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rtksrv ssr update #879

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rtksrv ssr update #879

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64 changes: 36 additions & 28 deletions src/rtksvr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -198,7 +198,6 @@ static void update_eph(rtksvr_t *svr, nav_t *nav, int ephsat, int ephset,
*eph3=*eph2; /* current ->previous */
*eph2=*eph1; /* received->current */
trace(4,"update_eph: sat=%d iode %d->%d\n",ephsat,eph3->iode,eph2->iode);
svr->rtcm[index].ssr[ephsat-1].update=1; // Force update of SSR corrections
}
}
svr->nmsg[index][1]++;
Expand All @@ -215,7 +214,6 @@ static void update_eph(rtksvr_t *svr, nav_t *nav, int ephsat, int ephset,
*geph2=*geph1;
update_glofcn(svr);
trace(4,"update_eph: sat=%d iode %d->%d\n",ephsat,geph3->iode,geph2->iode);
svr->rtcm[index].ssr[ephsat-1].update=1; // Force update of SSR corrections
}
}
svr->nmsg[index][6]++;
Expand Down Expand Up @@ -315,36 +313,46 @@ static void update_antpos(rtksvr_t *svr, int index) {
/* update ssr corrections ----------------------------------------------------*/
static void update_ssr(rtksvr_t *svr, int index)
{
for (int i=0;i<MAXSAT;i++) {
int sat=i+1;
if (!svr->rtcm[index].ssr[i].update) continue;
svr->rtcm[index].ssr[i].update=0; // just check once per update
for (int i = 0; i < MAXSAT; i++) {
if (!svr->rtcm[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])
continue;
// Check consistency between iods of orbit and clock.
if (svr->rtcm[index].ssr[i].iod[0] != svr->rtcm[index].ssr[i].iod[1])
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) {
iode=eph->iode;
}
} else { // SYS_GLO
geph_t *geph=svr->nav.geph+prn-1;
if (geph->sat==sat&&ssr_iode==geph->iode) {
iode=geph->iode;
// 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 sat = i + 1, prn, sys = satsys(sat, &prn);
if (sys != SYS_GLO) {
for (int j = 0; j < 4; j++) {
eph_t *eph = &svr->nav.eph[i + j * MAXSAT];
if (eph->sat == sat && ssr_iode == eph->iode) {
// Galileo SSR is wrt the I/NAV broadcast clock, skip F/NAV.
if (sys == SYS_GAL && (eph->code & (1 << 8)) != 0) {
trace(4, "update_ssr skipping F/NAV sat=%d\n", sat);
continue;
}
iode = eph->iode;
break;
}
}
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];
}
} else {
for (int j = 0; j < 2; j++) {
geph_t *geph = &svr->nav.geph[prn - 1 + j * MAXPRNGLO];
if (geph->sat == sat && ssr_iode == geph->iode) {
iode = geph->iode;
break;
}
}
}
if (iode == -1) {
trace(4, "update_ssr deferred sat=%d ssr_iode=%d\n", sat, ssr_iode);
continue;
}

svr->nav.ssr[i] = svr->rtcm[index].ssr[i];
svr->rtcm[index].ssr[i].update = 0;
}
svr->nmsg[index][7]++;

Expand Down