumIteration->value(); // codesmooth processingOptions.intpref = ui->cBIntputReferenceObservation->currentIndex(); @@ -933,7 +937,7 @@ void OptDialog::updateUi(const prcopt_t &prcopt, const solopt_t &solopt, const f ui->cBIonosphereOption->setCurrentIndex(prcopt.ionoopt); ui->cBTroposphereOption->setCurrentIndex(prcopt.tropopt); ui->cBDynamicModel->setCurrentIndex(prcopt.dynamics); - ui->cBTideCorrection->setCurrentIndex(prcopt.tidecorr > 1 ? 2 : prcopt.tidecorr); + ui->cBTideCorrection->setCurrentIndex(prcopt.tidecorr & 7); ui->sBNumIteration->setValue(prcopt.niter); //prcopt.codesmooth if (options == PostOptions) { @@ -1132,8 +1136,7 @@ void OptDialog::save(const QString &file) procOpts.ionoopt = ui->cBIonosphereOption->currentIndex(); procOpts.tropopt = ui->cBTroposphereOption->currentIndex(); procOpts.dynamics = ui->cBDynamicModel->currentIndex(); - procOpts.tidecorr = ui->cBTideCorrection->currentIndex(); - if (procOpts.tidecorr > 1) procOpts.tidecorr = 7; + procOpts.tidecorr = ui->cBTideCorrection->currentIndex() & 7; procOpts.niter = ui->sBNumIteration->value(); // procOpts.codesmooth procOpts.intpref = ui->cBIntputReferenceObservation->currentIndex(); @@ -1312,7 +1315,7 @@ void OptDialog::saveOptions(QSettings &settings) settings.setValue("prcopt/ionoopt", ui->cBIonosphereOption->currentIndex()); settings.setValue("prcopt/tropopt", ui->cBTroposphereOption->currentIndex()); settings.setValue("prcopt/dynamics", ui->cBDynamicModel->currentIndex()); - settings.setValue("prcopt/tidecorr", ui->cBTideCorrection->currentIndex()); + settings.setValue("prcopt/tidecorr", ui->cBTideCorrection->currentIndex() & 7); settings.setValue("prcopt/niter", ui->sBNumIteration->value()); // settings.setValue("prcopt/codesmooth", processingOptions.codesmooth); settings.setValue("prcopt/intpref", ui->cBIntputReferenceObservation->currentIndex()); @@ -1511,7 +1514,7 @@ void OptDialog::loadOptions(QSettings &settings) ui->cBIonosphereOption->setCurrentIndex(settings.value("prcopt/ionoopt", IONOOPT_BRDC).toInt()); ui->cBTroposphereOption->setCurrentIndex(settings.value("prcopt/tropopt", TROPOPT_SAAS).toInt()); ui->cBDynamicModel->setCurrentIndex(settings.value("prcopt/dynamics", 0).toInt()); - ui->cBTideCorrection->setCurrentIndex(settings.value("prcopt/tidecorr", 0).toInt()); + ui->cBTideCorrection->setCurrentIndex(settings.value("prcopt/tidecorr", 0).toInt() & 7); ui->sBNumIteration->setValue(settings.value("prcopt/niter", 1).toInt()); // processingOptions.codesmooth = settings.value("prcopt/codesmooth", 0).toInt(); if (options == PostOptions) { @@ -1913,8 +1916,8 @@ void OptDialog::setPosition(int type, QLineEdit **edit, const double *pos) ecef2pos(pos, p); s1 = p[0] < 0 ? -1 : 1; s2 = p[1] < 0 ? -1 : 1; - p[0] = fabs(p[0]) * R2D + 1E-12; - p[1] = fabs(p[1]) * R2D + 1E-12; + p[0] = fabs(p[0]) * R2D; + p[1] = fabs(p[1]) * R2D; dms1[0] = floor(p[0]); p[0] = (p[0] - dms1[0]) * 60.0; dms1[1] = floor(p[0]); dms1[2] = (p[0] - dms1[1]) * 60.0; dms2[0] = floor(p[1]); p[1] = (p[1] - dms2[0]) * 60.0; diff --git a/app/qtapp/appcmn_qt/navi_post_opt.ui b/app/qtapp/appcmn_qt/navi_post_opt.ui index a69e2df57..e5c957bed 100644 --- a/app/qtapp/appcmn_qt/navi_post_opt.ui +++ b/app/qtapp/appcmn_qt/navi_post_opt.ui @@ -190,11 +190,36 @@ Solid + + + OTL + + Solid/OTL + + + S.Pole + + + + + Solid/S.Pole + + + + + OTL/S.Pole + + + + + Solid/OTL/S.Pole + + diff --git a/app/qtapp/rtkconv_qt/convmain.cpp b/app/qtapp/rtkconv_qt/convmain.cpp index 68c666ebd..183cc6d93 100644 --- a/app/qtapp/rtkconv_qt/convmain.cpp +++ b/app/qtapp/rtkconv_qt/convmain.cpp @@ -448,7 +448,7 @@ void MainWindow::showStopTimeDialog() void MainWindow::selectInputFile() { QString filename = QFileDialog::getOpenFileName(this, tr("Input RTCM, RCV RAW or RINEX File"), ui->cBInputFile->currentText(), - tr("All (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;SuperStart II (*.log);;" + tr("All (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;" "Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);;Septentrio (*.sbf)")); if (!filename.isEmpty()) { diff --git a/app/qtapp/rtkconv_qt/rtklib_de.ts b/app/qtapp/rtkconv_qt/rtklib_de.ts index 5a1ad38b2..14f4a80c3 100644 --- a/app/qtapp/rtkconv_qt/rtklib_de.ts +++ b/app/qtapp/rtkconv_qt/rtklib_de.ts @@ -2364,7 +2364,7 @@ Copyright (C) 2016-2024 Jens Reimann - All (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;SuperStart II (*.log);;Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);Septentrio (*.sbf) + All (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);Septentrio (*.sbf) diff --git a/app/qtapp/rtkconv_qt/rtklib_zh_CN.ts b/app/qtapp/rtkconv_qt/rtklib_zh_CN.ts index 575f960c1..1388fc508 100644 --- a/app/qtapp/rtkconv_qt/rtklib_zh_CN.ts +++ b/app/qtapp/rtkconv_qt/rtklib_zh_CN.ts @@ -2262,8 +2262,8 @@ Copyright (C) 2016-2025 Jens Reimann - All (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;SuperStart II (*.log);;Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);;Septentrio (*.sbf) - 所有文件 (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;SuperStart II (*.log);;Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);;Septentrio (*.sbf) + All (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);;Septentrio (*.sbf) + 所有文件 (*.*);;RTCM 2 (*.rtcm2);;RTCM 3 (*.rtcm3);;NovtAtel (*.gps);;ublox (*.ubx);;Hemisphere (*.bin);;Javad (*.jps);;RINEX OBS (*.obs *.*O);;Septentrio (*.sbf) diff --git a/app/qtapp/rtklaunch_qt/CMakeLists.txt b/app/qtapp/rtklaunch_qt/CMakeLists.txt index 6013ead83..96c2e0cb8 100644 --- a/app/qtapp/rtklaunch_qt/CMakeLists.txt +++ b/app/qtapp/rtklaunch_qt/CMakeLists.txt @@ -26,7 +26,7 @@ set_target_properties(rtklaunch_qt PROPERTIES WIN32_EXECUTABLE ON MACOSX_BUNDLE ON ) -install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) +install(TARGETS rtklaunch_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) if (UNIX) install(FILES rtklaunch_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR}) install(FILES ../icon/rtklaunch.png DESTINATION ${XDG_APPS_PIXMAPS_DIR}) diff --git a/app/qtapp/rtknavi_qt/CMakeLists.txt b/app/qtapp/rtknavi_qt/CMakeLists.txt index 3e176f7e9..dd8564e0e 100644 --- a/app/qtapp/rtknavi_qt/CMakeLists.txt +++ b/app/qtapp/rtknavi_qt/CMakeLists.txt @@ -81,7 +81,7 @@ set_target_properties(rtknavi_qt PROPERTIES WIN32_EXECUTABLE ON MACOSX_BUNDLE ON ) -install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) +install(TARGETS rtknavi_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) if (UNIX) install(FILES rtknavi_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR}) install(FILES ../icon/rtknavi.png DESTINATION ${XDG_APPS_PIXMAPS_DIR}) diff --git a/app/qtapp/rtknavi_qt/mondlg.cpp b/app/qtapp/rtknavi_qt/mondlg.cpp index 174c69477..b8829d02b 100644 --- a/app/qtapp/rtknavi_qt/mondlg.cpp +++ b/app/qtapp/rtknavi_qt/mondlg.cpp @@ -222,7 +222,7 @@ void MonitorDialog::clearTable() ui->cBSelectObservation->setVisible(displayType == 1); ui->cBSelectNavigationSystems->setVisible(displayType == 1 || displayType == 5); ui->cBSelectSingleNavigationSystem->setVisible(displayType == 2 || displayType == 14); - ui->cBSelectSatellites->setVisible(displayType == 2 || displayType == 5); + ui->cBSelectSatellites->setVisible(displayType == 2 || displayType == 5 || displayType == 6 || displayType == 7 || displayType == 14); ui->cBSelectInputStream->setVisible(displayType == 12 || displayType == 14 || displayType == 15 || displayType == 16); ui->cBSelectSolutionStream->setVisible(displayType == 17); ui->cBSelectFormat->setVisible(displayType == 16); @@ -393,7 +393,7 @@ void MonitorDialog::setRtk() int width[] = {500, 500}; ui->tWConsole->setColumnCount(2); - ui->tWConsole->setRowCount(52 + NFREQ*2); + ui->tWConsole->setRowCount(53 + NFREQ*2); ui->tWConsole->setHorizontalHeaderLabels(header); for (int i = 0; (i < ui->tWConsole->columnCount()) && (i < 2); i++) @@ -464,8 +464,14 @@ void MonitorDialog::showRtk() rtksvrunlock(rtksvr); // unlock for (j = k = 0; j < MAXSAT; j++) { - if (rtk->opt.mode == PMODE_SINGLE && !rtk->ssat[j].vs) continue; - if (rtk->opt.mode != PMODE_SINGLE && !rtk->ssat[j].vsat[0]) continue; + if (rtk->opt.mode == PMODE_SINGLE) { + if (!rtk->ssat[j].vs) continue; + } else { + int any = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (rtk->ssat[j].vsat[fi]) { any = 1; break; } + if (!any) continue; + } azel[k * 2] = rtk->ssat[j].azel[0]; azel[k * 2 + 1] = rtk->ssat[j].azel[1]; k++; @@ -480,7 +486,7 @@ void MonitorDialog::showRtk() if (rtk->opt.navsys & SYS_IRN) navsys = navsys + tr("NavIC "); if (rtk->opt.navsys & SYS_SBS) navsys = navsys + tr("SBAS "); - if (ui->tWConsole->rowCount() < 55) { + if (ui->tWConsole->rowCount() < 53 + NFREQ * 2) { free(rtk); return; } @@ -526,8 +532,14 @@ void MonitorDialog::showRtk() .arg(rtk->opt.snrmask.mask[2][3], 0).arg(rtk->opt.snrmask.mask[2][4], 0).arg(rtk->opt.snrmask.mask[2][5], 0) .arg(rtk->opt.snrmask.mask[2][6], 0).arg(rtk->opt.snrmask.mask[2][7], 0).arg(rtk->opt.snrmask.mask[2][8], 0)); - ui->tWConsole->item(row, 0)->setText(tr("Rec Dynamic/Earth Tides Correction")); - ui->tWConsole->item(row++, 1)->setText(QStringLiteral("%1, %2").arg(rtk->opt.dynamics ? tr("ON") : tr("OFF"), rtk->opt.tidecorr ? tr("ON") : tr("OFF"))); + ui->tWConsole->item(row, 0)->setText(tr("Rec Dynamics")); + ui->tWConsole->item(row++, 1)->setText(QStringLiteral("%1").arg(rtk->opt.dynamics ? tr("ON") : tr("OFF"))); + + ui->tWConsole->item(row, 0)->setText(tr("Earth Tides Correction")); + const char *tideopts[]={"OFF","Solid Earth","Ocean Loading","Solid Earth + Ocean Loading", + "Solid Pole","Solid Earth + Solid Pole","Ocean Loading + Sold Pole", + "Solid Earth + Ocean Loading + Solid Pole"}; + ui->tWConsole->item(row++, 1)->setText(QStringLiteral("%1").arg(tideopts[rtk->opt.tidecorr & 7])); ui->tWConsole->item(row, 0)->setText(tr("Ionosphere/Troposphere Model")); ui->tWConsole->item(row++, 1)->setText(QStringLiteral("%1, %2").arg(ionoopt[rtk->opt.ionoopt < 0 || rtk->opt.ionoopt > 6 ? 0 : rtk->opt.ionoopt], @@ -792,8 +804,13 @@ void MonitorDialog::showSat() rtksvrunlock(rtksvr); for (i = 0; i < MAXSAT; i++) { - ssat = rtk->ssat + i; - vsat[i] = ssat->vs; + if (rtk->opt.mode == PMODE_SINGLE) { + vsat[i] = rtk->ssat[i].vs; + } else { + vsat[i] = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (rtk->ssat[i].vsat[fi]) { vsat[i] = 1; break; } + } } for (i = 0, nsat = 0; i < MAXSAT; i++) { @@ -821,7 +838,7 @@ void MonitorDialog::showSat() if (ui->cBSelectSatellites->currentIndex() == 1 && !vsat[i]) continue; satno2id(i + 1, id); ui->tWConsole->item(n, j++)->setText(id); - ui->tWConsole->item(n, j++)->setText(ssat->vs ? tr("OK") : tr("-")); + ui->tWConsole->item(n, j++)->setText(vsat[i] ? tr("OK") : tr("-")); az = ssat->azel[0] * R2D; if (az < 0.0) az += 360.0; el = ssat->azel[1] * R2D; ui->tWConsole->item(n, j++)->setText(QString::number(az, 'f', 1)); @@ -1065,7 +1082,7 @@ void MonitorDialog::setObservations() //--------------------------------------------------------------------------- void MonitorDialog::showObservations() { - char tstr[40], id[8], *code; + char tstr[40], id[8]; int i, k, n = 0, nex = ui->cBSelectObservation->currentIndex() ? NEXOBS : 0; int sys = sys_tbl[ui->cBSelectNavigationSystems->currentIndex()]; int std = ui->cBSelectObservation->currentIndex(); @@ -1107,7 +1124,7 @@ void MonitorDialog::showObservations() ui->tWConsole->item(i, j++)->setText(id); ui->tWConsole->item(i, j++)->setText(QString("(%1)").arg(obs[i].rcv)); for (k = 0; k < NFREQ + nex; k++) { - code = code2obs(obs[i].code[k]); + const char *code = code2obs(obs[i].code[k]); if (*code) ui->tWConsole->item(i, j++)->setText(code); else ui->tWConsole->item(i, j++)->setText("-"); } @@ -1931,37 +1948,39 @@ void MonitorDialog::setRtcm() //--------------------------------------------------------------------------- void MonitorDialog::showRtcm() { - static rtcm_t rtcm; int i = 0, j, format; QString mstr1, mstr2; char tstr[40] = "-"; int effectiveStream = (inputStream < 0 || inputStream > 2) ? 0 : inputStream; + rtcm_t *rtcm = (rtcm_t *)malloc(sizeof(rtcm_t)); + if (rtcm == NULL) return; + rtksvrlock(rtksvr); format = rtksvr->format[effectiveStream]; - rtcm = rtksvr->rtcm[effectiveStream]; + *rtcm = rtksvr->rtcm[effectiveStream]; rtksvrunlock(rtksvr); - if (rtcm.time.time) time2str(rtcm.time, tstr, 3); + if (rtcm->time.time) time2str(rtcm->time, tstr, 3); for (j = 1; j < 100; j++) { - if (rtcm.nmsg2[j] == 0) continue; - mstr1 += QString("%1%2 (%3)").arg(mstr1.isEmpty() ? "" : ",").arg(j).arg(rtcm.nmsg2[j]); + if (rtcm->nmsg2[j] == 0) continue; + mstr1 += QString("%1%2 (%3)").arg(mstr1.isEmpty() ? "" : ",").arg(j).arg(rtcm->nmsg2[j]); } - if (rtcm.nmsg2[0] > 0) { - mstr1 += QString("%1other (%2)").arg(mstr1.isEmpty() ? "" : ",").arg(rtcm.nmsg2[0]); + if (rtcm->nmsg2[0] > 0) { + mstr1 += QString("%1other (%2)").arg(mstr1.isEmpty() ? "" : ",").arg(rtcm->nmsg2[0]); } for (j = 1; j < 300; j++) { - if (rtcm.nmsg3[j] == 0) continue; - mstr2 += QString("%1%2(%3)").arg(mstr2.isEmpty() ? "" : ",").arg(j + 1000).arg(rtcm.nmsg3[j]); + if (rtcm->nmsg3[j] == 0) continue; + mstr2 += QString("%1%2(%3)").arg(mstr2.isEmpty() ? "" : ",").arg(j + 1000).arg(rtcm->nmsg3[j]); } for (j = 300; j < 399; j++) { - if (rtcm.nmsg3[j] == 0) continue; - mstr2+=QString("%1%2(%3)").arg(mstr2.isEmpty()?"":",").arg(j+3770).arg(rtcm.nmsg3[j]); + if (rtcm->nmsg3[j] == 0) continue; + mstr2+=QString("%1%2(%3)").arg(mstr2.isEmpty()?"":",").arg(j+3770).arg(rtcm->nmsg3[j]); } - if (rtcm.nmsg3[0] > 0) - mstr2 += QString("%1other(%2)").arg(mstr2.isEmpty() ? "" : ",").arg(rtcm.nmsg3[0]); + if (rtcm->nmsg3[0] > 0) + mstr2 += QString("%1other(%2)").arg(mstr2.isEmpty() ? "" : ",").arg(rtcm->nmsg3[0]); ui->tWConsole->item(i, 0)->setText(tr("Format")); ui->tWConsole->item(i++, 1)->setText(format == STRFMT_RTCM2 ? tr("RTCM 2") : tr("RTCM 3")); @@ -1970,43 +1989,45 @@ void MonitorDialog::showRtcm() ui->tWConsole->item(i++, 1)->setText(tstr); ui->tWConsole->item(i, 0)->setText(tr("Station ID")); - ui->tWConsole->item(i++, 1)->setText(QString::number(rtcm.staid)); + ui->tWConsole->item(i++, 1)->setText(QString::number(rtcm->staid)); ui->tWConsole->item(i, 0)->setText(tr("Station Health")); - ui->tWConsole->item(i++, 1)->setText(QString::number(rtcm.stah)); + ui->tWConsole->item(i++, 1)->setText(QString::number(rtcm->stah)); ui->tWConsole->item(i, 0)->setText(tr("Sequence No")); - ui->tWConsole->item(i++, 1)->setText(QString::number(rtcm.seqno)); + ui->tWConsole->item(i++, 1)->setText(QString::number(rtcm->seqno)); ui->tWConsole->item(i, 0)->setText(tr("RTCM Special Message")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msg); + ui->tWConsole->item(i++, 1)->setText(rtcm->msg); ui->tWConsole->item(i, 0)->setText(tr("Last Message")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msgtype); + ui->tWConsole->item(i++, 1)->setText(rtcm->msgtype); ui->tWConsole->item(i, 0)->setText(tr("# of RTCM Messages")); ui->tWConsole->item(i++, 1)->setText(format == STRFMT_RTCM2 ? mstr1 : mstr2); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for GPS")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[0]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[0]); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for GLONASS")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[1]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[1]); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for Galileo")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[2]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[2]); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for QZSS")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[3]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[3]); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for SBAS")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[4]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[4]); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for BDS")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[5]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[5]); ui->tWConsole->item(i, 0)->setText(tr("MSM Signals for NavIC")); - ui->tWConsole->item(i++, 1)->setText(rtcm.msmtype[6]); + ui->tWConsole->item(i++, 1)->setText(rtcm->msmtype[6]); + + free(rtcm); } //--------------------------------------------------------------------------- void MonitorDialog::setRtcmDgps() @@ -2063,7 +2084,7 @@ void MonitorDialog::setRtcmSsr() header << tr("SAT") << tr("Status") << tr("UDI (s)") << tr("UDHR (s)") << tr("IOD") << tr("URA") << tr("Datum") << tr("T0") << tr("D0-A (m)") << tr("D0-C (m)") << tr("D0-R (m)") << tr("D1-A (mm/s)") << tr("D1-C (mm/s)") << tr("D1-R (mm/s)") << tr("C0 (m)") << tr("C1 (mm/s)") << tr("C2 (mm/s²)") << tr("C-HR (m)") << tr("Code Bias (m)") << tr("Phase Bias (m)"); - int i, width[] = { 46, 60, 70, 90, 30, 25, 70, 115, 90, 90, 90, 120, 120, 120, 90, 120, 120, 120, 200, 200 }; + int i, width[] = { 46, 60, 70, 90, 30, 25, 70, 115, 90, 90, 90, 120, 120, 120, 90, 120, 120, 120, 400, 400 }; ui->tWConsole->setColumnCount(20); ui->tWConsole->setRowCount(0); @@ -2089,6 +2110,10 @@ void MonitorDialog::showRtcmSsr() time = rtksvr->rtk.sol.time; for (i = n = 0; i < MAXSAT; i++) { if (!(satsys(i + 1, NULL) & sys)) continue; + bool valid = rtksvr->rtcm[effectiveStream].ssr[i].t0[0].time && + fabs(timediff(time, rtksvr->rtcm[effectiveStream].ssr[i].t0[0])) <= 1800.0 && + rtksvr->rtcm[effectiveStream].ssr[i].iode >= 0; + if (ui->cBSelectSatellites->currentIndex() && !valid) continue; ssr[n] = rtksvr->rtcm[effectiveStream].ssr[i]; sat[n++] = i + 1; } @@ -2109,7 +2134,9 @@ void MonitorDialog::showRtcmSsr() ui->tWConsole->item(i, j++)->setText(valid ? tr("OK") : tr("-")); ui->tWConsole->item(i, j++)->setText(QString::number(ssr[i].udi[0], 'f', 0)); ui->tWConsole->item(i, j++)->setText(QString::number(ssr[i].udi[2], 'f', 0)); - ui->tWConsole->item(i, j++)->setText(QString::number(ssr[i].iode)); + if (ssr[i].iode < 0) s = "-"; + else s = QString::number(ssr[i].iode); + ui->tWConsole->item(i, j++)->setText(s); ui->tWConsole->item(i, j++)->setText(QString::number(ssr[i].ura)); ui->tWConsole->item(i, j++)->setText(QString::number(ssr[i].refd)); if (ssr[i].t0[0].time) time2str(ssr[i].t0[0], tstr, 0); else strcpy(tstr, "-"); diff --git a/app/qtapp/rtknavi_qt/navimain.cpp b/app/qtapp/rtknavi_qt/navimain.cpp index 38237ca8c..1f3f4db6b 100644 --- a/app/qtapp/rtknavi_qt/navimain.cpp +++ b/app/qtapp/rtknavi_qt/navimain.cpp @@ -75,7 +75,7 @@ MainWindow *mainForm; #define KACYCLE 5000 // keep alive cycle (ms) #define TIMEOUT 10000 // inactive timeout time (ms) #define MAX_PORT_OFFSET 9 // max port number offset -#define MAXTRKSCALE 23 // track scale +#define MAXTRKSCALE 26 // track scale #define MAXPANELMODE 7 // max panel mode #define SQRT(x) ((x)<0.0||(x)!=(x)?0.0:sqrt(x)) @@ -126,7 +126,7 @@ MainWindow::MainWindow(QWidget *parent) timeSystem = solutionType = 0; for (int i = 0; i < 4; i++) { plotType[i] = frequencyType[i] = baselineMode[i] = trackType[i] = 0; - trackScale[i] = 5; + trackScale[i] = 8; }; solutionsCurrent = solutionsStart = solutionsEnd = numSatellites[0] = numSatellites[1] = 0; nMapPoint = 0; @@ -138,10 +138,12 @@ MainWindow::MainWindow(QWidget *parent) for (int i = 0; i < 2; i++) for (int j = 0; j < MAXSAT; j++) { - satellites[i][j] = validSatellites[i][j] = 0; + satellites[i][j] = 0; satellitesAzimuth[i][j] = satellitesElevation[i][j] = 0.0; - for (int k = 0; k < NFREQ; k++) + for (int k = 0; k < NFREQ; k++) { + validSatellites[i][j][k] = 0; satellitesSNR[i][j][k] = 0; + } } static opt_t rcvopts[] = { @@ -1662,8 +1664,8 @@ void MainWindow::drawSolutionPlot(QLabel *plot, int type, int freq) int w = buffer.size().width() - 2; int h = buffer.height() - 2; - int i, j, x, sat[2][MAXSAT], ns[2], snr[2][MAXSAT][NFREQ], vsat[2][MAXSAT]; - int *snr0[MAXSAT], *snr1[MAXSAT], topMargin = QFontMetrics(optDialog->panelFont).height()*3/2; + int i, j, x, sat[2][MAXSAT], ns[2], snr[2][MAXSAT][NFREQ], vsat[2][MAXSAT][NFREQ]; + int topMargin = QFontMetrics(optDialog->panelFont).height()*3/2; double az[2][MAXSAT], el[2][MAXSAT], rr[3], pos[3]; trace(4, "drawSolutionPlot\n"); @@ -1672,12 +1674,8 @@ void MainWindow::drawSolutionPlot(QLabel *plot, int type, int freq) fstr[i + 1] = QStringLiteral("L%1").arg(i + 1); fstr[i + 1] = " SYS"; - for (i = 0; i < MAXSAT; i++) { - snr0[i] = snr[0][i]; - snr1[i] = snr[1][i]; - } - ns[0] = rtksvrostat(rtksvr, 0, &time, sat[0], az[0], el[0], snr0, vsat[0]); - ns[1] = rtksvrostat(rtksvr, 1, &time, sat[1], az[1], el[1], snr1, vsat[1]); + ns[0] = rtksvrostat(rtksvr, 0, &time, sat[0], az[0], el[0], snr[0], vsat[0]); + ns[1] = rtksvrostat(rtksvr, 1, &time, sat[1], az[1], el[1], snr[1], vsat[1]); rtksvrlock(rtksvr); matcpy(rr, rtksvr->rtk.sol.rr, 3, 1); @@ -1691,15 +1689,17 @@ void MainWindow::drawSolutionPlot(QLabel *plot, int type, int freq) satellites[i][j] = sat[i][j]; satellitesAzimuth[i][j] = az[i][j]; satellitesElevation[i][j] = el[i][j]; - for (int k = 0; k < NFREQ; k++) + for (int k = 0; k < NFREQ; k++) { + validSatellites[i][j][k] = vsat[i][j][k]; satellitesSNR[i][j][k] = snr[i][j][k]; - validSatellites[i][j] = vsat[i][j]; + } } } else { for (j = 0; j < numSatellites[i]; j++) { - validSatellites[i][j] = 0; - for (int k = 0; k < NFREQ; k++) + for (int k = 0; k < NFREQ; k++) { + validSatellites[i][j][k] = 0; satellitesSNR[i][j][k] = 0; + } } } } @@ -1720,12 +1720,12 @@ void MainWindow::drawSolutionPlot(QLabel *plot, int type, int freq) drawText(c, w / 2 + x, 1, s2, Qt::darkGray, 1, 2); } } else if (type == 1) { // snr plot rover - drawSnr(c, w, h - topMargin, 0, topMargin, 0, type); + drawSnr(c, w, h - topMargin, 0, topMargin, 0, freq); s1 = tr("Rover %L1 SNR (dBHz)").arg(fstr[freq]); drawText(c, x, 1, s1, Qt::darkGray, 1, 2); } else if (type == 2) { // skyplot rover - drawSatellites(c, w, h, 0, 0, 0, type); - s1 = tr("Rover %L1").arg(fstr[type]); + drawSatellites(c, w, h, 0, 0, 0, freq); + s1 = tr("Rover %L1").arg(fstr[freq]); drawText(c, x, 1, s1, Qt::darkGray, 1, 2); } else if (type == 3) { // skyplot+snr plot rover s1 = tr("Rover %L1").arg(fstr[freq]); @@ -1861,7 +1861,10 @@ void MainWindow::drawSnr(QPainter &c, int w, int h, int x0, int y0, QRect r1(x1, y1, barWidth, -height); if (j == 0) { // filled bar c.setBrush(QBrush(freq < NFREQ + 1 ? snrColor(snr[snrIdx]) : color_sys[sysIdx], Qt::SolidPattern)); - if (!validSatellites[index][i]) + int any = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (validSatellites[index][i][fi]) { any = 1; break; } + if (!any) c.setBrush(QBrush(QColor(QColorConstants::LightGray), Qt::SolidPattern)); } else { // outline only c.setPen(j < NFREQ + 1 ? QColor(QColorConstants::LightGray) : Qt::darkGray); @@ -1909,7 +1912,10 @@ void MainWindow::drawSatellites(QPainter &c, int w, int h, int x0, int y0, snr[0] = snr[j + 1]; // max snr } } - if (validSatellites[index][k] && (freq > NFREQ || snr[freq] > 0)) { + int anyValidSatFreq = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (validSatellites[index][k][fi]) { anyValidSatFreq = 1; break; } + if (anyValidSatFreq && (freq > NFREQ || snr[freq] > 0)) { azel[nsats * 2] = satellitesAzimuth[index][k]; azel[nsats * 2 + 1] = satellitesElevation[index][k]; nsats++; @@ -1920,8 +1926,8 @@ void MainWindow::drawSatellites(QPainter &c, int w, int h, int x0, int y0, y[i] = static_cast(p.y() - r * (90 - satellitesElevation[index][k] * R2D) / 90 * cos(satellitesAzimuth[index][k])) + y0; radius = QFontMetrics(optDialog->panelFont).height(); - c.setBrush(!validSatellites[index][k] ? Color::Silver : - (freq < NFREQ ? snrColor(snr[freq]) : color_sys[sysIdx])); + c.setBrush(!anyValidSatFreq ? Color::Silver : + (freq < NFREQ + 1 ? snrColor(snr[freq]) : color_sys[sysIdx])); c.setPen(Qt::darkGray); color_text = Qt::white; if (freq < NFREQ + 1 && snr[freq] <= 0) { @@ -2041,17 +2047,18 @@ void MainWindow::drawTrack(QPainter &c, int id, QPaintDevice *plot) QPoint p1, p2; QString label; static const double scale[] = { - 0.00021, 0.00047, 0.001, 0.0021, 0.0047, 0.01, 0.021, 0.047, 0.1, 0.21, 0.47, - 1.0, 2.1, 4.7, 10.0, 21.0, 47.0, 100.0, 210.0, 470.0, 1000.0, 2100.0,4700.0, + 0.000021, 0.000047, 0.0001, 0.00021, 0.00047, 0.001, 0.0021, 0.0047, + 0.01, 0.021, 0.047, 0.1, 0.21, 0.47, + 1.0, 2.1, 4.7, 10.0, 21.0, 47.0, 100.0, 210.0, 470.0, 1000.0, 2100.0, 4700.0, 10000.0 }; double *x, *y, xt, yt, sx, sy, ref[3], pos[3], dr[3], enu[3]; - int i, j, currentPointNo, numPoints = 0, type, scl; + int i, j, currentPointNo, numPoints = 0; trace(3, "drawTrack\n"); - type = id == 0 ? trackType[0] : trackType[1]; - scl = id == 0 ? trackScale[0] : trackScale[1]; + int type = trackType[id]; + int scl = trackScale[id]; x = new double[optDialog->solutionBufferSize]; y = new double[optDialog->solutionBufferSize]; @@ -2350,7 +2357,7 @@ void MainWindow::loadNavigation(nav_t *nav) QString str; eph_t eph0; char buff[2049], *p; - long toe_time,toc_time,ttr_time; + long unsigned toe_time,toc_time,ttr_time; int i; trace(3, "loadNavigation\n"); @@ -2358,13 +2365,13 @@ void MainWindow::loadNavigation(nav_t *nav) memset(&eph0, 0, sizeof(eph_t)); for (i = 0; i < 2 * MAXSAT; i++) { - if ((str = settings.value(QString("navi/eph_%1").arg(i, 2)).toString()).isEmpty()) continue; + if ((str = settings.value(QString("navi/eph_%1").arg(i, 3, 10, QChar('0'))).toString()).isEmpty()) continue; nav->eph[i] = eph0; strncpy(buff, qPrintable(str), 2047); if (!(p = strchr(buff, ','))) continue; *p = '\0'; if (!(nav->eph[i].sat = satid2no(buff))) continue; - sscanf(p + 1, "%d,%d,%d,%d,%ld,%ld,%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d,%lf", + sscanf(p + 1, "%d,%d,%d,%d,%lu,%lu,%lu,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d,%lf", &nav->eph[i].iode, &nav->eph[i].iodc, &nav->eph[i].sva, @@ -2433,9 +2440,9 @@ void MainWindow::saveNavigation(nav_t *nav) str = str + QString("%1,").arg(nav->eph[i].iodc); str = str + QString("%1,").arg(nav->eph[i].sva); str = str + QString("%1,").arg(nav->eph[i].svh); - str = str + QString("%1,").arg(static_cast(nav->eph[i].toe.time)); - str = str + QString("%1,").arg(static_cast(nav->eph[i].toc.time)); - str = str + QString("%1,").arg(static_cast(nav->eph[i].ttr.time)); + str = str + QString("%1,").arg(static_cast(nav->eph[i].toe.time)); + str = str + QString("%1,").arg(static_cast(nav->eph[i].toc.time)); + str = str + QString("%1,").arg(static_cast(nav->eph[i].ttr.time)); str = str + QString("%1,").arg(nav->eph[i].A, 0, 'E', 14); str = str + QString("%1,").arg(nav->eph[i].e, 0, 'E', 14); str = str + QString("%1,").arg(nav->eph[i].i0, 0, 'E', 14); @@ -2460,7 +2467,7 @@ void MainWindow::saveNavigation(nav_t *nav) str = str + QString("%1,").arg(nav->eph[i].code); str = str + QString("%1,").arg(nav->eph[i].flag); str = str + QString("%1,").arg(nav->eph[i].tgd[1],0,'E',14); - settings.setValue(QString("navi/eph_%1").arg(i, 2), str); + settings.setValue(QString("navi/eph_%1").arg(i, 3, 10, QChar('0')), str); } str = ""; for (i = 0; i < 8; i++) str = str + QString("%1,").arg(nav->ion_gps[i], 0, 'E', 14); @@ -2535,14 +2542,15 @@ void MainWindow::loadOptions() trackType[1] = settings.value("setting/trktype2", 0).toInt(); trackType[2] = settings.value("setting/trktype3", 0).toInt(); trackType[3] = settings.value("setting/trktype4", 0).toInt(); - trackScale[0] = settings.value("setting/trkscale1", 5).toInt(); - trackScale[1] = settings.value("setting/trkscale2", 5).toInt(); - trackScale[2] = settings.value("setting/trkscale3", 5).toInt(); - trackScale[3] = settings.value("setting/trkscale4", 5).toInt(); + trackScale[0] = settings.value("setting/trkscale1", 8).toInt(); + trackScale[1] = settings.value("setting/trkscale2", 8).toInt(); + trackScale[2] = settings.value("setting/trkscale3", 8).toInt(); + trackScale[3] = settings.value("setting/trkscale4", 8).toInt(); frequencyType[0] = settings.value("setting/freqtype1", 0).toInt(); frequencyType[1] = settings.value("setting/freqtype2", 0).toInt(); frequencyType[2] = settings.value("setting/freqtype3", 0).toInt(); frequencyType[3] = settings.value("setting/freqtype4", 0).toInt(); + for (int i = 0; i < 4; i++) if (frequencyType[i] > NFREQ + 1) frequencyType[i] = 0; baselineMode[0] = settings.value("setting/blmode1", 0).toInt(); baselineMode[1] = settings.value("setting/blmode2", 0).toInt(); baselineMode[2] = settings.value("setting/blmode3", 0).toInt(); diff --git a/app/qtapp/rtknavi_qt/navimain.h b/app/qtapp/rtknavi_qt/navimain.h index ad9d499c5..3876e2a1c 100644 --- a/app/qtapp/rtknavi_qt/navimain.h +++ b/app/qtapp/rtknavi_qt/navimain.h @@ -160,7 +160,7 @@ public slots: int monitorPortOpen; int solutionsCurrent, solutionsStart, solutionsEnd, numSatellites[2], solutionCurrentStatus; - int satellites[2][MAXSAT], satellitesSNR[2][MAXSAT][NFREQ], validSatellites[2][MAXSAT]; + int satellites[2][MAXSAT], satellitesSNR[2][MAXSAT][NFREQ], validSatellites[2][MAXSAT][NFREQ]; double satellitesAzimuth[2][MAXSAT], satellitesElevation[2][MAXSAT]; gtime_t *timeStamps; int *solutionStatus, *numValidSatellites; diff --git a/app/qtapp/rtkplot_qt/CMakeLists.txt b/app/qtapp/rtkplot_qt/CMakeLists.txt index ac52c1396..436a0c9e2 100644 --- a/app/qtapp/rtkplot_qt/CMakeLists.txt +++ b/app/qtapp/rtkplot_qt/CMakeLists.txt @@ -90,7 +90,7 @@ set_target_properties(rtkplot_qt PROPERTIES WIN32_EXECUTABLE ON MACOSX_BUNDLE ON ) -install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) +install(TARGETS rtkplot_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) if (UNIX) install(FILES rtkplot_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR}) install(FILES ../icon/rtkplot.png DESTINATION ${XDG_APPS_PIXMAPS_DIR}) diff --git a/app/qtapp/rtkplot_qt/plotinfo.cpp b/app/qtapp/rtkplot_qt/plotinfo.cpp index 52071029b..8c3acd8bf 100644 --- a/app/qtapp/rtkplot_qt/plotinfo.cpp +++ b/app/qtapp/rtkplot_qt/plotinfo.cpp @@ -382,7 +382,6 @@ static int _strcmp(const void *str1, const void *str2) // update observation type pull-down menu -------------------------------------- void Plot::updateObservationType() { - char *codes[MAXCODE + 1], *obs; int i, j, n = 0, codeMask[MAXCODE + 1] = { 0 }; trace(3, "updateObservationType\n"); @@ -393,9 +392,11 @@ void Plot::updateObservationType() codeMask[observation.data[i].code[j]] = 1; // count codes + const char *codes[MAXCODE + 1]; for (uint8_t c = 1; c <= MAXCODE; c++) { if (!codeMask[c]) continue; - if (!*(obs = code2obs(c))) continue; + const char *obs = code2obs(c); + if (!*obs) continue; codes[n++] = obs; } qsort(codes, n, sizeof(char *), _strcmp); diff --git a/app/qtapp/rtkplot_qt/plotmain.cpp b/app/qtapp/rtkplot_qt/plotmain.cpp index e349cf201..8ea510037 100644 --- a/app/qtapp/rtkplot_qt/plotmain.cpp +++ b/app/qtapp/rtkplot_qt/plotmain.cpp @@ -1532,12 +1532,11 @@ void Plot::mouseDownSolution(int x, int y) graphTriple[0]->getLimits(xl, yl); graphTriple[0]->toPoint(x_pos, yl[1], pnt); - if ((x - pnt.x()) * (x - pnt.x()) + (y - pnt.y()) * (y - pnt.y()) < 5*5) { + double dx = x - pnt.x(), dy = y - pnt.y(); + if (dx * dx + dy * dy < 5 * 5) { setCursor(Qt::SizeHorCursor); - dragState = 20; refresh(); - return; } } @@ -1582,7 +1581,8 @@ void Plot::mouseDownObservation(int x, int y) graphSingle->getLimits(xl, yl); graphSingle->toPoint(x_pos, yl[1], pnt); - if ((x - pnt.x()) * (x - pnt.x()) + (y - pnt.y()) * (y - pnt.y()) < 5*5) { + double dx = x - pnt.x(), dy = y - pnt.y(); + if (dx * dx + dy * dy < 5 * 5) { setCursor(Qt::SizeHorCursor); dragState = 20; refresh(); diff --git a/app/qtapp/rtkpost_qt/CMakeLists.txt b/app/qtapp/rtkpost_qt/CMakeLists.txt index 2cd56ddb2..0ce1be10a 100644 --- a/app/qtapp/rtkpost_qt/CMakeLists.txt +++ b/app/qtapp/rtkpost_qt/CMakeLists.txt @@ -51,7 +51,7 @@ set_target_properties(rtkpost_qt PROPERTIES WIN32_EXECUTABLE ON MACOSX_BUNDLE ON ) -install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) +install(TARGETS rtkpost_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) if (UNIX) install(FILES rtkpost_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR}) install(FILES ../icon/rtkpost.png DESTINATION ${XDG_APPS_PIXMAPS_DIR}) diff --git a/app/qtapp/srctblbrows_qt/CMakeLists.txt b/app/qtapp/srctblbrows_qt/CMakeLists.txt index 0db977e86..05eba4e95 100644 --- a/app/qtapp/srctblbrows_qt/CMakeLists.txt +++ b/app/qtapp/srctblbrows_qt/CMakeLists.txt @@ -51,7 +51,7 @@ set_target_properties(srctblbrows_qt PROPERTIES WIN32_EXECUTABLE ON MACOSX_BUNDLE ON ) -install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) +install(TARGETS srctblbrows_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) if (UNIX) install(FILES srctblbrows_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR}) install(FILES ../icon/srctblbrows.png DESTINATION ${XDG_APPS_PIXMAPS_DIR}) diff --git a/app/qtapp/strsvr_qt/CMakeLists.txt b/app/qtapp/strsvr_qt/CMakeLists.txt index c3e2aeaa9..6aeb360f1 100644 --- a/app/qtapp/strsvr_qt/CMakeLists.txt +++ b/app/qtapp/strsvr_qt/CMakeLists.txt @@ -53,7 +53,7 @@ set_target_properties(strsvr_qt PROPERTIES WIN32_EXECUTABLE ON MACOSX_BUNDLE ON ) -install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) +install(TARGETS strsvr_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin) if (UNIX) install(FILES strsvr_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR}) install(FILES ../icon/strsvr.png DESTINATION ${XDG_APPS_PIXMAPS_DIR}) diff --git a/app/winapp/rtkconv/convmain.dfm b/app/winapp/rtkconv/convmain.dfm index 11a53e04b..2fd620a70 100644 --- a/app/winapp/rtkconv/convmain.dfm +++ b/app/winapp/rtkconv/convmain.dfm @@ -1149,9 +1149,10 @@ object MainWindow: TMainWindow object OpenDialog: TOpenDialog Filter = 'All (*.*)|*.*|RTCM 2 (*.rtcm2)|*.rtcm2|RTCM 3 (*.rtcm3)|*.rtcm3|' + - 'NovtAtel (*.gps)|*.gps|ublox (*.ubx)|*.ubx|SuperStart II (*.log)' + - '|*.log|Hemisphere (*.bin)|*.bin|Javad (*.jps)|*.jps|RINEX OBS (*' + - '.obs,*.*O)|*.obs;*.*O' + 'NovtAtel (*.gps)|*.gps|ublox (*.ubx)|*.ubx' + + '|Hemisphere (*.bin)|*.bin|Javad (*.jps)|*.jps|' + + 'Septentrio (*.sbf)|*.sbf|' + + 'RINEX OBS (*.obs,*.*O)|*.obs;*.*O' Options = [ofHideReadOnly, ofNoChangeDir, ofEnableSizing] Left = 260 Top = 221 diff --git a/app/winapp/rtkconv/rtkconv.cbproj b/app/winapp/rtkconv/rtkconv.cbproj index 848faff65..dfd5d201c 100644 --- a/app/winapp/rtkconv/rtkconv.cbproj +++ b/app/winapp/rtkconv/rtkconv.cbproj @@ -593,7 +593,6 @@ - @@ -633,7 +632,6 @@ - diff --git a/app/winapp/rtknavi/mondlg.cpp b/app/winapp/rtknavi/mondlg.cpp index b9e71bfbe..4f8626e06 100644 --- a/app/winapp/rtknavi/mondlg.cpp +++ b/app/winapp/rtknavi/mondlg.cpp @@ -173,12 +173,12 @@ void __fastcall TMonitorDialog::ClearTable(void) SelObs ->Visible=TypeF==1; SelSys ->Visible=TypeF==1||TypeF==5; SelSys2 ->Visible=TypeF==2||TypeF==14; - SelSat ->Visible=TypeF==2||TypeF==5; + SelSat ->Visible=TypeF==2||TypeF==5||TypeF==6||TypeF==7||TypeF==14; SelStr ->Visible=TypeF==12||TypeF==14||TypeF==15||TypeF==16; SelStr2 ->Visible=TypeF==17; SelFmt ->Visible=TypeF==16; SelEph ->Visible=TypeF==2; - SelStr ->Left=(TypeF==14)?SelSys->Left+SelSys->Width+1:Type->Left+Type->Width+1; + SelStr ->Left=(TypeF==14)?SelSat->Left+SelSat->Width+1:Type->Left+Type->Width+1; } //--------------------------------------------------------------------------- void __fastcall TMonitorDialog::Timer2Timer(TObject *Sender) @@ -410,8 +410,14 @@ void __fastcall TMonitorDialog::ShowRtk(void) rtksvrunlock(&rtksvr); // unlock for (j=k=0;jopt.mode==PMODE_SINGLE&&!rtk->ssat[j].vs) continue; - if (rtk->opt.mode!=PMODE_SINGLE&&!rtk->ssat[j].vsat[0]) continue; + if (rtk->opt.mode == PMODE_SINGLE) { + if (!rtk->ssat[j].vs) continue; + } else { + int any = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (rtk->ssat[j].vsat[fi]) { any = 1; break; } + if (!any) continue; + } azel[ k*2]=rtk->ssat[j].azel[0]; azel[1+k*2]=rtk->ssat[j].azel[1]; k++; @@ -478,8 +484,14 @@ void __fastcall TMonitorDialog::ShowRtk(void) rtk->opt.snrmask.mask[3][0],rtk->opt.snrmask.mask[3][1],rtk->opt.snrmask.mask[3][2], rtk->opt.snrmask.mask[3][3],rtk->opt.snrmask.mask[3][4],rtk->opt.snrmask.mask[3][5], rtk->opt.snrmask.mask[3][6],rtk->opt.snrmask.mask[3][7],rtk->opt.snrmask.mask[3][8]); - Tbl->Cells[0][i ]="Rec Dynamic/Earth Tides Correction"; - Tbl->Cells[1][i++]=s.sprintf("%s, %s",rtk->opt.dynamics?"ON":"OFF",rtk->opt.tidecorr?"ON":"OFF"); + + Tbl->Cells[0][i ]="Rec Dynamics"; + Tbl->Cells[1][i++]=s.sprintf("%s",rtk->opt.dynamics?"ON":"OFF"); + + Tbl->Cells[0][i ]="Earth Tides Correction"; + const char *tideopts[]={"OFF","Solid Earth","Ocean Loading","Solid Earth + Ocean Loading","Solid Pole", + "Solid Earth + Solid Pole","Ocean Loading + Sold Pole","Solid Earth + Ocean Loading + Solid Pole"}; + Tbl->Cells[1][i++]=s.sprintf("%s", tideopts[rtk->opt.tidecorr & 7]); Tbl->Cells[0][i ]="Ionosphere/Troposphere Model"; Tbl->Cells[1][i++]=s.sprintf("%s, %s",ionoopt[rtk->opt.ionoopt],tropopt[rtk->opt.tropopt]); @@ -740,8 +752,13 @@ void __fastcall TMonitorDialog::ShowSat(void) Label->Caption=""; for (i=0;issat+i; - vsat[i]=ssat->vs; + if (rtk->opt.mode == PMODE_SINGLE) { + vsat[i] = rtk->ssat[i].vs; + } else { + vsat[i] = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (rtk->ssat[i].vsat[fi]) { vsat[i] = 1; break; } + } } for (i=0,n=1;iItemIndex==1&&!vsat[i]) continue; satno2id(i+1,id); Tbl->Cells[j++][n]=id; - Tbl->Cells[j++][n]=ssat->vs?"OK":"-"; + Tbl->Cells[j++][n]=vsat[i]?"OK":"-"; az=ssat->azel[0]*R2D; if (az<0.0) az+=360.0; el=ssat->azel[1]*R2D; Tbl->Cells[j++][n]=s.sprintf("%.1f",az); @@ -991,7 +1008,7 @@ void __fastcall TMonitorDialog::SetObs(void) void __fastcall TMonitorDialog::ShowObs(void) { AnsiString s; - char tstr[40],id[8],*code; + char tstr[40],id[8]; int i,j,k,n=0,nex=ObsMode?NEXOBS:0,sys=sys_tbl[SelSys->ItemIndex]; obsd_t *obs = static_cast(calloc(MAXOBS * 2, sizeof(obsd_t))); @@ -1023,7 +1040,7 @@ void __fastcall TMonitorDialog::ShowObs(void) Tbl->Cells[j++][i+1]=id; Tbl->Cells[j++][i+1]=s.sprintf("(%d)",obs[i].rcv); for (k=0;kCells[j++][i+1]=s.sprintf("%s",code); else Tbl->Cells[j++][i+1]="-"; } @@ -1782,35 +1799,37 @@ void __fastcall TMonitorDialog::SetRtcm(void) void __fastcall TMonitorDialog::ShowRtcm(void) { AnsiString s; - static rtcm_t rtcm; double pos[3]={0}; int i=1,j,format; char tstr[40]="-",mstr1[1024]="",mstr2[1024]="",*p1=mstr1,*p2=mstr2; + rtcm_t *rtcm = (rtcm_t *)malloc(sizeof(rtcm_t)); + if (rtcm == NULL) return; + rtksvrlock(&rtksvr); format=rtksvr.format[Str1]; - rtcm=rtksvr.rtcm[Str1]; + *rtcm=rtksvr.rtcm[Str1]; rtksvrunlock(&rtksvr); - if (rtcm.time.time) time2str(rtcm.time,tstr,3); + if (rtcm->time.time) time2str(rtcm->time,tstr,3); for (j=1;j<100;j++) { - if (rtcm.nmsg2[j]==0) continue; - p1+=sprintf(p1,"%s%d (%d)",p1>mstr1?",":"",j,rtcm.nmsg2[j]); + if (rtcm->nmsg2[j]==0) continue; + p1+=sprintf(p1,"%s%d (%d)",p1>mstr1?",":"",j,rtcm->nmsg2[j]); } - if (rtcm.nmsg2[0]>0) { - sprintf(p1,"%sother (%d)",p1>mstr1?",":"",rtcm.nmsg2[0]); + if (rtcm->nmsg2[0]>0) { + sprintf(p1,"%sother (%d)",p1>mstr1?",":"",rtcm->nmsg2[0]); } for (j=1;j<300;j++) { - if (rtcm.nmsg3[j]==0) continue; - p2+=sprintf(p2,"%s%d(%d)",p2>mstr2?",":"",j+1000,rtcm.nmsg3[j]); + if (rtcm->nmsg3[j]==0) continue; + p2+=sprintf(p2,"%s%d(%d)",p2>mstr2?",":"",j+1000,rtcm->nmsg3[j]); } for (j=300;j<399;j++) { - if (rtcm.nmsg3[j]==0) continue; - p2+=sprintf(p2,"%s%d(%d)",p2>mstr2?",":"",j+3770,rtcm.nmsg3[j]); + if (rtcm->nmsg3[j]==0) continue; + p2+=sprintf(p2,"%s%d(%d)",p2>mstr2?",":"",j+3770,rtcm->nmsg3[j]); } - if (rtcm.nmsg3[0]>0) { - sprintf(p2,"%sother(%d)",p2>mstr2?",":"",rtcm.nmsg3[0]); + if (rtcm->nmsg3[0]>0) { + sprintf(p2,"%sother(%d)",p2>mstr2?",":"",rtcm->nmsg3[0]); } Label->Caption=""; @@ -1823,43 +1842,45 @@ void __fastcall TMonitorDialog::ShowRtcm(void) Tbl->Cells[1][i++]=tstr; Tbl->Cells[0][i ]="Station ID"; - Tbl->Cells[1][i++]=s.sprintf("%d",rtcm.staid); + Tbl->Cells[1][i++]=s.sprintf("%d",rtcm->staid); Tbl->Cells[0][i ]="Station Health"; - Tbl->Cells[1][i++]=s.sprintf("%d",rtcm.stah); + Tbl->Cells[1][i++]=s.sprintf("%d",rtcm->stah); Tbl->Cells[0][i ]="Sequence No"; - Tbl->Cells[1][i++]=s.sprintf("%d",rtcm.seqno); + Tbl->Cells[1][i++]=s.sprintf("%d",rtcm->seqno); Tbl->Cells[0][i ]="RTCM Special Message"; - Tbl->Cells[1][i++]=rtcm.msg; + Tbl->Cells[1][i++]=rtcm->msg; Tbl->Cells[0][i ]="Last Message"; - Tbl->Cells[1][i++]=rtcm.msgtype; + Tbl->Cells[1][i++]=rtcm->msgtype; Tbl->Cells[0][i ]="# of RTCM Messages"; Tbl->Cells[1][i++]=format==STRFMT_RTCM2?mstr1:mstr2; Tbl->Cells[0][i ]="MSM Signals for GPS"; - Tbl->Cells[1][i++]=rtcm.msmtype[0]; + Tbl->Cells[1][i++]=rtcm->msmtype[0]; Tbl->Cells[0][i ]="MSM Signals for GLONASS"; - Tbl->Cells[1][i++]=rtcm.msmtype[1]; + Tbl->Cells[1][i++]=rtcm->msmtype[1]; Tbl->Cells[0][i ]="MSM Signals for Galileo"; - Tbl->Cells[1][i++]=rtcm.msmtype[2]; + Tbl->Cells[1][i++]=rtcm->msmtype[2]; Tbl->Cells[0][i ]="MSM Signals for QZSS"; - Tbl->Cells[1][i++]=rtcm.msmtype[3]; + Tbl->Cells[1][i++]=rtcm->msmtype[3]; Tbl->Cells[0][i ]="MSM Signals for SBAS"; - Tbl->Cells[1][i++]=rtcm.msmtype[4]; + Tbl->Cells[1][i++]=rtcm->msmtype[4]; Tbl->Cells[0][i ]="MSM Signals for BDS"; - Tbl->Cells[1][i++]=rtcm.msmtype[5]; + Tbl->Cells[1][i++]=rtcm->msmtype[5]; Tbl->Cells[0][i ]="MSM Signals for NavIC"; - Tbl->Cells[1][i++]=rtcm.msmtype[6]; + Tbl->Cells[1][i++]=rtcm->msmtype[6]; + + free(rtcm); } //--------------------------------------------------------------------------- void __fastcall TMonitorDialog::SetRtcmDgps(void) @@ -1918,7 +1939,7 @@ void __fastcall TMonitorDialog::SetRtcmSsr(void) "Phase Bias(m)" }; int i,width[]={ - 25,30,30,30,30,25,15,115,50,50,50,50,50,50,50,50,50,50,180,180 + 25,30,30,30,30,25,15,115,50,50,50,50,50,50,50,50,50,50,250,250 }; char *code; @@ -1943,6 +1964,10 @@ void __fastcall TMonitorDialog::ShowRtcmSsr(void) time=rtksvr.rtk.sol.time; for (i=n=0;i= 0; + if (SelSat->ItemIndex == 1 && !valid) continue; ssr[n]=rtksvr.rtcm[Str1].ssr[i]; sat[n++]=i+1; } @@ -1959,7 +1984,7 @@ void __fastcall TMonitorDialog::ShowRtcmSsr(void) Tbl->Cells[j++][i+1]=valid?"OK":"-"; Tbl->Cells[j++][i+1]=s.sprintf("%.0f",ssr[i].udi[0]); Tbl->Cells[j++][i+1]=s.sprintf("%.0f",ssr[i].udi[2]); - Tbl->Cells[j++][i+1]=s.sprintf("%d",ssr[i].iode); + Tbl->Cells[j++][i+1] = ssr[i].iode < 0 ? "-" : s.sprintf("%d", ssr[i].iode); Tbl->Cells[j++][i+1]=s.sprintf("%d",ssr[i].ura); Tbl->Cells[j++][i+1]=s.sprintf("%d",ssr[i].refd); if (ssr[i].t0[0].time) time2str(ssr[i].t0[0],tstr,0); else strcpy(tstr,"-"); diff --git a/app/winapp/rtknavi/navimain.cpp b/app/winapp/rtknavi/navimain.cpp index a0ce89240..0612ced10 100644 --- a/app/winapp/rtknavi/navimain.cpp +++ b/app/winapp/rtknavi/navimain.cpp @@ -127,8 +127,8 @@ __fastcall TMainForm::TMainForm(TComponent* Owner) CmdEna[i][0]=CmdEna[i][1]=CmdEna[i][2]=0; } TimeSys=SolType=PlotType1=PlotType2=FreqType1=FreqType2=0; - TrkType1=TrkType2=0; - TrkScale1=TrkScale2=5; + TrkType1=TrkType2=TrkType3=TrkType4=0; + TrkScale1=TrkScale2=TrkScale3=TrkScale4=8; BLMode1=BLMode2=BLMode3=BLMode4=0; PSol=PSolS=PSolE=Nsat[0]=Nsat[1]=0; NMapPnt=0; @@ -138,9 +138,12 @@ __fastcall TMainForm::TMainForm(TComponent* Owner) SolCurrentStat=0; SolRov=SolRef=Qr=VelRov=Age=Ratio=NULL; for (int i=0;i<2;i++) for (int j=0;j=MAXTRKSCALE) return; + TrkScale3++; + UpdatePlot(); +} +// callback on button expand-4 ---------------------------------------------- +void __fastcall TMainForm::BtnExpand4Click(TObject *Sender) +{ + if (TrkScale4<=0) return; + TrkScale4--; + UpdatePlot(); +} +// callback on button shrink-4 ---------------------------------------------- +void __fastcall TMainForm::BtnShrink4Click(TObject *Sender) +{ + if (TrkScale4>=MAXTRKSCALE) return; + TrkScale4++; + UpdatePlot(); +} // callback on button-rtk-monitor ------------------------------------------- void __fastcall TMainForm::BtnMonitorClick(TObject *Sender) { @@ -1292,6 +1323,7 @@ void __fastcall TMainForm::SvrStart(void) strsetopt(stropt); strcpy(rtksvr.cmd_reset,ResetCmd.c_str()); rtksvr.bl_reset=MaxBL; + //rtksvrinit(&rtksvr); // uncomment this to make RTKNAVI repeatable from run to run (useful for debug) // start rtk server if (!rtksvrstart(&rtksvr,SvrCycle,SvrBuffSize,strs,(const char **)paths,Format, @@ -1637,8 +1669,8 @@ void __fastcall TMainForm::DrawPlot(TImage *plot, int type, int freq) TCanvas *c=plot->Canvas; TLabel *label[]={Plabel1,Plabel2,Plabel3,Pos1,Pos2,Pos3}; int w=plot->Parent->Width-2,h=plot->Parent->Height-2; - int i,j,x,sat[2][MAXSAT],ns[2],snr[2][MAXSAT][NFREQ],vsat[2][MAXSAT]; - int *snr0[MAXSAT],*snr1[MAXSAT],tm=PanelFont->Size*3/2; + int i,j,x,sat[2][MAXSAT],ns[2],snr[2][MAXSAT][NFREQ],vsat[2][MAXSAT][NFREQ]; + int tm=PanelFont->Size*3/2; char name[16]; double az[2][MAXSAT],el[2][MAXSAT],rr[3],rs[6],e[3],pos[3],azel[2]; @@ -1649,12 +1681,8 @@ void __fastcall TMainForm::DrawPlot(TImage *plot, int type, int freq) } fstr[i+1]=" SYS"; - for (i=0;iBrush->Style=bsSolid; c->Brush->Color=freqBrush->Color=clSilver; + int any = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (Vsat[index][i][fi]) { any = 1; break; } + if (!any) c->Brush->Color=clSilver; c->Rectangle(r1); } else { @@ -1900,7 +1931,10 @@ void __fastcall TMainForm::DrawSat(TCanvas *c, int w, int h, int x0, int y0, snr[0]=snr[j+1]; // max snr } } - if (Vsat[index][k]&&(freq>NFREQ||snr[freq]>0)) { + int anyvsatf = 0; + for (int fi = 0; fi < NFREQ; fi++) + if (Vsat[index][k][fi]) { anyvsatf = 1; break; } + if (anyvsatf && (freq > NFREQ || snr[freq] > 0)) { azel[ns*2]=Az[index][k]; azel[1+ns*2]=El[index][k]; ns++; } @@ -1909,7 +1943,7 @@ void __fastcall TMainForm::DrawSat(TCanvas *c, int w, int h, int x0, int y0, x[i]=(int)(p.x+r*(90-El[index][k]*R2D)/90*sin(Az[index][k]))+x0; y[i]=(int)(p.y-r*(90-El[index][k]*R2D)/90*cos(Az[index][k]))+y0; d=PanelFont->Size*3/2; - c->Brush->Color=!Vsat[index][k]?clSilver: + c->Brush->Color=!anyvsatf?clSilver: (freqBrush->Style=bsSolid; c->Pen->Color=clGray; @@ -2037,12 +2071,12 @@ void __fastcall TMainForm::DrawTrk(TImage *plot) 10000.0 }; double *x,*y,xt,yt,sx,sy,ref[3],pos[3],dr[3],enu[3]; - int i,j,k,n=0,type,scl; + int i,j,k,n=0; trace(3,"DrawTrk\n"); - type=plot->Name=="Plot1"?TrkType1 :TrkType2 ; - scl =plot->Name=="Plot1"?TrkScale1:TrkScale2; + int type=plot->Name=="Plot1"?TrkType1:plot->Name=="Plot2"?TrkType2:plot->Name=="Plot3"?TrkType3:TrkType4; + int scl =plot->Name=="Plot1"?TrkScale1:plot->Name=="Plot2"?TrkScale2:plot->Name=="Plot3"?TrkScale3:TrkScale4; x=new double[SolBuffSize]; y=new double[SolBuffSize]; @@ -2294,19 +2328,19 @@ void __fastcall TMainForm::LoadNav(nav_t *nav) AnsiString str,s; eph_t eph0={0}; char buff[2049],id[32],*p; - long toe_time,toc_time,ttr_time; + long unsigned toe_time,toc_time,ttr_time; int i; trace(3,"LoadNav\n"); for (i=0;iReadString("navi",s.sprintf("eph_%02d",i),""))=="") continue; + if ((str=ini->ReadString("navi",s.sprintf("eph_%03d",i),""))=="") continue; nav->eph[i]=eph0; strcpy(buff,str.c_str()); if (!(p=strchr(buff,','))) continue; *p='\0'; if (!(nav->eph[i].sat=satid2no(buff))) continue; - sscanf(p+1,"%d,%d,%d,%d,%ld,%ld,%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d,%lf", + sscanf(p+1,"%d,%d,%d,%d,%lu,%lu,%lu,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d,%lf", &nav->eph[i].iode, &nav->eph[i].iodc, &nav->eph[i].sva , @@ -2375,9 +2409,9 @@ void __fastcall TMainForm::SaveNav(nav_t *nav) str=str+s.sprintf("%d,",nav->eph[i].iodc); str=str+s.sprintf("%d,",nav->eph[i].sva); str=str+s.sprintf("%d,",nav->eph[i].svh); - str=str+s.sprintf("%d,",(int)nav->eph[i].toe.time); - str=str+s.sprintf("%d,",(int)nav->eph[i].toc.time); - str=str+s.sprintf("%d,",(int)nav->eph[i].ttr.time); + str=str+s.sprintf("%lu,",(long unsigned)nav->eph[i].toe.time); + str=str+s.sprintf("%lu,",(long unsigned)nav->eph[i].toc.time); + str=str+s.sprintf("%lu,",(long unsigned)nav->eph[i].ttr.time); str=str+s.sprintf("%.14E,",nav->eph[i].A); str=str+s.sprintf("%.14E,",nav->eph[i].e); str=str+s.sprintf("%.14E,",nav->eph[i].i0); @@ -2402,7 +2436,7 @@ void __fastcall TMainForm::SaveNav(nav_t *nav) str=str+s.sprintf("%d,",nav->eph[i].code); str=str+s.sprintf("%d,",nav->eph[i].flag); str=str+s.sprintf("%.14E,",nav->eph[i].tgd[1]); - ini->WriteString("navi",s.sprintf("eph_%02d",i),str); + ini->WriteString("navi",s.sprintf("eph_%03d",i),str); } str=""; for (i=0;i<8;i++) str=str+s.sprintf("%.14E,",nav->ion_gps[i]); @@ -2460,6 +2494,7 @@ void __fastcall TMainForm::LoadOpt(void) } PrcOpt.mode =ini->ReadInteger("prcopt", "mode", 2); PrcOpt.nf =ini->ReadInteger("prcopt", "nf", NFREQ); + if (PrcOpt.nf > NFREQ) PrcOpt.nf = NFREQ; PrcOpt.elmin =ini->ReadFloat ("prcopt", "elmin", 15.0*D2R); PrcOpt.snrmask.ena[0]=ini->ReadInteger("prcopt","snrmask_ena1",0); PrcOpt.snrmask.ena[1]=ini->ReadInteger("prcopt","snrmask_ena2",0); @@ -2611,14 +2646,18 @@ void __fastcall TMainForm::LoadOpt(void) TrkType2 =ini->ReadInteger("setting","trktype2", 0); TrkType3 =ini->ReadInteger("setting","trktype3", 0); TrkType4 =ini->ReadInteger("setting","trktype4", 0); - TrkScale1 =ini->ReadInteger("setting","trkscale1", 5); - TrkScale2 =ini->ReadInteger("setting","trkscale2", 5); - TrkScale3 =ini->ReadInteger("setting","trkscale3", 5); - TrkScale4 =ini->ReadInteger("setting","trkscale4", 5); + TrkScale1 =ini->ReadInteger("setting","trkscale1", 8); + TrkScale2 =ini->ReadInteger("setting","trkscale2", 8); + TrkScale3 =ini->ReadInteger("setting","trkscale3", 8); + TrkScale4 =ini->ReadInteger("setting","trkscale4", 8); FreqType1 =ini->ReadInteger("setting","freqtype1", 0); FreqType2 =ini->ReadInteger("setting","freqtype2", 0); FreqType3 =ini->ReadInteger("setting","freqtype3", 0); FreqType4 =ini->ReadInteger("setting","freqtype4", 0); + if (FreqType1 > NFREQ + 1) FreqType1 = 0; + if (FreqType2 > NFREQ + 1) FreqType2 = 0; + if (FreqType3 > NFREQ + 1) FreqType3 = 0; + if (FreqType4 > NFREQ + 1) FreqType4 = 0; BLMode1 =ini->ReadInteger("setting","blmode1", 0); BLMode2 =ini->ReadInteger("setting","blmode2", 0); BLMode3 =ini->ReadInteger("setting","blmode3", 0); diff --git a/app/winapp/rtknavi/navimain.dfm b/app/winapp/rtknavi/navimain.dfm index 9911304e4..bf001e3d4 100644 --- a/app/winapp/rtknavi/navimain.dfm +++ b/app/winapp/rtknavi/navimain.dfm @@ -707,7 +707,7 @@ object MainForm: TMainForm B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FF00} - OnClick = BtnExpand2Click + OnClick = BtnExpand3Click end object BtnShrink3: TSpeedButton Left = 1 @@ -735,7 +735,7 @@ object MainForm: TMainForm B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FF00} - OnClick = BtnShrink2Click + OnClick = BtnShrink3Click end end object Panel25: TPanel @@ -833,7 +833,7 @@ object MainForm: TMainForm B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FF00} - OnClick = BtnExpand2Click + OnClick = BtnExpand4Click end object BtnShrink4: TSpeedButton Left = 1 @@ -861,7 +861,7 @@ object MainForm: TMainForm B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF FF00} - OnClick = BtnShrink2Click + OnClick = BtnShrink4Click end end end diff --git a/app/winapp/rtknavi/navimain.h b/app/winapp/rtknavi/navimain.h index 4135aa8d2..6e433b124 100644 --- a/app/winapp/rtknavi/navimain.h +++ b/app/winapp/rtknavi/navimain.h @@ -186,6 +186,10 @@ class TMainForm : public TForm void __fastcall BtnShrink1Click(TObject *Sender); void __fastcall BtnExpand2Click(TObject *Sender); void __fastcall BtnShrink2Click(TObject *Sender); + void __fastcall BtnExpand3Click(TObject *Sender); + void __fastcall BtnShrink3Click(TObject *Sender); + void __fastcall BtnExpand4Click(TObject *Sender); + void __fastcall BtnShrink4Click(TObject *Sender); void __fastcall BtnMarkClick(TObject *Sender); void __fastcall Panel24Resize(TObject *Sender); void __fastcall Panel25Resize(TObject *Sender); @@ -250,7 +254,7 @@ class TMainForm : public TForm int MoniPort,OpenPort,AutoRun; int PSol,PSolS,PSolE,Nsat[2],SolCurrentStat; - int Sat[2][MAXSAT],Snr[2][MAXSAT][NFREQ],Vsat[2][MAXSAT]; + int Sat[2][MAXSAT],Snr[2][MAXSAT][NFREQ],Vsat[2][MAXSAT][NFREQ]; double Az[2][MAXSAT],El[2][MAXSAT]; gtime_t *Time; int *SolStat,*Nvsat; diff --git a/app/winapp/rtknavi/naviopt.cpp b/app/winapp/rtknavi/naviopt.cpp index 78fa19289..c974459d9 100644 --- a/app/winapp/rtknavi/naviopt.cpp +++ b/app/winapp/rtknavi/naviopt.cpp @@ -421,7 +421,7 @@ void __fastcall TOptDialog::GetOpt(void) Freq ->ItemIndex=PrcOpt.nf-1>NFREQ-1?NFREQ-1:PrcOpt.nf-1; ElMask ->Text =s.sprintf("%.0f",PrcOpt.elmin*R2D); DynamicModel ->ItemIndex=PrcOpt.dynamics; - TideCorr ->ItemIndex=PrcOpt.tidecorr > 1 ? 2 : PrcOpt.tidecorr; + TideCorr ->ItemIndex=PrcOpt.tidecorr & 7; IonoOpt ->ItemIndex=PrcOpt.ionoopt; TropOpt ->ItemIndex=PrcOpt.tropopt; SatEphem ->ItemIndex=PrcOpt.sateph; @@ -565,8 +565,7 @@ void __fastcall TOptDialog::SetOpt(void) PrcOpt.nf =Freq ->ItemIndex+1; PrcOpt.elmin =str2dbl(ElMask ->Text)*D2R; PrcOpt.dynamics =DynamicModel->ItemIndex; - PrcOpt.tidecorr =TideCorr ->ItemIndex; - if (PrcOpt.tidecorr > 1) PrcOpt.tidecorr = 7; + PrcOpt.tidecorr =TideCorr ->ItemIndex & 7; PrcOpt.ionoopt =IonoOpt ->ItemIndex; PrcOpt.tropopt =TropOpt ->ItemIndex; PrcOpt.sateph =SatEphem ->ItemIndex; @@ -752,7 +751,7 @@ void __fastcall TOptDialog::LoadOpt(AnsiString file) ElMask ->Text =s.sprintf("%.0f",prcopt.elmin*R2D); PrcOpt.snrmask =prcopt.snrmask; DynamicModel ->ItemIndex =prcopt.dynamics; - TideCorr ->ItemIndex =prcopt.tidecorr > 1 ? 2 : prcopt.tidecorr; + TideCorr ->ItemIndex =prcopt.tidecorr & 7; IonoOpt ->ItemIndex =prcopt.ionoopt; TropOpt ->ItemIndex =prcopt.tropopt; SatEphem ->ItemIndex =prcopt.sateph; @@ -994,8 +993,7 @@ void __fastcall TOptDialog::SaveOpt(AnsiString file) prcopt.elmin =str2dbl(ElMask ->Text)*D2R; prcopt.snrmask =PrcOpt.snrmask; prcopt.dynamics =DynamicModel->ItemIndex; - prcopt.tidecorr =TideCorr ->ItemIndex; - if (prcopt.tidecorr > 1) prcopt.tidecorr = 7; + prcopt.tidecorr =TideCorr ->ItemIndex & 7; prcopt.ionoopt =IonoOpt ->ItemIndex; prcopt.tropopt =TropOpt ->ItemIndex; prcopt.sateph =SatEphem ->ItemIndex; diff --git a/app/winapp/rtknavi/naviopt.dfm b/app/winapp/rtknavi/naviopt.dfm index 0be0683e1..f1763cda6 100644 --- a/app/winapp/rtknavi/naviopt.dfm +++ b/app/winapp/rtknavi/naviopt.dfm @@ -199,7 +199,7 @@ object OptDialog: TOptDialog object DynamicModel: TComboBox Left = 248 Top = 136 - Width = 75 + Width = 45 Height = 21 Style = csDropDownList ItemIndex = 0 @@ -210,9 +210,9 @@ object OptDialog: TOptDialog 'ON') end object TideCorr: TComboBox - Left = 325 + Left = 295 Top = 136 - Width = 75 + Width = 105 Height = 21 Style = csDropDownList ItemIndex = 0 @@ -220,7 +220,13 @@ object OptDialog: TOptDialog Text = 'OFF' Items.Strings = ( 'OFF' - 'Solid') + 'Solid Earth Tide' + 'Ocean Tide Loading' + 'Solid Earth + OTL' + 'Solid Pole' + 'Solid Earth + Pole' + 'OTL + Solid Pole' + 'Solid + OTL + Pole') end object IonoOpt: TComboBox Left = 248 diff --git a/app/winapp/rtknavi/rtknavi.cbproj b/app/winapp/rtknavi/rtknavi.cbproj index c2e876b67..62857f6a5 100644 --- a/app/winapp/rtknavi/rtknavi.cbproj +++ b/app/winapp/rtknavi/rtknavi.cbproj @@ -759,8 +759,6 @@ - - diff --git a/app/winapp/rtkplot/plotinfo.cpp b/app/winapp/rtkplot/plotinfo.cpp index 54255fde0..28be1e407 100644 --- a/app/winapp/rtkplot/plotinfo.cpp +++ b/app/winapp/rtkplot/plotinfo.cpp @@ -333,7 +333,6 @@ static int _strcmp(const void *str1, const void *str2) void __fastcall TPlot::UpdateObsType(void) { UTF8String s; - char *obs,*codes[MAXCODE+1]; int i,j,n=0,cmask[MAXCODE+1]={0},fmask[10]={0}; const char *obstypes[] = {"L1/LC","L2/E5b","L5/E5a","L6","L7","L8"}; @@ -342,9 +341,11 @@ void __fastcall TPlot::UpdateObsType(void) for (i=0;iGetLim(xl,yl); GraphG[0]->ToPoint(x,yl[1],pnt); - - if ((X-pnt.x)*(X-pnt.x)+(Y-pnt.y)*(Y-pnt.y)<25) { + + double dx = X - pnt.x, dy = Y - pnt.y; + if (dx * dx + dy * dy < 5 * 5) { Screen->Cursor=crSizeWE; Drag=20; Refresh(); @@ -1568,7 +1569,8 @@ void __fastcall TPlot::MouseDownObs(int X, int Y) GraphR->GetLim(xl,yl); GraphR->ToPoint(x,yl[1],pnt); - if ((X-pnt.x)*(X-pnt.x)+(Y-pnt.y)*(Y-pnt.y)<25) { + double dx = X - pnt.x, dy = Y - pnt.y; + if (dx * dx + dy * dy < 5 * 5) { Screen->Cursor=crSizeWE; Drag=20; Refresh(); diff --git a/app/winapp/rtkplot/rtkplot.cbproj b/app/winapp/rtkplot/rtkplot.cbproj index b5b35bb69..d00b039b8 100644 --- a/app/winapp/rtkplot/rtkplot.cbproj +++ b/app/winapp/rtkplot/rtkplot.cbproj @@ -728,7 +728,6 @@ - diff --git a/app/winapp/rtkpost/postmain.cpp b/app/winapp/rtkpost/postmain.cpp index 1feccb1d3..9a52df092 100644 --- a/app/winapp/rtkpost/postmain.cpp +++ b/app/winapp/rtkpost/postmain.cpp @@ -1000,8 +1000,7 @@ int __fastcall TMainForm::GetOption(prcopt_t &prcopt, solopt_t &solopt, prcopt.posopt[4]=PosOpt[4]; prcopt.posopt[5]=PosOpt[5]; prcopt.dynamics =DynamicModel; - prcopt.tidecorr =TideCorr; - if (prcopt.tidecorr > 1) prcopt.tidecorr = 7; + prcopt.tidecorr =TideCorr & 7; prcopt.armaxiter=ARIter; prcopt.niter =NumIter; prcopt.minfixsats=MinFixSats; @@ -1356,6 +1355,7 @@ void __fastcall TMainForm::LoadOpt(void) PosMode =ini->ReadInteger("opt","posmode", 2); Freq =ini->ReadInteger("opt","freq", NFREQ-1); + if (Freq > NFREQ - 1) Freq = NFREQ - 1; Solution =ini->ReadInteger("opt","solution", 0); ElMask =ini->ReadFloat ("opt","elmask", 15.0); SnrMask.ena[0] =ini->ReadInteger("opt","snrmask_ena1", 0); diff --git a/app/winapp/rtkpost/postopt.cpp b/app/winapp/rtkpost/postopt.cpp index eec8cfaa6..2e31c813d 100644 --- a/app/winapp/rtkpost/postopt.cpp +++ b/app/winapp/rtkpost/postopt.cpp @@ -636,7 +636,7 @@ void __fastcall TOptDialog::LoadOpt(AnsiString file) ElMask ->Text =s.sprintf("%.0f",prcopt.elmin*R2D); SnrMask =prcopt.snrmask; DynamicModel ->ItemIndex =prcopt.dynamics; - TideCorr ->ItemIndex =prcopt.tidecorr > 1 ? 2 : prcopt.tidecorr; + TideCorr ->ItemIndex =prcopt.tidecorr & 7; IonoOpt ->ItemIndex =prcopt.ionoopt; TropOpt ->ItemIndex =prcopt.tropopt; SatEphem ->ItemIndex =prcopt.sateph; @@ -797,8 +797,7 @@ int ppp=PosMode->ItemIndex>=PMODE_PPP_KINEMA; prcopt.elmin =str2dbl(ElMask ->Text)*D2R; prcopt.snrmask =SnrMask; prcopt.dynamics =DynamicModel->ItemIndex; - prcopt.tidecorr =TideCorr ->ItemIndex; - if (prcopt.tidecorr > 1) prcopt.tidecorr = 7; + prcopt.tidecorr =TideCorr ->ItemIndex & 7; prcopt.ionoopt =IonoOpt ->ItemIndex; prcopt.tropopt =TropOpt ->ItemIndex; prcopt.sateph =SatEphem ->ItemIndex; diff --git a/app/winapp/rtkpost/postopt.dfm b/app/winapp/rtkpost/postopt.dfm index 14ba9f8aa..51eca576c 100644 --- a/app/winapp/rtkpost/postopt.dfm +++ b/app/winapp/rtkpost/postopt.dfm @@ -216,7 +216,7 @@ object OptDialog: TOptDialog object DynamicModel: TComboBox Left = 248 Top = 92 - Width = 75 + Width = 45 Height = 21 Style = csDropDownList ItemIndex = 0 @@ -228,9 +228,9 @@ object OptDialog: TOptDialog 'ON') end object TideCorr: TComboBox - Left = 325 + Left = 295 Top = 92 - Width = 75 + Width = 105 Height = 21 Style = csDropDownList ItemIndex = 0 @@ -238,8 +238,13 @@ object OptDialog: TOptDialog Text = 'OFF' Items.Strings = ( 'OFF' - 'Solid' - 'Solid/OTL') + 'Solid Earth Tide' + 'Ocean Tide Loading' + 'Solid Earth + OTL' + 'Solid Pole' + 'Solid Earth + Pole' + 'OTL + Solid Pole' + 'Solid + OTL + Pole') end object IonoOpt: TComboBox Left = 248 diff --git a/app/winapp/srctblbrows/srctblbrows.cbproj b/app/winapp/srctblbrows/srctblbrows.cbproj index 03e56850a..9e57cee70 100644 --- a/app/winapp/srctblbrows/srctblbrows.cbproj +++ b/app/winapp/srctblbrows/srctblbrows.cbproj @@ -503,7 +503,6 @@ - diff --git a/app/winapp/strsvr/strsvr.cbproj b/app/winapp/strsvr/strsvr.cbproj index a871587f8..26f509edc 100644 --- a/app/winapp/strsvr/strsvr.cbproj +++ b/app/winapp/strsvr/strsvr.cbproj @@ -616,7 +616,6 @@ - diff --git a/src/convrnx.c b/src/convrnx.c index 958821a7c..696666e69 100644 --- a/src/convrnx.c +++ b/src/convrnx.c @@ -395,7 +395,8 @@ static void setopt_obstype(const uint8_t *codes, const uint8_t *types, int sys, rnxopt_t *opt) { const char type_str[]="CLDS"; - char type[16],*id,ver; + const char *id; + char type[16],ver; int i,j,k,idx; trace(3,"setopt_obstype: sys=%d\n",sys); diff --git a/src/ephemeris.c b/src/ephemeris.c index 56c8e6ea4..391f45c75 100644 --- a/src/ephemeris.c +++ b/src/ephemeris.c @@ -453,10 +453,6 @@ static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav) if (iode>=0&&nav->eph[i].iode!=iode) continue; if (sys==SYS_GAL) { sel=getseleph(SYS_GAL); - /* this code is from 2.4.3 b34 but does not seem to be fully supported, - so for now I have dropped back to the b33 code */ - /* if (sel==0&&!(nav->eph[i].code&(1<<9))) continue; */ /* I/NAV */ - /*if (sel==1&&!(nav->eph[i].code&(1<<8))) continue; */ /* F/NAV */ if (sel==1&&!(nav->eph[i].code&(1<<9))) continue; /* I/NAV */ if (sel==2&&!(nav->eph[i].code&(1<<8))) continue; /* F/NAV */ if (timediff(nav->eph[i].toe,time)>=0.0) continue; /* AOD<=0 */ @@ -470,7 +466,7 @@ static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav) sat,iode); return NULL; } - trace(4,"seleph: sat=%d dt=%.0f\n",sat,tmin); + trace(4,"seleph: sat=%d dt=%.0f j=%d iode=%d, sel=%d\n",sat,tmin,j,nav->eph[j].iode, sel); return nav->eph+j; } /* select glonass ephemeris --------------------------------------------------*/ @@ -808,8 +804,13 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav, time[i]=timeadd(obs[i].time,-pr/CLIGHT); /* satellite clock offset from precise products or broadcast ephemeris */ - if (ephopt==EPHOPT_PREC&&nav->nc>0) { - if(!pephclk(time[i],obs[i].sat,nav,&dt,NULL)) { + + // Note: this uses as input the estimated satellite clock time without + // correction but the precise clock corrections are wrt GPST. The + // satellite clock drift over this small period is considered + // negligible to the clock offset lookup here. + if (ephopt == EPHOPT_PREC) { + if (!pephclk(time[i], obs[i].sat, nav, &dt, NULL)) { trace(3,"no precise clock %s sat=%2d\n",time2str(time[i],tstr,3),obs[i].sat); continue; } diff --git a/src/ionex.c b/src/ionex.c index d4cd62385..c5555e139 100644 --- a/src/ionex.c +++ b/src/ionex.c @@ -19,7 +19,9 @@ #include "rtklib.h" #define SQR(x) ((x)*(x)) +#define MIN(x,y) ((x)<=(y)?(x):(y)) #define VAR_NOTEC SQR(30.0) /* variance of no tec */ +#define VAR_SSR_VTEC SQR(10.0); /* variance of SSR VTEC */ #define MIN_EL 0.0 /* min elevation angle (rad) */ #define MIN_HGT -1000.0 /* min user height (m) */ @@ -479,6 +481,87 @@ extern int iontec(gtime_t time, const nav_t *nav, const double *pos, *delay=dels[1]; *var =vars[1]; } - trace(3,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var)); + trace(4,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var)); + return 1; +} +/* ionosphere model (VTEC spherical harmonics) --------------------------------- +* compute ionospheric delay by VTEC spherical harmonics (RTCM SSR MT1264) +* args : gtime_t time I time (GPST) +* nav_t *nav I navigation data (vtec coefficients) +* double *pos I receiver position {lat,lon,h} (rad,rad,m) +* double *azel I azimuth/elevation {az,el} (rad) +* double freq I signal frequency (Hz) +* double *delay O ionospheric delay (m) +* double *var O ionospheric delay variance (m^2) +* return : status (1:ok, 0:error) +* notes : delay is positive for code (L1 scale), i.e. corrected = meas - delay +*-----------------------------------------------------------------------------*/ +extern int ionvtec(gtime_t time, const nav_t *nav, const double *pos, + const double *azel, double freq, double *delay, double *var) +{ + const double re=6371.0; /* fallback single-layer height (km) */ + double pppos[2],fs,vtec,P[17][17],cosl[17],sinl[17]; + double sinp,cosp,x; + int i,j,k,nmax,mmax; + char tstr[40]; + + trace(4,"ionvtec: time=%s pos=%.3f %.3f azel=%.3f %.3f\n", + time2str(time,tstr,0),pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D); + + *delay=*var=0.0; + + if (nav->vtec.nlay<=0) { + trace(2,"ionvtec: no vtec data\n"); + return 0; + } + if (pos[2]vtec.nlay;i++) { + /* ionospheric pierce point position */ + ionppp(pos,azel,re,nav->vtec.hgt[i],pppos); + + nmax=nav->vtec.nmax[i]; + mmax=nav->vtec.mmax[i]; + sinp=sin(pppos[0]); + cosp=cos(pppos[0]); + + /* fully normalized associated Legendre polynomials */ + P[0][0]=1.0; + for (j=1;j<=nmax;j++) { + /* diagonal term */ + P[j][j]=sqrt((2*j+1)/(2.0*j))*cosp*P[j-1][j-1]; + /* one above diagonal */ + P[j][j-1]=sqrt(2*j+1)*sinp*P[j-1][j-1]; + } + for (j=2;j<=nmax;j++) { + for (k=0;k<=j-2;k++) { + P[j][k]=sqrt((2*j+1)*(2*j-1)/((double)(j-k)*(j+k)))*sinp*P[j-1][k] + -sqrt((2*j+1)*(j+k-1)*(j-k-1)/((double)(j-k)*(j+k)*(2*j-3)))*P[j-2][k]; + } + } + /* cosine and sine of longitude multiples */ + cosl[0]=1.0; sinl[0]=0.0; + for (j=1;j<=mmax;j++) { + cosl[j]=cos(j*pppos[1]); + sinl[j]=sin(j*pppos[1]); + } + /* evaluate spherical harmonic expansion (TECU) */ + x=0.0; + for (j=0;j<=nmax;j++) { + x+=nav->vtec.cosC[i][j][0]*P[j][0]; + for (k=1;k<=MIN(j,mmax);k++) { + x+=nav->vtec.cosC[i][j][k]*P[j][k]*cosl[k]+ + nav->vtec.sinC[i][j][k]*P[j][k]*sinl[k]; + } + } + vtec+=x; + } + /* convert TECU to metres on L1, then scale to signal frequency */ + fs=ionmapf(pos,azel); /* mapping function */ + *delay=40.3E16/SQR(FREQL1)*vtec*SQR(FREQL1/freq)*fs; + *var=VAR_SSR_VTEC; /* use fixed variance for now */ + trace(4,"ionvtec: pppos=%.3f %.3f vtec=%.1f delay=%.3f var=%.2f, freq=%.1f\n", + pppos[0]*R2D,pppos[1]*R2D,vtec,*delay,*var,freq); return 1; } diff --git a/src/postpos.c b/src/postpos.c index df10c05b5..41e210ebd 100644 --- a/src/postpos.c +++ b/src/postpos.c @@ -1077,7 +1077,7 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt, if (*fopt->eop) { free(navs.erp.data); navs.erp.data=NULL; navs.erp.n=navs.erp.nmax=0; reppath(fopt->eop,path,ts,"",""); - if (!readerp(path,&navs.erp)) { + if (readerp(path,&navs.erp) == 0) { showmsg("error : no erp data %s",path); trace(2,"no erp data %s\n",path); } diff --git a/src/ppp.c b/src/ppp.c index 81d813db0..b04cd1825 100644 --- a/src/ppp.c +++ b/src/ppp.c @@ -124,7 +124,7 @@ static double STD(rtk_t *rtk, int i) return SQRT(rtk->P[i+i*rtk->nx]); } /* write solution status for PPP ---------------------------------------------*/ -extern int pppoutstat(rtk_t *rtk, char *buff) +extern int pppoutstat(rtk_t *rtk, char *buff, int level) { ssat_t *ssat; double tow,pos[3],vel[3],acc[3],*x; @@ -184,17 +184,23 @@ extern int pppoutstat(rtk_t *rtk, char *buff) rtk->ssat[i].azel[1]*R2D,x[j],STD(rtk,j)); } } -#ifdef OUTSTAT_AMB - /* ambiguity parameters */ - int k; - for (i=0;iopt);j++) { - k=IB(i+1,j,&rtk->opt); - if (rtk->x[k]==0.0) continue; + if (level <= 1) return (int)(p-buff); + + /* Write residuals and status */ + for (int i=0;issat+i; + if (!ssat->vs) continue; satno2id(i+1,id); - p+=sprintf(p,"$AMB,%d,%.3f,%d,%s,%d,%.4f,%.4f\n",week,tow, - rtk->sol.stat,id,j+1,x[k],STD(rtk,k)); + for (int j=0;jopt);j++) { + int k=IB(i+1,j,&rtk->opt); + p+=sprintf(p,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%u,%u,%u,%.2f,%.6f,%.5f\n", + week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D, + ssat->resp[j],ssat->resc[j],ssat->vsat[j],ssat->snr_rover[j], + ssat->fix[j],ssat->slip[j]&(LLI_SLIP|LLI_HALFC),ssat->lock[j],ssat->outc[j], + ssat->slipc[j],ssat->rejc[j],knx?rtk->x[k]:0, + knx?rtk->P[k+k*rtk->nx]:0,ssat->icbias[j]); + } } -#endif return (int)(p-buff); } /* exclude meas of eclipsing satellite (block IIA) ---------------------------*/ @@ -382,28 +388,27 @@ static inline void initx(rtk_t *rtk, double xi, double var, int i) rtk->P[i+i*rtk->nx]=var; } /* geometry-free phase measurement -------------------------------------------*/ -static double gfmeas(const obsd_t *obs, const nav_t *nav) +static double gfmeas(const obsd_t *obs, const nav_t *nav, int f2) { double freq1,freq2; freq1=sat2freq(obs->sat,obs->code[0],nav); - freq2=sat2freq(obs->sat,obs->code[1],nav); - if (freq1==0.0||freq2==0.0||obs->L[0]==0.0||obs->L[1]==0.0) return 0.0; - return (obs->L[0]/freq1-obs->L[1]/freq2)*CLIGHT; + freq2=sat2freq(obs->sat,obs->code[f2],nav); + if (freq1==0.0||freq2==0.0||obs->L[0]==0.0||obs->L[f2]==0.0) return 0.0; + return (obs->L[0]/freq1-obs->L[f2]/freq2)*CLIGHT; } /* Melbourne-Wubbena linear combination --------------------------------------*/ -static double mwmeas(const obsd_t *obs, const nav_t *nav) +static double mwmeas(const obsd_t *obs, const nav_t *nav, int f2) { double freq1,freq2; freq1=sat2freq(obs->sat,obs->code[0],nav); - freq2=sat2freq(obs->sat,obs->code[1],nav); + freq2=sat2freq(obs->sat,obs->code[f2],nav); - if (freq1==0.0||freq2==0.0||obs->L[0]==0.0||obs->L[1]==0.0|| - obs->P[0]==0.0||obs->P[1]==0.0) return 0.0; - trace(3,"mwmeas: %12.1f %12.1f %15.3f %15.3f %15.3f %15.3f %d %d\n",freq1,freq2,obs->L[0],obs->L[1],obs->P[0],obs->P[1],obs->code[0],obs->code[1]); - return (obs->L[0]-obs->L[1])*CLIGHT/(freq1-freq2)- - (freq1*obs->P[0]+freq2*obs->P[1])/(freq1+freq2); + if (freq1==0.0||freq2==0.0||obs->L[0]==0.0||obs->L[f2]==0.0|| + obs->P[0]==0.0||obs->P[f2]==0.0) return 0.0; + return (obs->L[0]-obs->L[f2])*CLIGHT/(freq1-freq2)- + (freq1*obs->P[0]+freq2*obs->P[f2])/(freq1+freq2); } /* antenna corrected measurements --------------------------------------------*/ static void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel, @@ -426,18 +431,11 @@ static void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel, P[i]=obs->P[i] -dants[i]-dantr[i]; double P_nobias = P[i]; if (opt->sateph==EPHOPT_SSRAPC||opt->sateph==EPHOPT_SSRCOM) { - /* select SSR code correction based on code */ - if (sys==SYS_GPS) - ix=(i==0?CODE_L1W-1:CODE_L2W-1); - else if (sys==SYS_GLO) - ix=(i==0?CODE_L1P-1:CODE_L2P-1); - else if (sys==SYS_GAL) - ix=(i==0?CODE_L1X-1:CODE_L7X-1); /* apply SSR correction */ - P[i]+=(nav->ssr[obs->sat-1].cbias[obs->code[i]-1]-nav->ssr[obs->sat-1].cbias[ix]); + P[i]-=nav->ssr[obs->sat-1].cbias[obs->code[i]-1]; } else { /* apply code bias corrections from file */ - P[i]-=code2bias(nav,sys,obs->sat,obs->code[i],0); /* differential bias*/ + P[i]-=code2bias(nav,sys,obs->sat,obs->code[i],1); /* absolute bias*/ } trace(4,"sys=%d sat=%d frq=%d, P: %.3f->%.3f, dt=%.3f\n",sys,obs->sat,i,P_nobias,P[i],(P[i]-P_nobias)/(1E-9*CLIGHT)); } @@ -450,6 +448,7 @@ static void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel, if (L[0]!=0.0&&L[frq2]!=0.0) *Lc=C1*L[0]+C2*L[frq2]; if (P[0]!=0.0&&P[frq2]!=0.0) *Pc=C1*P[0]+C2*P[frq2]; + trace(4,"corr_meas: sat=%d f2=%d, Lc=%.3f Pc=%.3f\n",obs->sat,frq2,*Lc,*Pc); } /* detect cycle slip by LLI --------------------------------------------------*/ static void detslp_ll(rtk_t *rtk, const obsd_t *obs, int n) @@ -470,49 +469,57 @@ static void detslp_ll(rtk_t *rtk, const obsd_t *obs, int n) /* detect cycle slip by geometry free phase jump -----------------------------*/ static void detslp_gf(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) { - double g0,g1; - int i,j; + double gf0,gf1; + int i,k,sat; trace(4,"detslp_gf: n=%d\n",n); + if (rtk->opt.thresslip==0) return; /* return if check disabled */ for (i=0;issat[obs[i].sat-1].gf[0]; - rtk->ssat[obs[i].sat-1].gf[0]=g1; - - trace(4,"detslip_gf: sat=%2d gf0=%8.3f gf1=%8.3f\n",obs[i].sat,g0,g1); - - if (g0!=0.0&&fabs(g1-g0)>rtk->opt.thresslip) { - trace(3,"detslip_gf: slip detected sat=%2d gf=%8.3f->%8.3f\n", - obs[i].sat,g0,g1); - - for (j=0;jopt.nf;j++) rtk->ssat[obs[i].sat-1].slip[j]|=LLI_SLIP; + sat=obs[i].sat; + for (k=1;kopt.nf;k++) { + /* skip check if slip already detected */ + if (rtk->ssat[sat-1].slip[k]&LLI_SLIP) continue; + /* calc SD geomotry free LC of phase between freq0 and freqk */ + if ((gf1=gfmeas(obs+i,nav,k))==0.0) continue; + + gf0=rtk->ssat[sat-1].gf[k-1]; /* retrieve previous gf */ + rtk->ssat[sat-1].gf[k-1]=gf1; /* save current gf for next epoch */ + + if (gf0!=0.0&&fabs(gf1-gf0)>rtk->opt.thresslip) { + rtk->ssat[sat-1].slip[0]|=LLI_SLIP; + rtk->ssat[sat-1].slip[k]|=LLI_SLIP; + trace(3,"slip detected GF jump (sat=%2d L1-L%d dGF=%.3f)\n", + sat,k+1,gf0-gf1); + } } } } /* detect slip by Melbourne-Wubbena linear combination jump ------------------*/ static void detslp_mw(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) { - double w0,w1; - int i,j; + double mw0,mw1; + int i,j,k,sat; trace(4,"detslp_mw: n=%d\n",n); for (i=0;issat[obs[i].sat-1].mw[0]; - rtk->ssat[obs[i].sat-1].mw[0]=w1; - - trace(4,"detslip_mw: sat=%2d mw0=%8.3f mw1=%8.3f\n",obs[i].sat,w0,w1); - - if (w0!=0.0&&fabs(w1-w0)>THRES_MW_JUMP) { - trace(3,"detslip_mw: slip detected sat=%2d mw=%8.3f->%8.3f\n", - obs[i].sat,w0,w1); - - for (j=0;jopt.nf;j++) rtk->ssat[obs[i].sat-1].slip[j]|=LLI_SLIP; + sat=obs[i].sat; + for (k=1;kopt.nf;k++) { + /* skip check if slip already detected */ + if (rtk->ssat[sat-1].slip[k]&LLI_SLIP) continue; + /* calc MW LC of phase between freq0 and freqk */ + if ((mw1=mwmeas(obs+i,nav,k))==0.0) continue; + + mw0=rtk->ssat[sat-1].mw[k-1]; /* retrieve previous mw */ + rtk->ssat[sat-1].mw[k-1]=mw1; /* save current mw for next epoch */ + + if (mw0!=0.0&&fabs(mw1-mw0)>THRES_MW_JUMP) { + rtk->ssat[sat-1].slip[0]|=LLI_SLIP; + rtk->ssat[sat-1].slip[k]|=LLI_SLIP; + trace(3,"slip detected MW jump (sat=%2d L1-L%d dMW=%.3f)\n", + sat,k+1,mw0-mw1); + } } } } @@ -659,7 +666,7 @@ static void udtrop_ppp(rtk_t *rtk) /* temporal update of ionospheric parameters ---------------------------------*/ static void udiono_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) { - double freq1,freq2,ion,sinel,pos[3],*azel; + double freq1,freq2,ion,sinel,pos[3],*azel,var=VAR_IONO; char *p; int i,j,f2,gap_resion=GAP_RESION,sat; @@ -675,27 +682,56 @@ static void udiono_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) rtk->x[j]=0.0; } } + /* reset ionosphere states if VTEC corrections just became available */ + if (rtk->vtec_used==0&&nav->vtec.nlay>0) { + for (i=0;ix[II(i+1,&rtk->opt)]=0.0; + } + rtk->vtec_used=1; // indicate that vtec coeffs have been used + } for (i=0;iopt); - if (rtk->x[j]==0.0) { + if (rtk->x[j]==0.0&&(int)rtk->ssat[i].outc[0]<=gap_resion) { /* initialize ionosphere delay estimates if zero */ + ecef2pos(rtk->sol.rr,pos); + azel=rtk->ssat[sat-1].azel; f2=seliflc(rtk->opt.nf,satsys(sat,NULL)); + if (testsnr(0,0,azel[1],obs[i].SNR[0],&rtk->opt.snrmask)) continue; freq1=sat2freq(sat,obs[i].code[0],nav); freq2=sat2freq(sat,obs[i].code[f2],nav); - if (obs[i].P[0]==0.0||obs[i].P[f2]==0.0||freq1==0.0||freq2==0.0) { - continue; + if (freq1==0.0) continue; + if (nav->vtec.nlay>0) { /* use VTEC if corrections available */ + ionvtec(obs[i].time,nav,pos,azel,freq1,&ion,&var); + if (var==0.0) continue; + } else { + if (obs[i].P[0]==0.0||obs[i].P[f2]==0.0||freq2==0.0|| + testsnr(0,f2,azel[1],obs[i].SNR[f2],&rtk->opt.snrmask)) { + continue; + } + /* use pseudorange difference adjusted by freq for initial estimate */ + int sys=satsys(sat,NULL); + double P0_corr=obs[i].P[0]; + double Pf_corr=obs[i].P[f2]; + if (rtk->opt.sateph==EPHOPT_SSRAPC||rtk->opt.sateph==EPHOPT_SSRCOM) { + /* apply SSR correction */ + P0_corr-=nav->ssr[obs->sat-1].cbias[obs[i].code[0]-1]; + Pf_corr-=nav->ssr[obs->sat-1].cbias[obs[i].code[f2]-1]; + } + else { /* apply code bias corrections from file */ + P0_corr-=code2bias(nav,sys,sat,obs[i].code[0],1); + Pf_corr-=code2bias(nav,sys,sat,obs[i].code[f2],1); + } + ion=(P0_corr-Pf_corr)/(SQR(FREQL1/freq1)-SQR(FREQL1/freq2)); + trace(3,"P1=%.3f P2=%.3f frq1=%.1f frq2=%.1f\n",obs[i].P[0],obs[i].P[f2],freq1,freq2); + var=VAR_IONO; } - /* use pseudorange difference adjusted by freq for initial estimate */ - ion=(obs[i].P[0]-obs[i].P[f2])/(SQR(FREQL1/freq1)-SQR(FREQL1/freq2)); - ecef2pos(rtk->sol.rr,pos); - azel=rtk->ssat[sat-1].azel; /* adjust delay estimate by path length */ ion/=ionmapf(pos,azel); - initx(rtk,ion,VAR_IONO,j); - trace(4,"ion init: sat=%d ion=%.4f\n",sat,ion); + initx(rtk,ion,var,j); + trace(3,"ion init: sat=%d ion=%.4f var=%.1f\n",sat,ion,var); } - else { + else { /* temporal update */ sinel=sin(MAX(rtk->ssat[sat-1].azel[1],5.0*D2R)); /* update variance of delay state */ rtk->P[j+j*rtk->nx]+=SQR(rtk->opt.prn[1]/sinel)*fabs(rtk->tt); @@ -739,7 +775,7 @@ static void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) detslp_mw(rtk,obs,n,nav); for (f=0;fopt);f++) { - + offset=0; /* reset phase-bias if expire obs outage counter */ for (i=0;issat[i].outc[f]>(uint32_t)rtk->opt.maxout|| @@ -757,7 +793,8 @@ static void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) if (rtk->opt.ionoopt==IONOOPT_IFLC) { bias[i]=Lc-Pc; - slip[i]=rtk->ssat[sat-1].slip[0]||rtk->ssat[sat-1].slip[1]; + int f2=seliflc(rtk->opt.nf,rtk->ssat[sat-1].sys); + slip[i]=rtk->ssat[sat-1].slip[0]||rtk->ssat[sat-1].slip[f2]; } else if (L[f]!=0.0&&P[f]!=0.0) { freq1=sat2freq(sat,obs[i].code[0],nav); @@ -794,6 +831,7 @@ static void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) /* reinitialize phase-bias if detecting cycle slip */ initx(rtk,bias[i],VAR_BIAS,IB(sat,f,&rtk->opt)); + trace(3,"init bias: sat=%d frq=%d\n", sat,f); /* reset fix flags */ for (k=0;kambc[sat-1].flags[k]=0; diff --git a/src/preceph.c b/src/preceph.c index b3e3928c2..0777c9d29 100644 --- a/src/preceph.c +++ b/src/preceph.c @@ -55,11 +55,12 @@ #define NMAX 10 /* order of polynomial interpolation */ #define MAXDTE 900.0 /* max time difference to ephem time (s) */ -#define EXTERR_CLK 1E-3 /* extrapolation error for clock (m/s) */ +#define EXTERR_CLK 0.4E-3 /* extrapolation error for clock (m/s) */ #define EXTERR_EPH 5E-7 /* extrapolation error for ephem (m/s^2) */ +#define MAX_BIAS_SYS 6 /* # of constellations supported */ /* table to translate code to code bias table index */ -static int8_t code_bias_ix[NSYS][MAXCODE]; +static int8_t code_bias_ix[MAX_BIAS_SYS][MAXCODE]; /* initialize code bias lookup table ------------------------------------------- * -1 = code not supported * 0 = reference code (0 bias) @@ -68,7 +69,7 @@ static int8_t code_bias_ix[NSYS][MAXCODE]; static void init_bias_ix(void) { int i,j; - for (i=0;ine>=nav->nemax) { - nav->nemax+=256; + nav->nemax += nav->nemax < 4 ? 1 : nav->nemax / 4; if (!(nav_peph=(peph_t *)realloc(nav->peph,sizeof(peph_t)*nav->nemax))) { trace(1,"readsp3b malloc error n=%d\n",nav->nemax); free(nav->peph); nav->peph=NULL; nav->ne=nav->nemax=0; @@ -186,6 +187,8 @@ static void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact, if (!strncmp(buff,"EOF",3)) break; + if (buff[0] == '/' && buff[1] == '*') continue; // Comment. + if (buff[0]!='*'||str2time(buff,3,28,&time)) { trace(2,"sp3 invalid epoch %31.31s\n",buff); continue; @@ -402,14 +405,16 @@ static int readdcbf(const char *file, nav_t *nav, const sta_t *sta) if ((cbias=str2num(buff,26,9))==0.0) continue; if (sta&&(!strcmp(str1,"G")||!strcmp(str1,"R"))) { /* receiver DCB */ -/* receiver DCBs never used in RTKLIB so remove support */ -// for (i=0;irbias[i][j][type-1]=cbias*1E-9*CLIGHT; /* ns -> m */ -// } +#ifdef RTK_DISABLED + /* Receiver DCBs never used in RTKLIB so remove support */ + for (i=0;irbias[i][j][type-1]=cbias*1E-9*CLIGHT; /* ns -> m */ + } +#endif } else if ((sat=satid2no(str1))) { /* satellite dcb */ nav->cbias[sat-1][type-1][0]=-cbias*1E-9*CLIGHT; /* ns -> m */ @@ -431,7 +436,7 @@ static int sys2ix(int sys) case SYS_QZS: return 4; case SYS_IRN: return 5; } - return 0; + return -1; } /* lookup code bias from table ---------------- * return 0 if not found @@ -442,10 +447,12 @@ extern double code2bias(const nav_t *nav, int sys, int sat, int code, int mode) int sys_ix,frq_ix,code_ix; double bias=0; + if (code <= CODE_NONE) return 0; sys_ix=sys2ix(sys); frq_ix=code2idx(sys,code); - if (frq_ix>=0&&sat<=MAXSAT) { + if (sys_ix >= 0 && sys_ix < MAX_BIAS_SYS && frq_ix >= 0 && sat <= MAXSAT) { code_ix = code_bias_ix[sys_ix][code]; + if (code_ix < 0) return 0; bias=nav->cbias[sat-1][frq_ix][code_ix]; // absolute bias if (mode==0) bias-=nav->cbias[sat-1][frq_ix][0]; // difference with reference @@ -459,7 +466,7 @@ static int readbiaf(const char *file, nav_t *nav) { FILE *fp; double cbias; - char buff[256],bias[6]="",svn[6]="",prn[6]="",obs1[6]="",obs2[6]; + char buff[256],bias[4]="",svn[4]="",prn[4]="",obs1[4]="",obs2[4]; int sat,sys_ix,frq_ix,code1,code2,bias_ix1,bias_ix2,sys; trace(3,"readbiaf: file=%s\n",file); @@ -469,12 +476,17 @@ static int readbiaf(const char *file, nav_t *nav) return 0; } while (fgets(buff,sizeof(buff),fp)) { - if (sscanf(buff,"%4s %5s %4s %4s %4s",bias,svn,prn,obs1,obs2)<5) continue; + if ((int)strlen(buff)<91) continue; + strncpy(bias, buff+1, 3); bias[3] ='\0'; + strncpy(prn, buff+11, 3); prn[3] ='\0'; + strncpy(obs1, buff+25, 3); obs1[3] ='\0'; + strncpy(obs2, buff+29, 3); obs2[3] ='\0'; if (obs1[0]!='C') continue; /* skip phase biases for now */ if ((cbias=str2num(buff,70,21))==0.0) continue; sat=satid2no(prn); sys=satsys(sat,NULL); sys_ix=sys2ix(sys); + if (sys_ix < 0 || sys_ix >= MAX_BIAS_SYS) continue; if (!(code1=obs2code(&obs1[1]))) continue; /* skip if code not valid */ if ((frq_ix=code2idx(sys,code1))<0) continue; if ((bias_ix1=code_bias_ix[sys_ix][code1])<0) continue; @@ -627,7 +639,7 @@ static int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs, else if (c[0]!=0.0&&c[1]!=0.0) { dts[0]=(c[1]*t[0]-c[0]*t[1])/(t[0]-t[1]); i=t[0]<-t[1]?0:1; - std=nav->peph[index+i].std[sat-1][3]+EXTERR_CLK*fabs(t[i]); + std = nav->peph[index+i].std[sat-1][3] * CLIGHT + EXTERR_CLK * fabs(t[i]); } else { dts[0]=0.0; @@ -635,9 +647,10 @@ static int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs, if (varc) *varc=SQR(std); return 1; } + /* satellite clock by precise clock ------------------------------------------*/ -extern int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts, - double *varc) +static int pephclk1(gtime_t time, int sat, const nav_t *nav, double *dts, + double *varc) { double t[2],c[2],std; int i,j,k,index; @@ -649,7 +662,7 @@ extern int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts, timediff(time,nav->pclk[0].time)<-MAXDTE|| timediff(time,nav->pclk[nav->nc-1].time)>MAXDTE) { trace(3,"no prec clock %s sat=%2d\n",time2str(time,tstr,0),sat); - return 1; + return 0; } /* binary search */ for (i=0,j=nav->nc-1;inbyte==0) { - if (!sync_ubx(raw->buff,data)) return 0; - raw->nbyte=2; + if (sync_ubx(raw->buff,data)) raw->nbyte=2; return 0; } raw->buff[raw->nbyte++]=data; diff --git a/src/rcv/unicore.c b/src/rcv/unicore.c index 1249dccc7..c578b8419 100644 --- a/src/rcv/unicore.c +++ b/src/rcv/unicore.c @@ -497,14 +497,12 @@ static int decode_bdsephb(raw_t* raw) { eph_t eph = { 0 }; uint8_t* p = raw->buff + HLEN; - double ura; - int prn, sat, toc; if (raw->len < HLEN + 232) { trace(2, "unicore bdsephb length error: len=%d\n", raw->len); return -1; } - prn = U4(p); p += 4; + int prn = U4(p); p += 4; double tow = R8(p); p += 8; (void)tow; eph.svh = U4(p); p += 4; @@ -532,7 +530,7 @@ static int decode_bdsephb(raw_t* raw) eph.OMGd = R8(p); p += 8; eph.iodc = U4(p); p += 4; - toc = R8(p); p += 8; + double toc = R8(p); p += 8; eph.tgd[0] = R8(p); p += 8; /* TGD1 for B1 (s) */ eph.tgd[1] = R8(p); p += 8; /* TGD2 for B2 (s) */ @@ -545,10 +543,10 @@ static int decode_bdsephb(raw_t* raw) (void)as; double N = R8(p); p += 8; (void)N; - ura = R8(p); p += 8; - + double ura = R8(p); p += 8; - if (!(sat = satno(SYS_CMP, prn))) { + int sat = satno(SYS_CMP, prn); + if (!sat) { trace(2, "unicore bdsephb satellite error: prn=%d\n", prn); return -1; } diff --git a/src/rcvraw.c b/src/rcvraw.c index 99ce3ad92..512040e3f 100644 --- a/src/rcvraw.c +++ b/src/rcvraw.c @@ -568,7 +568,6 @@ static int decode_bds_d1_eph(const uint8_t *buff, eph_t *eph) eph_bds.f2 =getbits (buff,i+214,11)*P2_66; eph_bds.f0 =getbits2(buff,i+225, 7,i+240,17)*P2_33; eph_bds.f1 =getbits2(buff,i+257, 5,i+270,17)*P2_50; - eph_bds.iode =getbitu (buff,i+287, 5); /* AODE */ i=8*38*1; /* subframe 2 */ frn2 =getbitu (buff,i+ 15, 3); @@ -611,6 +610,7 @@ static int decode_bds_d1_eph(const uint8_t *buff, eph_t *eph) toc_bds); return 0; } + eph_bds.iode =((int)(toc_bds/720.0))%240; /* per BeiDou ICD */ eph_bds.ttr=bdt2gpst(bdt2time(eph_bds.week,sow1)); /* bdt -> gpst */ if (eph_bds.toes>sow1+302400.0) eph_bds.week++; else if (eph_bds.toeshalfc[i][j]=0; raw->lockflag[i][j]=0; } - raw->icpp[i]=raw->off[i]=raw->prCA[i]=raw->dpCA[i]=0.0; + raw->prCA[i]=raw->dpCA[i]=0.0; } for (i=0;ifreqn[i]=0; - raw->icpc=0.0; raw->nbyte=raw->len=0; raw->iod=raw->flag=raw->tbase=raw->outtype=0; raw->tod=-1; diff --git a/src/rinex.c b/src/rinex.c index 1bcd288b0..4b3beea7f 100644 --- a/src/rinex.c +++ b/src/rinex.c @@ -671,11 +671,31 @@ static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys, } else if (strstr(label,"RINEX VERSION / TYPE")) { *ver=str2num(buff,0,9); - // Format change for clock files >=3.04 - *type=(*ver<3.04||flag==0)?*(buff+20):*(buff+21); + char sc; + if (*ver >= 3.04) { + // The format changed for clock files >=3.04. + if (flag == 1) { // Expecting a clock file. + *type = buff[21]; + sc = buff[42]; + if (*type != 'C') { + *type = buff[20]; + sc = buff[40]; + } + } else { // Not expecting a clock file. + *type = buff[20]; + sc = buff[40]; + if (*type == ' ' && buff[21] == 'C') { + *type = buff[21]; + sc = buff[42]; + } + } + } else { + *type = buff[20]; + sc = buff[40]; + } // Satellite system - switch ((*ver<3.04||flag==0)?*(buff+40):*(buff+42)) { + switch (sc) { case ' ': case 'G': *sys=SYS_GPS; *tsys=TSYS_GPS; break; case 'R': *sys=SYS_GLO; *tsys=TSYS_UTC; break; @@ -686,7 +706,7 @@ static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys, case 'I': *sys=SYS_IRN; *tsys=TSYS_IRN; break; /* v.3.03 */ case 'M': *sys=SYS_NONE; *tsys=TSYS_GPS; break; /* mixed */ default : - trace(2,"not supported satellite system: %c\n",*(buff+40)); + trace(2,"not supported satellite system: %c\n", sc); break; } continue; @@ -1538,34 +1558,33 @@ static int readrnxnav(FILE *fp, const char *opt, double ver, int sys, /* read RINEX clock ----------------------------------------------------------*/ static int readrnxclk(FILE *fp, const char *opt, double ver, int index, nav_t *nav) { - pclk_t *nav_pclk; - gtime_t time; - double data[2]; - int i,j,sat,mask,off; - char buff[MAXRNXLEN],satid[8]=""; - trace(3,"readrnxclk: index=%d\n", index); if (!nav) return 0; + pclk_t *nav_pclk; + char buff[MAXRNXLEN]; /* set system mask */ - mask=set_sysmask(opt); - off=ver>=3.04?5:0; /* format change for ver>=3.04 */ + int mask=set_sysmask(opt); + int off=ver>=3.04?5:0; /* format change for ver>=3.04 */ while (fgets(buff,sizeof(buff),fp)) { - + gtime_t time; if (str2time(buff,8+off,26,&time)) { trace(2,"rinex clk invalid epoch: %34.34s\n",buff); continue; } + char satid[8]=""; memcpy(satid,buff+3,4); /* only read AS (satellite clock) record */ + int sat; if (strncmp(buff,"AS",2)||!(sat=satid2no(satid))) continue; if (!(satsys(sat,NULL)&mask)) continue; - for (i=0,j=40+off;i<2;i++,j+=20) data[i]=str2num(buff,j,19); + double data[2]; + for (int i=0,j=40+off;i<2;i++,j+=20) data[i]=str2num(buff,j,19); if (nav->nc>=nav->ncmax) { nav->ncmax+=1024; @@ -1580,7 +1599,7 @@ static int readrnxclk(FILE *fp, const char *opt, double ver, int index, nav_t *n nav->nc++; nav->pclk[nav->nc-1].time =time; nav->pclk[nav->nc-1].index=index; - for (i=0;ipclk[nav->nc-1].clk[i][0]=0.0; nav->pclk[nav->nc-1].std[i][0]=0.0f; } @@ -1588,6 +1607,40 @@ static int readrnxclk(FILE *fp, const char *opt, double ver, int index, nav_t *n nav->pclk[nav->nc-1].clk[sat-1][0]=data[0]; nav->pclk[nav->nc-1].std[sat-1][0]=(float)data[1]; } + + // Interpolate the standard deviations. The standard deviations can be + // supplied at a lower rate than the clock biases, e.g. 30 sec biases with + // 5 minute standard deviations. + for (int k = 0; k < MAXSAT; k++) { + int last_std_idx = -1; + for (int i = 0; i < nav->nc; i++) { + double std = nav->pclk[i].std[k][0]; + if (std > 0) { + if (last_std_idx < 0) { + for (int j = 0; j < i; j++) + if (nav->pclk[j].clk[k][0] != 0) nav->pclk[j].std[k][0] = std; + } else { + // Linear interpolation of the variance. + for (int j = last_std_idx + 1; j < i; j++) { + if (nav->pclk[j].clk[k][0] != 0) { + double last_std = nav->pclk[last_std_idx].std[k][0]; + double t0 = timediff(nav->pclk[j].time, nav->pclk[last_std_idx].time); + double t1 = timediff(nav->pclk[j].time, nav->pclk[i].time); + double var = (SQR(std) * t0 - SQR(last_std) * t1) / (t0 - t1); + nav->pclk[j].std[k][0] = (float)sqrt(var); + } + } + } + last_std_idx = i; + } + } + if (last_std_idx >= 0) { + double last_std = nav->pclk[last_std_idx].std[k][0]; + for (int j = last_std_idx + 1; j < nav->nc; j++) + if (nav->pclk[j].clk[k][0] != 0) nav->pclk[j].std[k][0] = last_std; + } + } + return nav->nc>0; } /* read RINEX file -----------------------------------------------------------*/ @@ -2321,7 +2374,7 @@ static void outrnxobsf(FILE *fp, double obs, int lli, int std) static int obsindex(int rnxver, int sys, const uint8_t *code, const char *tobs, const char *mask) { - char *id; + const char *id; int i; for (i=0;idgps=NULL; for (i=0;issr[i]=ssr0; + rtcm->ssr[i].iode= -1; } rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0'; for (i=0;i<6;i++) rtcm->msmtype[i][0]='\0'; @@ -128,6 +129,7 @@ extern int init_rtcm(rtcm_t *rtcm) for (int i = 0; i < MAXPRNGLO; i++) rtcm->nav.geph[i] = geph0; } rtcm->nav.ng = rtcm->nav.ngmax = MAXPRNGLO; + for (int i = 0; i < 32; i++) rtcm->nav.glo_fcn[i] = 0; return 1; } diff --git a/src/rtcm3.c b/src/rtcm3.c index d3baa2e0b..7a284241b 100644 --- a/src/rtcm3.c +++ b/src/rtcm3.c @@ -101,8 +101,9 @@ const char *msm_sig_gal[32] = { "", "", "", "", "", "", "", ""}; // 25-32 const char *msm_sig_qzs[32] = { // QZSS: ref [17] table 3.5-105. - // 1E, 1Z, 1B, 6E, 6Z, 5D, 5P, 5Z are tentative from the PocketSDR extensions - "", "1C", "", "", "1E", "1Z", "1B", "", "6S", "6L", "6X", "6E", // 1-12 + // 1E(4), 1Z, 1B, 6E, 6Z, 5D, 5P, 5Z are tentative from the PocketSDR extensions + // 1E(2) seen from Trimble station. + "", "1C", "1E", "", "1E", "1Z", "1B", "", "6S", "6L", "6X", "6E", // 1-12 "6Z", "", "2S", "2L", "2X", "", "", "", "", "5I", "5Q", "5X", // 13-24 "5D", "5P", "5Z", "", "", "1S", "1L", "1X"}; // 25-32 const char *msm_sig_sbs[32] = { @@ -110,7 +111,7 @@ const char *msm_sig_sbs[32] = { "", "1C", "", "", "", "", "", "", "", "", "", "", // 1-12 "", "", "", "", "", "", "", "", "", "5I", "5Q", "5X", // 13-24 "", "", "", "", "", "", "", ""}; // 25-32 -const char *msm_sig_cmp[32] = { +const char *msm_sig_bds[32] = { // BeiDou: ref [17] table 3.5-108. // 1S, 1L, 1Z, 6D, 6P, 6Z, 7P, 7Z, 8D, 8P, 8X are tentative from the PocketSDR extensions "", "2I", "2Q", "2X", "1S", "1L", "1Z", "6I", "6Q", "6X", "6D", "6P", // 1-12 @@ -124,33 +125,65 @@ const char *msm_sig_irn[32] = { "", "", "", "", "", "", "", "", "", "5A", "5B", "5C", // 13-24 "5X", "", "", "", "", "", "", ""}; // 25-32 -/* SSR signal and tracking mode IDs ------------------------------------------*/ +/* RTCM SSR signal and tracking mode IDs --------------------------------------*/ +// Signals L1S and L1L have intentional redundant entries, as producers +// currently vary in usage. const uint8_t ssr_sig_gps[32]={ CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1S,CODE_L1L,CODE_L2C,CODE_L2D,CODE_L2S, - CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W, 0, 0,CODE_L5I,CODE_L5Q + CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W,CODE_L2Y,CODE_L2M,CODE_L5I,CODE_L5Q, + CODE_L5X,CODE_L1S,CODE_L1L,CODE_L1X }; const uint8_t ssr_sig_glo[32]={ + CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P,CODE_L4A,CODE_L4B,CODE_L4X,CODE_L6A, + CODE_L6B,CODE_L6X,CODE_L3I,CODE_L3Q,CODE_L3X +}; +const uint8_t ssr_sig_gal[32]={ + CODE_L1A,CODE_L1B,CODE_L1C,CODE_L1X,CODE_L1Z,CODE_L5I,CODE_L5Q,CODE_L5X, + CODE_L7I,CODE_L7Q,CODE_L7X,CODE_L8I,CODE_L8Q,CODE_L8X,CODE_L6A,CODE_L6B, + CODE_L6C,CODE_L6X,CODE_L6Z +}; +const uint8_t ssr_sig_qzs[32]={ + CODE_L1C,CODE_L1S,CODE_L1L,CODE_L2S,CODE_L2L,CODE_L2X,CODE_L5I,CODE_L5Q, + CODE_L5X,CODE_L6S,CODE_L6L,CODE_L6X,CODE_L1X,CODE_L1Z,CODE_L5D,CODE_L5P, + CODE_L5Z,CODE_L6E,CODE_L6Z +}; +const uint8_t ssr_sig_bds[32]={ + CODE_L2I,CODE_L2Q,CODE_L2X,CODE_L6I,CODE_L6Q,CODE_L6X,CODE_L7I,CODE_L7Q, + CODE_L7X,CODE_L1D,CODE_L1P,CODE_L1X,CODE_L5D,CODE_L5P,CODE_L5X,CODE_L1A, + 0, 0,CODE_L6A +}; +const uint8_t ssr_sig_sbs[32]={ + CODE_L1C,CODE_L5I,CODE_L5Q +}; + +/* IGS SSR signal and tracking mode IDs ---------------------------------------*/ +const uint8_t ssr_igs_sig_gps[32]={ + CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1S,CODE_L1L,CODE_L2C,CODE_L2D,CODE_L2S, + CODE_L2L, 0,CODE_L2P,CODE_L2W, 0, 0,CODE_L5I,CODE_L5Q +}; +const uint8_t ssr_igs_sig_glo[32]={ CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P,CODE_L4A,CODE_L4B,CODE_L6A,CODE_L6B, CODE_L3I,CODE_L3Q }; -const uint8_t ssr_sig_gal[32]={ +const uint8_t ssr_igs_sig_gal[32]={ CODE_L1A,CODE_L1B,CODE_L1C, 0, 0,CODE_L5I,CODE_L5Q, 0, - CODE_L7I,CODE_L7Q, 0,CODE_L8I,CODE_L8Q, 0,CODE_L6A,CODE_L6B, + CODE_L7I,CODE_L7Q, 0, 0, 0, 0,CODE_L6A,CODE_L6B, CODE_L6C }; -const uint8_t ssr_sig_qzs[32]={ +const uint8_t ssr_igs_sig_qzs[32]={ CODE_L1C,CODE_L1S,CODE_L1L,CODE_L2S,CODE_L2L, 0,CODE_L5I,CODE_L5Q, 0,CODE_L6S,CODE_L6L, 0, 0, 0, 0, 0, 0,CODE_L6E }; -const uint8_t ssr_sig_cmp[32]={ +const uint8_t ssr_igs_sig_bds[32]={ CODE_L2I,CODE_L2Q, 0,CODE_L6I,CODE_L6Q, 0,CODE_L7I,CODE_L7Q, 0,CODE_L1D,CODE_L1P, 0,CODE_L5D,CODE_L5P, 0,CODE_L1A, 0, 0,CODE_L6A }; -const uint8_t ssr_sig_sbs[32]={ +const uint8_t ssr_igs_sig_sbs[32]={ CODE_L1C,CODE_L5I,CODE_L5Q }; + /* SSR update intervals ------------------------------------------------------*/ static const double ssrudint[16]={ 1,2,5,10,15,30,60,120,240,300,600,900,1800,3600,7200,10800 @@ -1437,7 +1470,7 @@ static int decode_type1042(rtcm_t *rtcm) week =getbitu(rtcm->buff,i,13); i+=13; eph.sva =getbitu(rtcm->buff,i, 4); i+= 4; eph.idot =getbits(rtcm->buff,i,14)*P2_43*SC2RAD; i+=14; - eph.iode =getbitu(rtcm->buff,i, 5); i+= 5; /* AODE */ + i+= 5; /* AODE */ toc =getbitu(rtcm->buff,i,17)*8.0; i+=17; eph.f2 =getbits(rtcm->buff,i,11)*P2_66; i+=11; eph.f1 =getbits(rtcm->buff,i,22)*P2_50; i+=22; @@ -1479,6 +1512,7 @@ static int decode_type1042(rtcm_t *rtcm) } eph.sat=sat; eph.week=adjbdtweek(week); + eph.iode =((int)(toc/720.0))%240; /* per BeiDou ICD */ if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget()); tt=timediff(bdt2gpst(bdt2time(eph.week,eph.toes)),rtcm->time); if (tt<-302400.0) eph.week++; @@ -1608,7 +1642,7 @@ static int decode_ssr1(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr1_head(rtcm,sys,subtype,&sync,&iod,&udint,&refd,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } switch (sys) { @@ -1616,14 +1650,13 @@ static int decode_ssr1(rtcm_t *rtcm, int sys, int subtype) case SYS_GLO: np=5; ni= 8; nj= 0; offp= 0; break; case SYS_GAL: np=6; ni=10; nj= 0; offp= 0; break; case SYS_QZS: np=4; ni= 8; nj= 0; offp=192; break; - case SYS_CMP: np=6; ni=10; nj=24; offp= 1; break; + case SYS_CMP: np=6; ni=10; nj=8; offp= 0; break; case SYS_SBS: np=6; ni= 9; nj=24; offp=120; break; default: return sync?0:10; } if (subtype>0) { /* IGS SSR */ np=6; ni=8; nj=0; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } for (j=0;jlen*8;j++) { prn =getbitu(rtcm->buff,i,np)+offp; i+=np; @@ -1637,12 +1670,15 @@ static int decode_ssr1(rtcm_t *rtcm, int sys, int subtype) ddeph[2]=getbits(rtcm->buff,i,19)*4E-6; i+=19; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [0]=rtcm->time; rtcm->ssr[sat-1].udi[0]=udint; rtcm->ssr[sat-1].iod[0]=iod; + if (sys==SYS_CMP && subtype==0) { + iode=iodcrc; /* BDS per-satellite SSR IOD */ + } rtcm->ssr[sat-1].iode=iode; /* SBAS/BDS: toe/t0 modulo */ rtcm->ssr[sat-1].iodcrc=iodcrc; /* SBAS/BDS: IOD CRC */ rtcm->ssr[sat-1].refd=refd; @@ -1664,7 +1700,7 @@ static int decode_ssr2(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } switch (sys) { @@ -1672,14 +1708,13 @@ static int decode_ssr2(rtcm_t *rtcm, int sys, int subtype) case SYS_GLO: np=5; offp= 0; break; case SYS_GAL: np=6; offp= 0; break; case SYS_QZS: np=4; offp=192; break; - case SYS_CMP: np=6; offp= 1; break; + case SYS_CMP: np=6; offp= 0; break; case SYS_SBS: np=6; offp=120; break; default: return sync?0:10; } if (subtype>0) { /* IGS SSR */ np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } for (j=0;jlen*8;j++) { prn =getbitu(rtcm->buff,i,np)+offp; i+=np; @@ -1688,7 +1723,7 @@ static int decode_ssr2(rtcm_t *rtcm, int sys, int subtype) dclk[2]=getbits(rtcm->buff,i,27)*2E-8; i+=27; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [1]=rtcm->time; @@ -1712,22 +1747,29 @@ static int decode_ssr3(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } - switch (sys) { + if (subtype>0) { /* IGS SSR */ + switch (sys) { + case SYS_GPS: np=6; offp= 0; sigs=ssr_igs_sig_gps; break; + case SYS_GLO: np=6; offp= 0; sigs=ssr_igs_sig_glo; break; + case SYS_GAL: np=6; offp= 0; sigs=ssr_igs_sig_gal; break; + case SYS_QZS: np=6; offp=192; sigs=ssr_igs_sig_qzs; break; + case SYS_CMP: np=6; offp= 0; sigs=ssr_igs_sig_bds; break; + case SYS_SBS: np=6; offp=119; sigs=ssr_igs_sig_sbs; break; + default: return sync?0:10; + } + } else { + switch (sys) { case SYS_GPS: np=6; offp= 0; sigs=ssr_sig_gps; break; case SYS_GLO: np=5; offp= 0; sigs=ssr_sig_glo; break; case SYS_GAL: np=6; offp= 0; sigs=ssr_sig_gal; break; case SYS_QZS: np=4; offp=192; sigs=ssr_sig_qzs; break; - case SYS_CMP: np=6; offp= 1; sigs=ssr_sig_cmp; break; + case SYS_CMP: np=6; offp= 0; sigs=ssr_sig_bds; break; case SYS_SBS: np=6; offp=120; sigs=ssr_sig_sbs; break; default: return sync?0:10; - } - if (subtype>0) { /* IGS SSR */ - np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + } } for (j=0;jlen*8;j++) { prn =getbitu(rtcm->buff,i,np)+offp; i+=np; @@ -1741,11 +1783,11 @@ static int decode_ssr3(rtcm_t *rtcm, int sys, int subtype) cbias[sigs[mode]-1]=bias; } else { - trace(2,"rtcm3 %d not supported mode: mode=%d\n",type,mode); + trace(2,"rtcm3 %d/%d not supported mode: mode=%d\n",type,subtype,mode); } } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [4]=rtcm->time; @@ -1768,7 +1810,7 @@ static int decode_ssr4(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr1_head(rtcm,sys,subtype,&sync,&iod,&udint,&refd,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } switch (sys) { @@ -1776,14 +1818,13 @@ static int decode_ssr4(rtcm_t *rtcm, int sys, int subtype) case SYS_GLO: np=5; ni= 8; nj= 0; offp= 0; break; case SYS_GAL: np=6; ni=10; nj= 0; offp= 0; break; case SYS_QZS: np=4; ni= 8; nj= 0; offp=192; break; - case SYS_CMP: np=6; ni=10; nj=24; offp= 1; break; + case SYS_CMP: np=6; ni=10; nj= 8; offp= 0; break; case SYS_SBS: np=6; ni= 9; nj=24; offp=120; break; default: return sync?0:10; } if (subtype>0) { /* IGS SSR */ np=6; ni=8; nj=0; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } for (j=0;jlen*8;j++) { prn =getbitu(rtcm->buff,i,np)+offp; i+=np; @@ -1801,12 +1842,15 @@ static int decode_ssr4(rtcm_t *rtcm, int sys, int subtype) dclk [2]=getbits(rtcm->buff,i,27)*2E-8; i+=27; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [0]=rtcm->ssr[sat-1].t0 [1]=rtcm->time; rtcm->ssr[sat-1].udi[0]=rtcm->ssr[sat-1].udi[1]=udint; rtcm->ssr[sat-1].iod[0]=rtcm->ssr[sat-1].iod[1]=iod; + if (sys==SYS_CMP && subtype==0) { + iode=iodcrc; /* BDS per-satellite SSR IOD */ + } rtcm->ssr[sat-1].iode=iode; rtcm->ssr[sat-1].iodcrc=iodcrc; rtcm->ssr[sat-1].refd=refd; @@ -1829,7 +1873,7 @@ static int decode_ssr5(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } switch (sys) { @@ -1837,21 +1881,20 @@ static int decode_ssr5(rtcm_t *rtcm, int sys, int subtype) case SYS_GLO: np=5; offp= 0; break; case SYS_GAL: np=6; offp= 0; break; case SYS_QZS: np=4; offp=192; break; - case SYS_CMP: np=6; offp= 1; break; + case SYS_CMP: np=6; offp= 0; break; case SYS_SBS: np=6; offp=120; break; default: return sync?0:10; } if (subtype>0) { /* IGS SSR */ np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } for (j=0;jlen*8;j++) { prn=getbitu(rtcm->buff,i,np)+offp; i+=np; ura=getbitu(rtcm->buff,i, 6); i+= 6; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [3]=rtcm->time; @@ -1871,7 +1914,7 @@ static int decode_ssr6(rtcm_t *rtcm, int sys, int subtype) type=getbitu(rtcm->buff,24,12); if ((nsat=decode_ssr2_head(rtcm,sys,subtype,&sync,&iod,&udint,&i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } switch (sys) { @@ -1879,21 +1922,20 @@ static int decode_ssr6(rtcm_t *rtcm, int sys, int subtype) case SYS_GLO: np=5; offp= 0; break; case SYS_GAL: np=6; offp= 0; break; case SYS_QZS: np=4; offp=192; break; - case SYS_CMP: np=6; offp= 1; break; + case SYS_CMP: np=6; offp= 0; break; case SYS_SBS: np=6; offp=120; break; default: return sync?0:10; } if (subtype>0) { /* IGS SSR */ np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } for (j=0;jlen*8;j++) { prn =getbitu(rtcm->buff,i,np)+offp; i+=np; hrclk=getbits(rtcm->buff,i,22)*1E-4; i+=22; if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [2]=rtcm->time; @@ -1947,7 +1989,7 @@ static int decode_ssr7_head(rtcm_t *rtcm, int sys, int subtype, int *sync, static int decode_ssr7(rtcm_t *rtcm, int sys, int subtype) { const uint8_t *sigs; - double udint,bias,std=0.0,pbias[MAXCODE],stdpb[MAXCODE]; + double udint,bias,pbias[MAXCODE]; int i,j,k,type,mode,sync,iod,nsat,prn,sat,nbias,np,mw,offp,sii,swl; int dispe,sdc,yaw_ang,yaw_rate; @@ -1955,21 +1997,29 @@ static int decode_ssr7(rtcm_t *rtcm, int sys, int subtype) if ((nsat=decode_ssr7_head(rtcm,sys,subtype,&sync,&iod,&udint,&dispe,&mw, &i))<0) { - trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len); + trace(2,"rtcm3 %d/%d length error: len=%d\n",type,subtype,rtcm->len); return -1; } - switch (sys) { + if (subtype>0) { /* IGS SSR */ + switch (sys) { + case SYS_GPS: np=6; offp= 0; sigs=ssr_igs_sig_gps; break; + case SYS_GLO: np=6; offp= 0; sigs=ssr_igs_sig_glo; break; + case SYS_GAL: np=6; offp= 0; sigs=ssr_igs_sig_gal; break; + case SYS_QZS: np=6; offp=192; sigs=ssr_igs_sig_qzs; break; + case SYS_CMP: np=6; offp= 0; sigs=ssr_igs_sig_bds; break; + case SYS_SBS: np=6; offp=119; sigs=ssr_igs_sig_sbs; break; + default: return sync?0:10; + } + } else { + switch (sys) { case SYS_GPS: np=6; offp= 0; sigs=ssr_sig_gps; break; case SYS_GLO: np=5; offp= 0; sigs=ssr_sig_glo; break; case SYS_GAL: np=6; offp= 0; sigs=ssr_sig_gal; break; case SYS_QZS: np=4; offp=192; sigs=ssr_sig_qzs; break; - case SYS_CMP: np=6; offp= 1; sigs=ssr_sig_cmp; break; + case SYS_CMP: np=6; offp= 0; sigs=ssr_sig_bds; break; + case SYS_SBS: np=6; offp=120; sigs=ssr_sig_sbs; break; default: return sync?0:10; - } - if (subtype>0) { /* IGS SSR */ - np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + } } for (j=0;jlen*8;j++) { prn =getbitu(rtcm->buff,i,np)+offp; i+=np; @@ -1977,26 +2027,22 @@ static int decode_ssr7(rtcm_t *rtcm, int sys, int subtype) yaw_ang =getbitu(rtcm->buff,i, 9); i+= 9; yaw_rate=getbits(rtcm->buff,i, 8); i+= 8; - for (k=0;klen*8;k++) { mode=getbitu(rtcm->buff,i, 5); i+= 5; sii =getbitu(rtcm->buff,i, 1); i+= 1; /* integer-indicator */ swl =getbitu(rtcm->buff,i, 2); i+= 2; /* WL integer-indicator */ sdc =getbitu(rtcm->buff,i, 4); i+= 4; /* discontinuity counter */ bias=getbits(rtcm->buff,i,20); i+=20; /* phase bias (m) */ - if (subtype==0) { - std =getbitu(rtcm->buff,i,17); i+=17; /* phase bias std-dev (m) */ - } if (sigs[mode]) { pbias[sigs[mode]-1]=bias*0.0001; /* (m) */ - stdpb[sigs[mode]-1]=std *0.0001; /* (m) */ } else { - trace(2,"rtcm3 %d not supported mode: mode=%d\n",type,mode); + trace(2,"rtcm3 %d/%d not supported mode: mode=%d\n",type,subtype,mode); } } if (!(sat=satno(sys,prn))) { - trace(2,"rtcm3 %d satellite number error: prn=%d\n",type,prn); + trace(2,"rtcm3 %d/%d satellite number error: prn=%d\n",type,subtype,prn); continue; } rtcm->ssr[sat-1].t0 [5]=rtcm->time; @@ -2007,11 +2053,75 @@ static int decode_ssr7(rtcm_t *rtcm, int sys, int subtype) for (k=0;kssr[sat-1].pbias[k]=pbias[k]; - rtcm->ssr[sat-1].stdpb[k]=(float)stdpb[k]; } } return 20; } +/* decode SSR 8: VTEC ionosphere --------------------------------------------- */ +static int decode_ssr8(rtcm_t *rtcm, int subtype) +{ + double udint,hgt,cosC,sinC,tow; + int i=0,j,k,l,type,sync,iod,udi,nlay,nmax,mmax,np,offp,qi; + char *msg,tstr[40]; + + type=getbitu(rtcm->buff,24,12); + + i+=decode_ssr_epoch(rtcm,SYS_GPS,subtype); + udi =getbitu(rtcm->buff,i, 4); i+= 4; + udint=ssrudint[udi]; + sync =getbitu(rtcm->buff,i,1); i+= 1; + iod =getbitu(rtcm->buff,i,4); i+= 4; + getbitu(rtcm->buff,i,16); i+=16; /* provider ID */ + getbitu(rtcm->buff,i, 4); i+= 4; /* solution ID */ + qi =getbitu(rtcm->buff,i,9); i+= 9; /* quality indicator */ + nlay =getbitu(rtcm->buff,i,2)+1; i+= 2; /* number of layers (1-4) */ + + if (rtcm->outtype) { + time2str(rtcm->time,tstr,2); + msg=rtcm->msgtype+strlen(rtcm->msgtype); + sprintf(msg," %s nsat= iod=%2d udi=%2d sync=%d",tstr,iod,udi,sync); + } + + if (nlay>4) { + trace(2,"rtcm3 %d too many layers: nlay=%d\n",type,nlay); + return -1; + } + + for (j=0;jlen*8;j++) { + hgt =getbitu(rtcm->buff,i,8)*10; i+=8; /* height (km) DF472 */ + nmax =getbitu(rtcm->buff,i, 4)+1; i+= 4; /* degree DF473 */ + mmax =getbitu(rtcm->buff,i, 4)+1; i+= 4; /* order DF474 */ + + rtcm->nav.vtec.hgt[j]=hgt; + rtcm->nav.vtec.nmax[j]=nmax; + rtcm->nav.vtec.mmax[j]=mmax; + + /* clear previous coefficients */ + memset(rtcm->nav.vtec.cosC, 0, sizeof(rtcm->nav.vtec.cosC)); + memset(rtcm->nav.vtec.sinC, 0, sizeof(rtcm->nav.vtec.sinC)); + /* cosine coefficients: for order o=0..mmax, degree n=o..nmax */ + for (k=0;k<=mmax;k++) { + for (l=k;l<=nmax;l++) { + cosC=getbits(rtcm->buff,i,16); i+=16; + rtcm->nav.vtec.cosC[j][l][k]=cosC/200.0; + } + } + /* sine coefficients: for order o=1..mmax, degree n=o..nmax */ + for (k=1;k<=mmax;k++) { + for (l=k;l<=nmax;l++) { + sinC=getbits(rtcm->buff,i,16); i+=16; + rtcm->nav.vtec.sinC[j][l][k]=sinC/200.0; + } + } + } + rtcm->nav.vtec.udint=udint; + rtcm->nav.vtec.iod=iod; + rtcm->nav.vtec.nlay=nlay; + rtcm->nav.vtec.qi=qi*0.05; /* TECU */ + + trace(3,"ssr8 vtec: nlay=%d\n",nlay); + return 10; +} /* get signal index ----------------------------------------------------------*/ static void sigindex(int sys, const uint8_t *code, int n, const char *opt, int *idx) @@ -2081,7 +2191,7 @@ static void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r, case SYS_GAL: sig[i]=msm_sig_gal[h->sigs[i]-1]; break; case SYS_QZS: sig[i]=msm_sig_qzs[h->sigs[i]-1]; break; case SYS_SBS: sig[i]=msm_sig_sbs[h->sigs[i]-1]; break; - case SYS_CMP: sig[i]=msm_sig_cmp[h->sigs[i]-1]; break; + case SYS_CMP: sig[i]=msm_sig_bds[h->sigs[i]-1]; break; case SYS_IRN: sig[i]=msm_sig_irn[h->sigs[i]-1]; break; default: sig[i]=""; break; } @@ -2753,10 +2863,13 @@ extern int decode_rtcm3(rtcm_t *rtcm) case 1261: ret=decode_ssr4(rtcm,SYS_CMP,0); break; /* draft */ case 1262: ret=decode_ssr5(rtcm,SYS_CMP,0); break; /* draft */ case 1263: ret=decode_ssr6(rtcm,SYS_CMP,0); break; /* draft */ - case 11: ret=decode_ssr7(rtcm,SYS_GPS,0); break; /* tentative */ - case 12: ret=decode_ssr7(rtcm,SYS_GAL,0); break; /* tentative */ - case 13: ret=decode_ssr7(rtcm,SYS_QZS,0); break; /* tentative */ - case 14: ret=decode_ssr7(rtcm,SYS_CMP,0); break; /* tentative */ + case 1264: ret=decode_ssr8(rtcm,0); break; /* draft */ + case 1265: ret=decode_ssr7(rtcm,SYS_GPS,0); break; /* draft */ + case 1266: ret=decode_ssr7(rtcm,SYS_GLO,0); break; /* draft */ + case 1267: ret=decode_ssr7(rtcm,SYS_GAL,0); break; /* draft */ + case 1268: ret=decode_ssr7(rtcm,SYS_QZS,0); break; /* draft */ + case 1269: ret=decode_ssr7(rtcm,SYS_SBS,0); break; /* draft */ + case 1270: ret=decode_ssr7(rtcm,SYS_CMP,0); break; /* draft */ case 4073: ret=decode_type4073(rtcm); break; case 4076: ret=decode_type4076(rtcm); break; } diff --git a/src/rtcm3e.c b/src/rtcm3e.c index 6f68a4410..d5beb3a4b 100644 --- a/src/rtcm3e.c +++ b/src/rtcm3e.c @@ -71,7 +71,7 @@ extern const char *msm_sig_glo[32]; extern const char *msm_sig_gal[32]; extern const char *msm_sig_qzs[32]; extern const char *msm_sig_sbs[32]; -extern const char *msm_sig_cmp[32]; +extern const char *msm_sig_bds[32]; extern const char *msm_sig_irn[32]; /* SSR signal and tracking mode IDs ------------------------------------------*/ @@ -79,7 +79,7 @@ extern const uint8_t ssr_sig_gps[32]; extern const uint8_t ssr_sig_glo[32]; extern const uint8_t ssr_sig_gal[32]; extern const uint8_t ssr_sig_qzs[32]; -extern const uint8_t ssr_sig_cmp[32]; +extern const uint8_t ssr_sig_bds[32]; extern const uint8_t ssr_sig_sbs[32]; /* SSR update intervals ------------------------------------------------------*/ @@ -1447,29 +1447,26 @@ static int encode_ssr_head(int type, rtcm_t *rtcm, int sys, int subtype, if (subtype==0) { /* RTCM SSR */ ns=(sys==SYS_QZS)?4:6; - switch (sys) { - case SYS_GPS: msgno=(type==7)?11:1056+type; break; - case SYS_GLO: msgno=(type==7)? 0:1062+type; break; - case SYS_GAL: msgno=(type==7)?12:1239+type; break; /* draft */ - case SYS_QZS: msgno=(type==7)?13:1245+type; break; /* draft */ - case SYS_CMP: msgno=(type==7)?14:1257+type; break; /* draft */ - case SYS_SBS: msgno=(type==7)? 0:1251+type; break; /* draft */ - default: return 0; - } - if (msgno==0) { - return 0; - } + switch (sys) { + case SYS_GPS: msgno=(type==7)?1265:1056+type; break; + case SYS_GLO: msgno=(type==7)?1266:1062+type; break; + case SYS_GAL: msgno=(type==7)?1267:1239+type; break; /* draft */ + case SYS_QZS: msgno=(type==7)?1268:1245+type; break; /* draft */ + case SYS_CMP: msgno=(type==7)?1269:1257+type; break; /* draft */ + case SYS_SBS: msgno=(type==7)?1270:1251+type; break; /* draft */ + default: return 0; + } setbitu(rtcm->buff,i,12,msgno); i+=12; /* message type */ - if (sys==SYS_GLO) { - tow=time2gpst(timeadd(gpst2utc(rtcm->time),10800.0),&week); - epoch=ROUND(tow)%86400; - setbitu(rtcm->buff,i,17,epoch); i+=17; /* GLONASS epoch time */ - } - else { - tow=time2gpst(rtcm->time,&week); - epoch=ROUND(tow)%604800; - setbitu(rtcm->buff,i,20,epoch); i+=20; /* GPS epoch time */ + if (sys==SYS_GLO) { + tow=time2gpst(timeadd(gpst2utc(rtcm->time),10800.0),&week); + epoch=ROUND(tow)%86400; + setbitu(rtcm->buff,i,17,epoch); i+=17; /* GLONASS epoch time */ + } + else { + tow=time2gpst(rtcm->time,&week); + epoch=ROUND(tow)%604800; + setbitu(rtcm->buff,i,20,epoch); i+=20; /* GPS epoch time */ } } else { /* IGS SSR */ @@ -1502,31 +1499,59 @@ static int encode_ssr_head(int type, rtcm_t *rtcm, int sys, int subtype, setbitu(rtcm->buff,i,ns,nsat ); i+=ns; /* no of satellites */ return i; } -/* SSR signal and tracking mode IDs ------------------------------------------*/ +/* RTCM SSR signal and tracking mode IDs --------------------------------------*/ static const int codes_gps[32]={ - CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1S,CODE_L1L,CODE_L2C,CODE_L2D,CODE_L2S, - CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W, 0, 0,CODE_L5I,CODE_L5Q + CODE_L1C,CODE_L1P,CODE_L1W, 0, 0,CODE_L2C,CODE_L2D,CODE_L2S, + CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W,CODE_L2Y,CODE_L2M,CODE_L5I,CODE_L5Q, + CODE_L5X,CODE_L1S,CODE_L1L,CODE_L1X }; static const int codes_glo[32]={ + CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P,CODE_L4A,CODE_L4B,CODE_L4X,CODE_L6A, + CODE_L6B,CODE_L6X,CODE_L3I,CODE_L3Q,CODE_L3X +}; +static const int codes_gal[32]={ + CODE_L1A,CODE_L1B,CODE_L1C,CODE_L1X,CODE_L1Z,CODE_L5I,CODE_L5Q,CODE_L5X, + CODE_L7I,CODE_L7Q,CODE_L7X,CODE_L8I,CODE_L8Q,CODE_L8X,CODE_L6A,CODE_L6B, + CODE_L6C,CODE_L6X,CODE_L6Z +}; +static const int codes_qzs[32]={ + CODE_L1C,CODE_L1S,CODE_L1L,CODE_L2S,CODE_L2L,CODE_L2X,CODE_L5I,CODE_L5Q, + CODE_L5X,CODE_L6S,CODE_L6L,CODE_L6X,CODE_L1X,CODE_L1Z,CODE_L5D,CODE_L5P, + CODE_L5Z,CODE_L6E,CODE_L6Z +}; +static const int codes_bds[32]={ + CODE_L2I,CODE_L2Q,CODE_L2X,CODE_L6I,CODE_L6Q,CODE_L6X,CODE_L7I,CODE_L7Q, + CODE_L7X,CODE_L1D,CODE_L1P,CODE_L1X,CODE_L5D,CODE_L5P,CODE_L5X,CODE_L1A, + 0, 0,CODE_L6A +}; +static const int codes_sbs[32]={ + CODE_L1C,CODE_L5I,CODE_L5Q +}; +/* IGS SSR signal and tracking mode IDs ---------------------------------------*/ +static const int codes_igs_gps[32]={ + CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1S,CODE_L1L,CODE_L2C,CODE_L2D,CODE_L2S, + CODE_L2L, 0,CODE_L2P,CODE_L2W, 0, 0,CODE_L5I,CODE_L5Q +}; +static const int codes_igs_glo[32]={ CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P,CODE_L4A,CODE_L4B,CODE_L6A,CODE_L6B, CODE_L3I,CODE_L3Q }; -static const int codes_gal[32]={ +static const int codes_igs_gal[32]={ CODE_L1A,CODE_L1B,CODE_L1C, 0, 0,CODE_L5I,CODE_L5Q, 0, - CODE_L7I,CODE_L7Q, 0,CODE_L8I,CODE_L8Q, 0,CODE_L6A,CODE_L6B, + CODE_L7I,CODE_L7Q, 0, 0, 0, 0,CODE_L6A,CODE_L6B, CODE_L6C }; -static const int codes_qzs[32]={ +static const int codes_igs_qzs[32]={ CODE_L1C,CODE_L1S,CODE_L1L,CODE_L2S,CODE_L2L, 0,CODE_L5I,CODE_L5Q, 0,CODE_L6S,CODE_L6L, 0, 0, 0, 0, 0, 0,CODE_L6E }; -static const int codes_bds[32]={ +static const int codes_igs_bds[32]={ CODE_L2I,CODE_L2Q, 0,CODE_L6I,CODE_L6Q, 0,CODE_L7I,CODE_L7Q, 0,CODE_L1D,CODE_L1P, 0,CODE_L5D,CODE_L5P, 0,CODE_L1A, 0, 0,CODE_L6A }; -static const int codes_sbs[32]={ +static const int codes_igs_sbs[32]={ CODE_L1C,CODE_L5I,CODE_L5Q }; /* encode SSR 1: orbit corrections -------------------------------------------*/ @@ -1542,14 +1567,13 @@ static int encode_ssr1(rtcm_t *rtcm, int sys, int subtype, int sync) case SYS_GLO: np=5; ni= 8; nj= 0; offp= 0; break; case SYS_GAL: np=6; ni=10; nj= 0; offp= 0; break; case SYS_QZS: np=4; ni= 8; nj= 0; offp=192; break; - case SYS_CMP: np=6; ni=10; nj=24; offp= 1; break; + case SYS_CMP: np=6; ni=10; nj=24; offp= 0; break; case SYS_SBS: np=6; ni= 9; nj=24; offp=120; break; default: return 0; } if (subtype>0) { /* IGS SSR */ np=6; ni=8; nj=0; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } /* number of satellites */ for (j=nsat=0;j0) { /* IGS SSR */ np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } /* number of satellites */ for (j=nsat=0;j0) { /* IGS SSR */ + switch (sys) { + case SYS_GPS: np=6; offp= 0; codes=codes_igs_gps; break; + case SYS_GLO: np=6; offp= 0; codes=codes_igs_glo; break; + case SYS_GAL: np=6; offp= 0; codes=codes_igs_gal; break; + case SYS_QZS: np=6; offp=192; codes=codes_igs_qzs; break; + case SYS_CMP: np=6; offp= 0; codes=codes_igs_bds; break; + case SYS_SBS: np=6; offp=119; codes=codes_igs_sbs; break; + default: return 0; + } + } else { + switch (sys) { case SYS_GPS: np=6; offp= 0; codes=codes_gps; break; case SYS_GLO: np=5; offp= 0; codes=codes_glo; break; case SYS_GAL: np=6; offp= 0; codes=codes_gal; break; case SYS_QZS: np=4; offp=192; codes=codes_qzs; break; - case SYS_CMP: np=6; offp= 1; codes=codes_bds; break; + case SYS_CMP: np=6; offp= 0; codes=codes_bds; break; case SYS_SBS: np=6; offp=120; codes=codes_sbs; break; default: return 0; - } - if (subtype>0) { /* IGS SSR */ - np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + } } /* number of satellites */ for (j=nsat=0;j0) { /* IGS SSR */ np=6; ni=8; nj=0; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } /* number of satellites */ for (j=nsat=0;j0) { /* IGS SSR */ np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } /* number of satellites */ for (j=nsat=0;j0) { /* IGS SSR */ np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + if (sys==SYS_SBS) offp=119; } /* number of satellites */ for (j=nsat=0;j0) { /* IGS SSR */ + switch (sys) { + case SYS_GPS: np=6; offp= 0; codes=codes_igs_gps; break; + case SYS_GLO: np=6; offp= 0; codes=codes_igs_glo; break; + case SYS_GAL: np=6; offp= 0; codes=codes_igs_gal; break; + case SYS_QZS: np=6; offp=192; codes=codes_igs_qzs; break; + case SYS_CMP: np=6; offp= 0; codes=codes_igs_bds; break; + case SYS_SBS: np=6; offp=119; codes=codes_igs_sbs; break; + default: return 0; + } + } else { + switch (sys) { case SYS_GPS: np=6; offp= 0; codes=codes_gps; break; case SYS_GLO: np=5; offp= 0; codes=codes_glo; break; case SYS_GAL: np=6; offp= 0; codes=codes_gal; break; case SYS_QZS: np=4; offp=192; codes=codes_qzs; break; - case SYS_CMP: np=6; offp= 1; codes=codes_bds; break; + case SYS_CMP: np=6; offp= 0; codes=codes_bds; break; case SYS_SBS: np=6; offp=120; codes=codes_sbs; break; default: return 0; - } - if (subtype>0) { /* IGS SSR */ - np=6; - if (sys==SYS_CMP) offp=0; - else if (sys==SYS_SBS) offp=119; + } } /* number of satellites */ for (j=nsat=0;jssr[j].pbias[codes[k]-1]==0.0) continue; code[nbias]=k; - pbias[nbias ]=ROUND(rtcm->ssr[j].pbias[codes[k]-1]/0.0001); - stdpb[nbias++]=ROUND(rtcm->ssr[j].stdpb[codes[k]-1]/0.0001); + pbias[nbias++]=ROUND(rtcm->ssr[j].pbias[codes[k]-1]/0.0001); } yaw_ang =ROUND(rtcm->ssr[j].yaw_ang /180.0* 256.0); yaw_rate=ROUND(rtcm->ssr[j].yaw_rate/180.0*8192.0); @@ -1901,9 +1934,6 @@ static int encode_ssr7(rtcm_t *rtcm, int sys, int subtype, int sync) setbitu(rtcm->buff,i, 2,0 ); i+= 2; /* WL integer-indicator */ setbitu(rtcm->buff,i, 4,0 ); i+= 4; /* discont counter */ setbits(rtcm->buff,i,20,pbias[k]); i+=20; /* phase bias */ - if (subtype==0) { - setbits(rtcm->buff,i,17,stdpb[k]); i+=17; /* std-dev ph-bias */ - } } } rtcm->nbit=i; @@ -1925,7 +1955,7 @@ static int to_satid(int sys, int sat) static int to_sigid(int sys, uint8_t code) { const char **msm_sig; - char *sig; + const char *sig; int i; /* signal conversion for undefined signal by rtcm */ @@ -1946,7 +1976,7 @@ static int to_sigid(int sys, uint8_t code) case SYS_GAL: msm_sig=msm_sig_gal; break; case SYS_QZS: msm_sig=msm_sig_qzs; break; case SYS_SBS: msm_sig=msm_sig_sbs; break; - case SYS_CMP: msm_sig=msm_sig_cmp; break; + case SYS_CMP: msm_sig=msm_sig_bds; break; case SYS_IRN: msm_sig=msm_sig_irn; break; default: return 0; } @@ -2786,10 +2816,12 @@ extern int encode_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync) case 1261: ret=encode_ssr4(rtcm,SYS_CMP,0,sync); break; /* draft */ case 1262: ret=encode_ssr5(rtcm,SYS_CMP,0,sync); break; /* draft */ case 1263: ret=encode_ssr6(rtcm,SYS_CMP,0,sync); break; /* draft */ - case 11: ret=encode_ssr7(rtcm,SYS_GPS,0,sync); break; /* tentative */ - case 12: ret=encode_ssr7(rtcm,SYS_GAL,0,sync); break; /* tentative */ - case 13: ret=encode_ssr7(rtcm,SYS_QZS,0,sync); break; /* tentative */ - case 14: ret=encode_ssr7(rtcm,SYS_CMP,0,sync); break; /* tentative */ + case 1265: ret=encode_ssr7(rtcm,SYS_GPS,0,sync); break; /* draft */ + case 1266: ret=encode_ssr7(rtcm,SYS_GLO,0,sync); break; /* draft */ + case 1267: ret=encode_ssr7(rtcm,SYS_GAL,0,sync); break; /* draft */ + case 1268: ret=encode_ssr7(rtcm,SYS_QZS,0,sync); break; /* draft */ + case 1269: ret=encode_ssr7(rtcm,SYS_SBS,0,sync); break; /* draft */ + case 1270: ret=encode_ssr7(rtcm,SYS_CMP,0,sync); break; /* draft */ case 4073: ret=encode_type4073(rtcm,subtype,sync); break; case 4076: ret=encode_type4076(rtcm,subtype,sync); break; } diff --git a/src/rtkcmn.c b/src/rtkcmn.c index a4c078da3..bb4ac760c 100644 --- a/src/rtkcmn.c +++ b/src/rtkcmn.c @@ -203,7 +203,7 @@ const double chisqr[100]={ /* chi-sqr(n) (alpha=0.001) */ }; const prcopt_t prcopt_default={ /* defaults processing options */ PMODE_KINEMA,SOLTYPE_FORWARD, /* mode,soltype */ - 2,SYS_GPS|SYS_GLO|SYS_GAL, /* nf, navsys */ + 2,SYS_GPS|SYS_GLO|SYS_GAL|SYS_CMP, /* nf, navsys */ 15.0*D2R,{{0,0}}, /* elmin,snrmask */ 0,3,3,1,0,1, /* sateph,modear,glomodear,gpsmodear,bdsmodear,arfilter */ 20,0,4,5,10,20, /* maxout,minlock,minfixsats,minholdsats,mindropsats,minfix */ @@ -255,8 +255,8 @@ const char *formatstrs[32]={ /* stream format strings */ NULL }; -static char *obscodes[MAXCODE + 1]={ /* observation code strings */ - +// Observation code strings. +static const char *obscodes[MAXCODE + 1]={ "" ,"1C","1P","1W","1Y", "1M","1N","1S","1L","1E", /* 0- 9 */ "1A","1B","1X","1Z","2C", "2D","2S","2L","2X","2P", /* 10-19 */ "2W","2Y","2M","2N","5I", "5Q","5X","7I","7Q","7X", /* 20-29 */ @@ -602,7 +602,7 @@ extern uint8_t obs2code(const char *obs) * return : obs code string ("1C","1P","1P",...) * notes : obs codes are based on RINEX 3.04 *-----------------------------------------------------------------------------*/ -extern char *code2obs(uint8_t code) +extern const char *code2obs(uint8_t code) { if (code<=CODE_NONE||MAXCODE= 0; i--) free(efiles[i]); + return 0; + } } - char buff[256]; - int state = 0; - int utcp = 0, taip = 0; - while (fgets(buff, sizeof(buff), fp)) { - // Detect the IGS format, and support concatenated files. - if (strstr(buff, "version 2") || strstr(buff, "VERSION 2")) { - state = 1; - continue; - } - if (state == 0) { - // Ignore content without firstly seeing the IGS format version. - continue; - } - if (state == 1) { - // IGS format content header search. Data is not read without firstly - // reading the content header line. A version line is detected above, - // and other lines are ignored. Allow some variation in case. - if (strstr(buff, "MJD") || strstr(buff, "mjd") || strstr(buff, "Xpole") || - strstr(buff, "xpole") || strstr(buff, "Ypole") || strstr(buff, "ypole") || - strstr(buff, "UT1") || strstr(buff, "ut1") || strstr(buff, "UTC") || - strstr(buff, "utc") || strstr(buff, "TAI") || strstr(buff, "tai") || - strstr(buff, "LOD") || strstr(buff, "lod")) { - // Note UTC vs TAI. - utcp = !!(strstr(buff, "UTC") || strstr(buff, "utc")); - taip = !!(strstr(buff, "TAI") || strstr(buff, "tai")); - state = 2; - } - continue; - } - if (state == 2) { - // IGS format data search. Detect data lines as containing only - // numeric data. A version line is detected above, and other lines are - // ignored. - int data = 0; - for (size_t i = 0; i < strlen(buff); i++) { - char ch = buff[i]; - if (ch == '\0' || ch == '\r' || ch == '\n') break; - if (ch == '.' || ch == '-' || ch == '+' || ch == ' ' || ch == '\t') continue; - if (ch < '0' || ch > '9') { - data = 0; - break; - } - data = 1; + // Expand wild card in file path. + int n = expath(file, efiles, MAXEXFILE), nr = 0; + + for (int i = 0; i < n; i++) { + char *ext = strrchr(efiles[i], '.'); + if (!ext) continue; + + if (!strstr(ext,".erp") && !strstr(ext,".ERP")) continue; + + FILE *fp = fopen(efiles[i], "r"); + if (!fp) { + trace(2, "erp file open error: file=%s\n", efiles[i]); + for (int j = 0; j < MAXEXFILE; j++) free(efiles[j]); + return 0; + } + char buff[256]; + int state = 0; + int utcp = 0, taip = 0, nerp = 0; + while (fgets(buff, sizeof(buff), fp)) { + // Detect the IGS format, and support concatenated files. + if (strstr(buff, "version 2") || strstr(buff, "VERSION 2")) { + state = 1; + continue; } - if (!data) continue; - double v[14] = {0}; - if (sscanf(buff, "%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", v, v + 1, v + 2, - v + 3, v + 4, v + 5, v + 6, v + 7, v + 8, v + 9, v + 10, v + 11, v + 12, - v + 13) < 5) { + if (state == 0) { + // Ignore content without firstly seeing the IGS format version. continue; } - if (erp->n >= erp->nmax) { - erp->nmax = erp->nmax <= 0 ? 128 : erp->nmax * 2; - erpd_t *erp_data = (erpd_t *)realloc(erp->data, sizeof(erpd_t) * erp->nmax); - if (erp_data == NULL) { - free(erp->data); - erp->data = NULL; - erp->n = erp->nmax = 0; - fclose(fp); - return 0; + if (state == 1) { + // IGS format content header search. Data is not read without firstly + // reading the content header line. A version line is detected above, + // and other lines are ignored. Allow some variation in case. + if (strstr(buff, "MJD") || strstr(buff, "mjd") || strstr(buff, "Xpole") || + strstr(buff, "xpole") || strstr(buff, "Ypole") || strstr(buff, "ypole") || + strstr(buff, "UT1") || strstr(buff, "ut1") || strstr(buff, "UTC") || + strstr(buff, "utc") || strstr(buff, "TAI") || strstr(buff, "tai") || + strstr(buff, "LOD") || strstr(buff, "lod")) { + // Note UTC vs TAI. + utcp = !!(strstr(buff, "UTC") || strstr(buff, "utc")); + taip = !!(strstr(buff, "TAI") || strstr(buff, "tai")); + state = 2; } - erp->data = erp_data; + continue; } - erp->data[erp->n].mjd = v[0]; - erp->data[erp->n].xp = v[1] * 1E-6 * AS2R; - erp->data[erp->n].yp = v[2] * 1E-6 * AS2R; - erp->data[erp->n].ut1_utc = v[3] * 1E-7; - (void)utcp; - if (taip) { - // Convert UT1-TAI to UT1-UTC. - const double ep[] = {2000, 1, 1, 12, 0, 0}; - gtime_t tutc = timeadd(epoch2time(ep), (v[0] - 51544.5) * 86400.0); - erp->data[erp->n].ut1_utc += timediff(utc2gpst(tutc), tutc) + 19; + if (state == 2) { + // IGS format data search. Detect data lines as containing only + // numeric data. A version line is detected above, and other lines are + // ignored. + int data = 0; + for (size_t i = 0; i < strlen(buff); i++) { + char ch = buff[i]; + if (ch == '\0' || ch == '\r' || ch == '\n') break; + if (ch == '.' || ch == '-' || ch == '+' || ch == ' ' || ch == '\t') continue; + if (ch < '0' || ch > '9') { + data = 0; + break; + } + data = 1; + } + if (!data) continue; + double v[14] = {0}; + if (sscanf(buff, "%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", v, v + 1, v + 2, + v + 3, v + 4, v + 5, v + 6, v + 7, v + 8, v + 9, v + 10, v + 11, v + 12, + v + 13) < 5) { + continue; + } + if (erp->n >= erp->nmax) { + erp->nmax = erp->nmax <= 0 ? 128 : erp->nmax * 2; + erpd_t *erp_data = (erpd_t *)realloc(erp->data, sizeof(erpd_t) * erp->nmax); + if (erp_data == NULL) { + free(erp->data); + erp->data = NULL; + erp->n = erp->nmax = 0; + fclose(fp); + for (int j = 0; j < MAXEXFILE; j++) free(efiles[j]); + return 0; + } + erp->data = erp_data; + } + erp->data[erp->n].mjd = v[0]; + erp->data[erp->n].xp = v[1] * 1E-6 * AS2R; + erp->data[erp->n].yp = v[2] * 1E-6 * AS2R; + erp->data[erp->n].ut1_utc = v[3] * 1E-7; + (void)utcp; + if (taip) { + // Convert UT1-TAI to UT1-UTC. + const double ep[] = {2000, 1, 1, 12, 0, 0}; + gtime_t tutc = timeadd(epoch2time(ep), (v[0] - 51544.5) * 86400.0); + erp->data[erp->n].ut1_utc += timediff(utc2gpst(tutc), tutc) + 19; + } + erp->data[erp->n].lod = v[4] * 1E-7; + erp->data[erp->n].xpr = v[12] * 1E-6 * AS2R; + erp->data[erp->n++].ypr = v[13] * 1E-6 * AS2R; + nerp++; } - erp->data[erp->n].lod = v[4] * 1E-7; - erp->data[erp->n].xpr = v[12] * 1E-6 * AS2R; - erp->data[erp->n++].ypr = v[13] * 1E-6 * AS2R; } + if (nerp > 0) nr++; + fclose(fp); } - fclose(fp); - return 1; + for (int j = 0; j < MAXEXFILE; j++) free(efiles[j]); + return nr; } /* get earth rotation parameter values ----------------------------------------- * get earth rotation parameter values @@ -3136,7 +3160,7 @@ extern int readnav(const char *file, nav_t *nav) eph_t eph0={0}; geph_t geph0={0}; char buff[4096],*p; - long toe_time,tof_time,toc_time,ttr_time; + long unsigned toe_time,tof_time,toc_time,ttr_time; int i,sat,prn; trace(3,"loadnav: file=%s\n",file); @@ -3160,7 +3184,7 @@ extern int readnav(const char *file, nav_t *nav) nav->geph[prn-1]=geph0; nav->geph[prn-1].sat=sat; toe_time=tof_time=0; - (void)sscanf(p+1,"%d,%d,%d,%d,%d,%d,%ld,%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf," + (void)sscanf(p+1,"%d,%d,%d,%d,%d,%d,%lu,%lu,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf," "%lf,%lf,%lf,%lf", &nav->geph[prn-1].iode,&nav->geph[prn-1].frq,&nav->geph[prn-1].svh, &nav->geph[prn-1].flags,&nav->geph[prn-1].sva,&nav->geph[prn-1].age, @@ -3176,7 +3200,7 @@ extern int readnav(const char *file, nav_t *nav) nav->eph[sat-1]=eph0; nav->eph[sat-1].sat=sat; toe_time=toc_time=ttr_time=0; - (void)sscanf(p+1,"%d,%d,%d,%d,%ld,%ld,%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf," + (void)sscanf(p+1,"%d,%d,%d,%d,%lu,%lu,%lu,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf," "%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d", &nav->eph[sat-1].iode,&nav->eph[sat-1].iodc,&nav->eph[sat-1].sva , &nav->eph[sat-1].svh , @@ -3210,12 +3234,12 @@ extern int savenav(const char *file, const nav_t *nav) for (i=0;ieph[i].ttr.time==0) continue; satno2id(nav->eph[i].sat,id); - fprintf(fp,"%s,%d,%d,%d,%d,%d,%d,%d,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E," + fprintf(fp,"%s,%d,%d,%d,%d,%lu,%lu,%lu,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E," "%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E," "%.14E,%.14E,%.14E,%.14E,%.14E,%d,%d\n", id,nav->eph[i].iode,nav->eph[i].iodc,nav->eph[i].sva , - nav->eph[i].svh ,(int)nav->eph[i].toe.time, - (int)nav->eph[i].toc.time,(int)nav->eph[i].ttr.time, + nav->eph[i].svh ,(long unsigned)nav->eph[i].toe.time, + (long unsigned)nav->eph[i].toc.time,(long unsigned)nav->eph[i].ttr.time, nav->eph[i].A ,nav->eph[i].e ,nav->eph[i].i0 ,nav->eph[i].OMG0, nav->eph[i].omg ,nav->eph[i].M0 ,nav->eph[i].deln,nav->eph[i].OMGd, nav->eph[i].idot,nav->eph[i].crc,nav->eph[i].crs ,nav->eph[i].cuc , @@ -3226,12 +3250,12 @@ extern int savenav(const char *file, const nav_t *nav) for (i=0;igeph[i].tof.time==0) continue; satno2id(nav->geph[i].sat,id); - fprintf(fp,"%s,%d,%d,%d,%d,%d,%d,%d,%d,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E," + fprintf(fp,"%s,%d,%d,%d,%d,%d,%d,%lu,%lu,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E," "%.14E,%.14E,%.14E,%.14E,%.14E,%.14E\n", id,nav->geph[i].iode,nav->geph[i].frq,nav->geph[i].svh, nav->geph[i].flags, - nav->geph[i].sva,nav->geph[i].age,(int)nav->geph[i].toe.time, - (int)nav->geph[i].tof.time, + nav->geph[i].sva,nav->geph[i].age,(long unsigned)nav->geph[i].toe.time, + (long unsigned)nav->geph[i].tof.time, nav->geph[i].pos[0],nav->geph[i].pos[1],nav->geph[i].pos[2], nav->geph[i].vel[0],nav->geph[i].vel[1],nav->geph[i].vel[2], nav->geph[i].acc[0],nav->geph[i].acc[1],nav->geph[i].acc[2], @@ -3740,8 +3764,8 @@ extern double ionppp(const double *pos, const double *azel, double re, /* select iono-free linear combination (L1/L2 or L1/L5) ----------------------*/ extern int seliflc(int optnf,int sys) { - /* use L1/L5 for Galileo if L5 is enabled */ - return((optnf==2||sys!=SYS_GAL)?1:2); + /* use L1/L5 for GPS,GAL,BDS if L5 is enabled */ + return((optnf==2||sys==SYS_GLO)?1:2); } /* troposphere model ----------------------------------------------------------- * compute tropospheric delay by standard atmosphere and saastamoinen model diff --git a/src/rtklib.h b/src/rtklib.h index 55149be8e..2d3093453 100644 --- a/src/rtklib.h +++ b/src/rtklib.h @@ -55,8 +55,10 @@ extern "C" { #ifdef _MSC_VER #ifdef WIN_DLL /* for Windows DLL */ #define EXPORT __declspec(dllexport) -#else +#elif !defined(WIN_STATIC) #define EXPORT __declspec(dllimport) +#else +#define EXPORT // For files bundled into an app. #endif #else #define EXPORT @@ -67,7 +69,7 @@ extern "C" { #elif defined(__GNUC__) #define THREADLOCAL __thread #elif defined(_MSC_VER) -#define THREADLOCAL __declspec(__thread) +#define THREADLOCAL __declspec(thread) #else #define THREADLOCAL #endif @@ -562,7 +564,11 @@ extern "C" { #define rtklib_unlock(f) LeaveCriticalSection(f) #define RTKLIB_FILEPATHSEP '\\' /* strtok_r not supported in Windows */ +#ifdef _MSC_VER +#define strtok_r(str,delim,ptr) strtok_s(str,delim,ptr) +#else #define strtok_r(str,delim,ptr) strtok(str,delim) +#endif #else #define rtklib_thread_t pthread_t #define rtklib_lock_t pthread_mutex_t @@ -753,6 +759,18 @@ typedef struct { /* TEC grid type */ float *rms; /* RMS values (tecu) */ } tec_t; +typedef struct { + double udint; + double qi; + int iod; + int nlay; + int nmax[4]; + int mmax[4]; + double hgt[4]; + double cosC[4][16][16]; + double sinC[4][16][16]; +} vtec_t; + typedef struct { /* SBAS message type */ int week,tow; /* reception time */ uint8_t prn,rcv; /* SBAS satellite PRN,receiver number */ @@ -837,7 +855,6 @@ typedef struct { /* SSR correction type */ double hrclk; /* high-rate clock correction (m) */ float cbias[MAXCODE]; /* code biases (m) */ double pbias[MAXCODE]; /* phase biases (m) */ - float stdpb[MAXCODE]; /* std-dev of phase biases (m) */ double yaw_ang,yaw_rate; /* yaw angle and yaw rate (deg,deg/s) */ uint8_t update; /* update flag (0:no update,1:update) */ } ssr_t; @@ -872,6 +889,7 @@ typedef struct { /* navigation data type */ double ion_irn[8]; /* IRNSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */ int glo_fcn[32]; /* GLONASS FCN + 8 */ double cbias[MAXSAT][NFREQ][MAX_CODE_BIASES]; /* satellite code biases] (m) */ + vtec_t vtec; /* ionosphere VTEC coefficients */ pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */ sbssat_t sbssat; /* SBAS satellite corrections */ sbsion_t sbsion[MAXBAND+1]; /* SBAS ionosphere corrections */ @@ -1222,8 +1240,9 @@ typedef struct { /* RTK control/result type */ prcopt_t opt; /* processing options */ int initial_mode; /* initial positioning mode */ int epoch; /* epoch number */ - int intpres_nb; // Time interpolation of residuals, number of previous base observations. - obsd_t intpres_obsb[MAXOBS]; // Time interpolation of residuals, previous base observations. + int intpres_nb; /* Time interpolation of residuals, number of previous base observations */ + int vtec_used; /* indicates VTEC coeffs have been used to init ion states */ + obsd_t intpres_obsb[MAXOBS]; /* Time interpolation of residuals, previous base observations */ } rtk_t; typedef struct { /* receiver raw data control type */ @@ -1240,7 +1259,6 @@ typedef struct { /* receiver raw data control type */ uint8_t subfrm[MAXSAT][380]; /* subframe buffer */ double lockt[MAXSAT][NFREQ+NEXOBS]; /* lock time (s) */ unsigned char lockflag[MAXSAT][NFREQ+NEXOBS]; /* used for carrying forward cycle slip */ - double icpp[MAXSAT],off[MAXSAT],icpc; /* carrier params for ss2 */ double prCA[MAXSAT],dpCA[MAXSAT]; /* L1/CA pseudorange/doppler for javad */ uint8_t halfc[MAXSAT][NFREQ+NEXOBS]; /* half-cycle resolved */ char freqn[MAXOBS]; /* frequency number for javad */ @@ -1393,7 +1411,7 @@ EXPORT int satsys (int sat, int *prn); EXPORT int satid2no(const char *id); EXPORT void satno2id(int sat, char id[8]); EXPORT uint8_t obs2code(const char *obs); -EXPORT char *code2obs(uint8_t code); +EXPORT const char *code2obs(uint8_t code); EXPORT double code2freq(int sys, uint8_t code, int fcn); EXPORT double sat2freq(int sat, uint8_t code, const nav_t *nav); EXPORT int code2idx(int sys, uint8_t code); @@ -1571,6 +1589,8 @@ EXPORT int iontec(gtime_t time, const nav_t *nav, const double *pos, EXPORT void readtec(const char *file, nav_t *nav, int opt); EXPORT int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos, const double *azel, int ionoopt, double *ion, double *var); +EXPORT int ionvtec(gtime_t time, const nav_t *nav, const double *pos, + const double *azel, double freq, double *delay, double *var); EXPORT int tropcorr(gtime_t time, const nav_t *nav, const double *pos, const double *azel, int tropopt, double *trp, double *var); EXPORT int seliflc(int optnf, int sys); @@ -1859,7 +1879,7 @@ EXPORT int rtkoutstat(rtk_t *rtk, int level, char *buff); /* precise point positioning -------------------------------------------------*/ EXPORT void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav); EXPORT int pppnx(const prcopt_t *opt); -EXPORT int pppoutstat(rtk_t *rtk, char *buff); +EXPORT int pppoutstat(rtk_t *rtk, char *buff, int level); EXPORT int ppp_ar(rtk_t *rtk, const obsd_t *obs, int n, int *exc, const nav_t *nav, const double *azel, double *x, double *P); @@ -1897,8 +1917,8 @@ EXPORT int rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path, EXPORT void rtksvrclosestr(rtksvr_t *svr, int index); EXPORT void rtksvrlock (rtksvr_t *svr); EXPORT void rtksvrunlock(rtksvr_t *svr); -EXPORT int rtksvrostat (rtksvr_t *svr, int type, gtime_t *time, int *sat, - double *az, double *el, int **snr, int *vsat); +EXPORT int rtksvrostat (rtksvr_t *svr, int type, gtime_t *time, int sat[MAXSAT], + double *az, double *el, int snr[MAXSAT][NFREQ], int vsat[MAXSAT][NFREQ]); EXPORT void rtksvrsstat (rtksvr_t *svr, int *sstat, char *msg); EXPORT int rtksvrmark(rtksvr_t *svr, const char *name, const char *comment); diff --git a/src/rtkpos.c b/src/rtkpos.c index 8ebc15939..e1f275c28 100644 --- a/src/rtkpos.c +++ b/src/rtkpos.c @@ -231,7 +231,7 @@ extern int rtkoutstat(rtk_t *rtk, int level, char *buff) if (rtk->opt.mode>=PMODE_PPP_KINEMA) { /* Write ppp solution status to buffer */ - p+=pppoutstat(rtk,buff); + p+=pppoutstat(rtk,buff,level); } else { /* Receiver position */ if (est) { @@ -300,23 +300,22 @@ extern int rtkoutstat(rtk_t *rtk, int level, char *buff) rtk->sol.stat,i+1,rtk->x[j],xa[0]); } } - } - - if (level <= 1) return (int)(p-buff); - - /* Write residuals and status */ - for (int i=0;issat+i; - if (!ssat->vs) continue; - satno2id(i+1,id); - for (int j=0;jopt); - p+=sprintf(p,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%u,%u,%u,%.2f,%.6f,%.5f\n", - week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D, - ssat->resp[j],ssat->resc[j],ssat->vsat[j],ssat->snr_rover[j], - ssat->fix[j],ssat->slip[j]&(LLI_SLIP|LLI_HALFC),ssat->lock[j],ssat->outc[j], - ssat->slipc[j],ssat->rejc[j],knx?rtk->x[k]:0, - knx?rtk->P[k+k*rtk->nx]:0,ssat->icbias[j]); + if (level <= 1) return (int)(p-buff); + + /* Write residuals and status */ + for (int i=0;issat+i; + if (!ssat->vs) continue; + satno2id(i+1,id); + for (int j=0;jopt); + p+=sprintf(p,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%u,%u,%u,%.2f,%.6f,%.5f\n", + week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D, + ssat->resp[j],ssat->resc[j],ssat->vsat[j],ssat->snr_rover[j], + ssat->fix[j],ssat->slip[j]&(LLI_SLIP|LLI_HALFC),ssat->lock[j],ssat->outc[j], + ssat->slipc[j],ssat->rejc[j],knx?rtk->x[k]:0, + knx?rtk->P[k+k*rtk->nx]:0,ssat->icbias[j]); + } } } @@ -2359,6 +2358,7 @@ extern int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) opt->mode!=PMODE_MOVEB) { for (i=0;i<6;i++) rtk->rb[i]=i<3?opt->rb[i]:0.0; } + /* count rover/base station observations */ for (nu=0;nu toc,eph2->toc)!=0.0)) { *eph3=*eph2; /* current ->previous */ *eph2=*eph1; /* received->current */ + trace(4,"update_eph: sat=%d iode %d->%d\n",ephsat,eph3->iode,eph2->iode); } } svr->nmsg[index][1]++; @@ -211,7 +212,8 @@ static void update_eph(rtksvr_t *svr, nav_t *nav, int ephsat, int ephset, (geph1->iode!=geph3->iode&&geph1->iode!=geph2->iode)) { *geph3=*geph2; *geph2=*geph1; - update_glofcn(svr); + update_glofcn(svr); + trace(4,"update_eph: sat=%d iode %d->%d\n",ephsat,geph3->iode,geph2->iode); } } svr->nmsg[index][6]++; @@ -262,16 +264,15 @@ static void update_antpos(rtksvr_t *svr, int index) { } else { sta = &svr->raw[index].sta; } - if (index == 1 && svr->rtk.opt.refpos == POSOPT_RTCM) { + if (index == 1 && svr->rtk.opt.refpos == POSOPT_RTCM && norm(sta->pos, 3) > RE_WGS84 / 2) { // Update base station position. for (int i = 0; i < 3; i++) svr->rtk.rb[i] = sta->pos[i]; tracet(2, "updated antenna index=%d position to %.4f %.4f %.4f\n", index, svr->rtk.rb[0], svr->rtk.rb[1], svr->rtk.rb[2]); } - if (index == 0 && svr->rtk.opt.rovpos == POSOPT_RTCM && - (svr->rtk.opt.mode == PMODE_FIXED || svr->rtk.opt.mode == PMODE_PPP_FIXED)) { + if (index == 0 && svr->rtk.opt.rovpos == POSOPT_RTCM && norm(sta->pos, 3) > RE_WGS84 / 2) { // Update rover fixed position. for (int i = 0; i < 3; i++) svr->rtk.opt.ru[i] = sta->pos[i]; - tracet(2, "updated antenna index=%d position to %.4f %.4f %.4f\n", index, svr->rtk.rb[0], svr->rtk.rb[1], svr->rtk.rb[2]); + tracet(2, "updated antenna index=%d default position to %.4f %.4f %.4f\n", index, svr->rtk.opt.ru[0], svr->rtk.opt.ru[1], svr->rtk.opt.ru[2]); } // Antenna type and delta. These are updated independently of the antenna @@ -312,37 +313,50 @@ static void update_antpos(rtksvr_t *svr, int index) { /* update ssr corrections ----------------------------------------------------*/ static void update_ssr(rtksvr_t *svr, int index) { - int i,sys,prn,iode; + for (int i=0;irtcm[index].ssr[i].update) continue; + svr->rtcm[index].ssr[i].update=0; // just check once per update - for (i=0;irtcm[index].ssr[i].update) continue; - - /* check consistency between iods of orbit and clock */ - if (svr->rtcm[index].ssr[i].iod[0]!=svr->rtcm[index].ssr[i].iod[1]) { + // Check consistency between iods of orbit and clock. + if (svr->rtcm[index].ssr[i].iod[0]!=svr->rtcm[index].ssr[i].iod[1]) continue; - } - svr->rtcm[index].ssr[i].update=0; - - iode=svr->rtcm[index].ssr[i].iode; - sys=satsys(i+1,&prn); - - /* check corresponding ephemeris exists */ - if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS) { - if (svr->nav.eph[i ].iode!=iode&& - svr->nav.eph[i+MAXSAT].iode!=iode) { - continue; - } + + // Check consistency of iode between ssr and broadcast. + int ssr_iode=svr->rtcm[index].ssr[i].iode, iode=-1; + if (ssr_iode<0) continue; + int prn; + if (satsys(sat, &prn)!=SYS_GLO) { + eph_t *eph=svr->nav.eph+i; + if (eph->sat==sat&&ssr_iode==eph->iode) // check current ephemeris + iode=eph->iode; + else { // check previous ephemeris + eph=svr->nav.eph+i+2*MAXSAT; + if (eph->sat==sat&&ssr_iode==eph->iode) + iode=eph->iode; } - else if (sys==SYS_GLO) { - if (svr->nav.geph[prn-1 ].iode!=iode&& - svr->nav.geph[prn-1+MAXPRNGLO].iode!=iode) { - continue; - } + } else { // SYS_GLO + geph_t *geph=svr->nav.geph+prn-1; + if (geph->sat==sat&&ssr_iode==geph->iode) + iode=geph->iode; + else { // check previous ephemeris + geph=svr->nav.geph+prn-1+MAXPRNGLO; + if (geph->sat==sat&&ssr_iode==geph->iode) + iode=geph->iode; } - svr->nav.ssr[i]=svr->rtcm[index].ssr[i]; } - svr->nmsg[index][7]++; + if (iode!=-1) { + if (svr->nav.ssr[i].iode!=ssr_iode) { + trace(4,"update_ssr_iode: sat=%d %d->%d\n",sat,svr->nav.ssr[i].iode,ssr_iode); + } + svr->nav.ssr[i]=svr->rtcm[index].ssr[i]; + } } + svr->nmsg[index][7]++; + + /* update vtec */ + svr->nav.vtec=svr->rtcm[index].nav.vtec; +} /* update rtk server struct --------------------------------------------------*/ static void update_svr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int ephsat, int ephset, sbsmsg_t *sbsmsg, int index, @@ -556,7 +570,7 @@ static double baseline_len(const rtk_t *rtk) double dr[3]; int i; - if (norm(rtk->sol.rr,3)<=0.0||norm(rtk->rb,3)<=0.0) return 0.0; + if (norm(rtk->sol.rr,3) <= RE_WGS84 / 2 || norm(rtk->rb,3) <= RE_WGS84 / 2) return 0.0; for (i=0;i<3;i++) { dr[i]=rtk->sol.rr[i]-rtk->rb[i]; @@ -567,30 +581,28 @@ static double baseline_len(const rtk_t *rtk) static void send_nmea(rtksvr_t *svr, uint32_t *tickreset) { sol_t sol_nmea={{0}}; - double vel,bl; - uint32_t tick=tickget(); - int i; if (svr->stream[1].state!=1) return; - sol_nmea.ns=10; /* Some servers don't like when ns = 0 */ if (svr->nmeareq==1) { /* lat-lon-hgt mode */ sol_nmea.stat=SOLQ_SINGLE; sol_nmea.time=utc2gpst(timeget()); + sol_nmea.ns = 10; // Some servers don't like when ns = 0. matcpy(sol_nmea.rr,svr->nmeapos,3,1); - strsendnmea(svr->stream+1,&sol_nmea); } else if (svr->nmeareq==2) { /* single-solution mode */ - if (norm(svr->rtk.sol.rr,3)<=0.0) return; - sol_nmea.stat=SOLQ_SINGLE; - sol_nmea.time=utc2gpst(timeget()); + if (norm(svr->rtk.sol.rr, 3) <= RE_WGS84 / 2) return; + sol_nmea.stat = svr->rtk.sol.stat; + sol_nmea.time = utc2gpst(timeget()); + sol_nmea.ns = svr->rtk.sol.ns; + sol_nmea.age = svr->rtk.sol.age; + sol_nmea.refstationid = svr->rtk.sol.refstationid; matcpy(sol_nmea.rr,svr->rtk.sol.rr,3,1); - strsendnmea(svr->stream+1,&sol_nmea); } else if (svr->nmeareq==3) { /* reset-and-single-sol mode */ - /* send reset command if baseline over threshold */ - bl=baseline_len(&svr->rtk); + double bl = baseline_len(&svr->rtk); + uint32_t tick = tickget(); if (bl>=svr->bl_reset&&(int)(tick-*tickreset)>MIN_INT_RESET) { strsendcmd(svr->stream+1,svr->cmd_reset); @@ -599,22 +611,28 @@ static void send_nmea(rtksvr_t *svr, uint32_t *tickreset) svr->rtk.rb[0],svr->rtk.rb[1],svr->rtk.rb[2]); *tickreset=tick; } - if (norm(svr->rtk.sol.rr,3)<=0.0) return; - sol_nmea.stat=SOLQ_SINGLE; + if (norm(svr->rtk.sol.rr, 3) <= RE_WGS84 / 2) return; + sol_nmea.stat = svr->rtk.sol.stat; sol_nmea.time=utc2gpst(timeget()); + sol_nmea.ns = svr->rtk.sol.ns; + sol_nmea.age = svr->rtk.sol.age; + sol_nmea.refstationid = svr->rtk.sol.refstationid; matcpy(sol_nmea.rr,svr->rtk.sol.rr,3,1); /* set predicted position if velocity > 36km/h */ - if ((vel=norm(svr->rtk.sol.rr+3,3))>10.0) { - for (i=0;i<3;i++) { + double vel = norm(svr->rtk.sol.rr + 3, 3); + if (vel > 10.0) { + for (int i = 0; i < 3; i++) { sol_nmea.rr[i]+=svr->rtk.sol.rr[i+3]/vel*svr->bl_reset*0.8; } } - strsendnmea(svr->stream+1,&sol_nmea); - - tracet(3,"send nmea: rr=%.3f %.3f %.3f\n",sol_nmea.rr[0],sol_nmea.rr[1], - sol_nmea.rr[2]); } + else return; + + strsendnmea(svr->stream + 1, &sol_nmea); + trace(3, "send nmea: stat=%d ns=%d age=%.3f ref=%d rr=%.3f %.3f %.3f\n", + sol_nmea.stat, sol_nmea.ns, sol_nmea.age, sol_nmea.refstationid, + sol_nmea.rr[0], sol_nmea.rr[1], sol_nmea.rr[2]); } /* rtk server thread ---------------------------------------------------------*/ #ifdef WIN32 @@ -832,10 +850,19 @@ extern int rtksvrinit(rtksvr_t *svr) memset(svr->rtcm+i,0,sizeof(rtcm_t)); } for (i=0;istream+i); + + for (i=0;inav.ssr[i].iode=-1; + for (j=0;j<6;j++) { + svr->nav.ssr[i].t0[j]=time0; + } + } for (i=0;i<3;i++) *svr->cmds_periodic[i]='\0'; *svr->cmd_reset='\0'; svr->bl_reset=10.0; + svr->pcvsr.pcv = NULL; + svr->pcvsr.n = svr->pcvsr.nmax = 0; rtklib_initlock(&svr->lock); return 1; @@ -916,7 +943,7 @@ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, int nmeareq, const double *nmeapos, prcopt_t *prcopt, solopt_t *solopt, stream_t *moni, char *errmsg) { - gtime_t time,time0={0}; + gtime_t time; int i,j,rw; tracet(3,"rtksvrstart: cycle=%d buffsize=%d navsel=%d nmeacycle=%d nmeareq=%d\n", @@ -984,10 +1011,13 @@ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, svr->rtk.rb[i]=i<3?prcopt->rb[i]:0.0; } } +#ifdef RTKLIB_DISABLED /* update navigation data */ + gtime_t time0 = {0}; for (i=0;inav.eph [i].ttr=time0; for (i=0;inav.geph[i].tof=time0; for (i=0;inav.seph[i].tof=time0; +#endif /* set monitor stream */ svr->moni=moni; @@ -1008,6 +1038,12 @@ extern int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs, svr->rtcm[i].time=strs[i]==STR_FILE?strgettime(svr->stream+i):time; } } + svr->rtk.vtec_used=0; + if (svr->rtk.opt.sateph==EPHOPT_SSRAPC||svr->rtk.opt.sateph==EPHOPT_SSRCOM) + setseleph(SYS_GAL,1); // SSR mode not compatible with mixed I/NAV F/NAV ephemeris + else + setseleph(SYS_GAL,0); // restore to default + /* sync input streams */ strsync(svr->stream,svr->stream+1); strsync(svr->stream,svr->stream+2); @@ -1139,31 +1175,27 @@ extern void rtksvrclosestr(rtksvr_t *svr, int index) * int *vsat O valid satellite flag * return : number of satellites *-----------------------------------------------------------------------------*/ -extern int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat, - double *az, double *el, int **snr, int *vsat) +extern int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int sat[MAXSAT], + double *az, double *el, int snr[MAXSAT][NFREQ], int vsat[MAXSAT][NFREQ]) { - int i,j,ns; - tracet(4,"rtksvrostat: rcv=%d\n",rcv); if (!svr->state) return 0; rtksvrlock(svr); - ns=svr->obs[rcv][0].n; + int ns=svr->obs[rcv][0].n; if (ns>0) { *time=svr->obs[rcv][0].data[0].time; } - for (i=0;iobs[rcv][0].data[i].sat; az [i]=svr->rtk.ssat[sat[i]-1].azel[0]; el [i]=svr->rtk.ssat[sat[i]-1].azel[1]; - for (j=0;jobs[rcv][0].data[i].SNR[j]); - } - if (svr->rtk.sol.stat==SOLQ_NONE||svr->rtk.sol.stat==SOLQ_SINGLE) { - vsat[i]=svr->rtk.ssat[sat[i]-1].vs; - } - else { - vsat[i]=svr->rtk.ssat[sat[i]-1].vsat[0]; + for (int j=0;jobs[rcv][0].data[i].SNR[j] + 0.5); + if (svr->rtk.sol.stat == SOLQ_NONE || svr->rtk.sol.stat == SOLQ_SINGLE) + vsat[i][j] = svr->rtk.ssat[sat[i] - 1].vs; + else + vsat[i][j] = svr->rtk.ssat[sat[i] - 1].vsat[j]; } } rtksvrunlock(svr); diff --git a/test/data/rcvraw/ss2_20080517.log b/test/data/rcvraw/ss2_20080517.log deleted file mode 100644 index 1a6ba89f5..000000000 Binary files a/test/data/rcvraw/ss2_20080517.log and /dev/null differ diff --git a/test/utest/t_tle.c b/test/utest/t_tle.c index 63dbd07b5..6f167882a 100644 --- a/test/utest/t_tle.c +++ b/test/utest/t_tle.c @@ -112,7 +112,7 @@ static void utest3(void) assert(nav.n>0); stat=readerp(file3,&erp); - assert(stat); + assert(stat > 0); stat=tle_read(file2,&tle); assert(stat); diff --git a/util/simobs/simobs.c b/util/simobs/simobs.c index 2045d3af2..68c0595fa 100644 --- a/util/simobs/simobs.c +++ b/util/simobs/simobs.c @@ -561,7 +561,7 @@ int main(int argc, char **argv) { if (nErp>0) { fprintf(stdout,"Reading %s\n",erpFileName); - if (!readerp(erpFileName,&nav.erp)) { + if (readerp(erpFileName,&nav.erp) == 0) { fprintf(stdout,"ERROR: cannot read ERP file %s\n",erpFileName); return -1; };