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rtkrcv ssr: options to include code and phase bias output #835

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rtkrcv ssr: options to include code and phase bias output #835

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63 changes: 49 additions & 14 deletions app/consapp/rtkrcv/rtkrcv.c
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Original file line number Diff line number Diff line change
Expand Up @@ -152,7 +152,7 @@ static const char *helptxt[]={
"observ [-n] [cycle] : show observation data",
"navidata [cycle] : show navigation data",
"stream [cycle] : show stream status",
"ssr [cycle] : show ssr corrections",
"ssr [-c] [-p] [cycle] : show ssr corrections",
"error : show error/warning messages",
"option [opt] : show option(s)",
"set opt [val] : set option",
Expand Down Expand Up @@ -924,7 +924,7 @@ static void prnavidata(vt_t *vt)
double ion[8],utc[8];
gtime_t time;
char id[8],s1[64],s2[64],s3[64];
int i,valid,prn;
int i,valid;

trace(4,"prnavidata:\n");

Expand All @@ -940,8 +940,8 @@ static void prnavidata(vt_t *vt)
ESC_BOLD,"SAT","S","IOD","IOC","FRQ","A/A","SVH","Toe","Toc",
"Ttr/Tof","L2C","L2P",ESC_RESET);
for (i=0;i<MAXSAT;i++) {
int sys = satsys(i+1,&prn);
if (!(sys&(SYS_GPS|SYS_GAL|SYS_QZS|SYS_CMP))||
int sys = satsys(i + 1, NULL);
if ((sys & (SYS_GPS | SYS_GAL | SYS_QZS | SYS_CMP) & prcopt.navsys) == 0 ||
eph[i].sat!=i+1) continue;
// Mask QZS LEX health.
valid=eph[i].toe.time!=0&&fabs(timediff(time,eph[i].toe))<=MAXDTOE &&
Expand All @@ -955,7 +955,8 @@ static void prnavidata(vt_t *vt)
eph[i].svh,s1,s2,s3,eph[i].code,eph[i].flag);
}
for (i=0;i<MAXSAT;i++) {
if (!(satsys(i+1,&prn)&SYS_GLO)||geph[prn-1].sat!=i+1) continue;
int prn, sys = satsys(i + 1, &prn);
if ((sys & SYS_GLO & prcopt.navsys) == 0 || geph[prn - 1].sat != i + 1) continue;
valid=geph[prn-1].toe.time!=0&&fabs(timediff(time,geph[prn-1].toe))<=MAXDTOE_GLO &&
(geph[prn-1].svh & 9) == 0 && (geph[prn-1].svh & 6) != 4;
satno2id(i+1,id);
Expand Down Expand Up @@ -1024,7 +1025,7 @@ static void prstream(vt_t *vt)
}
}
/* print ssr correction ------------------------------------------------------*/
static void prssr(vt_t *vt)
static void prssr(vt_t *vt, int cbias, int pbias)
{
static char buff[128*MAXSAT];
gtime_t time;
Expand All @@ -1040,21 +1041,40 @@ static void prssr(vt_t *vt)
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;i<MAXSAT;i++) {
if (!ssr[i].t0[0].time) continue;
if ((satsys(i + 1, NULL) & prcopt.navsys) == 0) continue;
satno2id(i+1,id);
valid=fabs(timediff(time,ssr[i].t0[0]))<=1800.0;
time2str(ssr[i].t0[0],tstr,0);
// udi[2] refd

p+=sprintf(p,"%3s %3s %3.0f %3d %3d %19s %6.3f %6.3f %6.3f %6.3f %6.3f "
"%6.3f %8.3f %6.3f %6.4f %6.3f\n",
"%6.3f %8.3f %6.3f %6.4f %6.3f ",
id,valid?"OK":"-",ssr[i].udi[0],ssr[i].iode,ssr[i].ura,tstr,
ssr[i].deph[0],ssr[i].deph[1],ssr[i].deph[2],
ssr[i].ddeph[0]*1E3,ssr[i].ddeph[1]*1E3,ssr[i].ddeph[2]*1E3,
ssr[i].dclk[0],ssr[i].dclk[1]*1E3,ssr[i].dclk[2]*1E3,
ssr[i].hrclk);

if (cbias) {
for (int k = 1; k < MAXCODE; k++) {
if (ssr[i].cbias[k - 1] == 0.0) continue;
p += sprintf(p, " %s: %7.3lf", code2obs(k), ssr[i].cbias[k - 1]);
}
if (pbias) p += sprintf(p, " /");
}
if (pbias) {
for (int k = 1; k < MAXCODE; k++) {
if (ssr[i].pbias[k - 1] == 0.0) continue;
p += sprintf(p, " %s: %6.3lf", code2obs(k), ssr[i].pbias[k - 1]);
}
}
p += sprintf(p, "\n");
}
vt_puts(vt,buff);
}
Expand Down Expand Up @@ -1202,15 +1222,25 @@ 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 cbias = 0, pbias = 0;
for (int i = 1; i < narg; i++) {
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, cbias, pbias);
if (cycle>0) sleepms(cycle); else return;
}
vt_printf(vt,"\n");
Expand Down Expand Up @@ -1746,6 +1776,11 @@ static void deamonise(void)
* stream [cycle]
* Show stream status. Use option cycle for cyclic display.
*
* ssr [-c] [-p] [cycle]
* Show the RTCM SSR state, with option -c to include code biases and
* with option -p to include phase biases. Use option cycle for cyclic
* display.
*
* error
* Show error/warning messages. To stop messages, send break (ctr-C).
*
Expand Down