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rtknavi, rtkrcv: consider all valid signals frequency indices #837

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21 changes: 17 additions & 4 deletions app/consapp/rtkrcv/rtkrcv.c
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -724,8 +724,14 @@ static void prstatus(vt_t *vt)
rtksvrunlock(&svr);

for (i=n=0;i<MAXSAT;i++) {
if (rtk->opt.mode==PMODE_SINGLE&&!rtk->ssat[i].vs) continue;
if (rtk->opt.mode!=PMODE_SINGLE&&!rtk->ssat[i].vsat[0]) continue;
if (rtk->opt.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++;
Expand Down Expand Up @@ -842,7 +848,7 @@ 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;j<nf;j++) vt_printf(vt," L%d" ,frq[j]);
for (j=0;j<nf;j++) vt_printf(vt," Fix%d" ,frq[j]);
for (j=0;j<nf;j++) vt_printf(vt," P%dRes",frq[j]);
Expand All @@ -855,7 +861,14 @@ static void prsatellite(vt_t *vt, int nf)
for (i=0;i<MAXSAT;i++) {
if (rtk->ssat[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);
Expand Down
21 changes: 16 additions & 5 deletions app/qtapp/rtknavi_qt/mondlg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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++;
Expand Down Expand Up @@ -792,8 +798,13 @@ 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++) {
Expand Down Expand Up @@ -821,7 +832,7 @@ 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));
Expand Down
40 changes: 23 additions & 17 deletions app/qtapp/rtknavi_qt/navimain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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[] = {
Expand Down Expand Up @@ -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");
Expand All @@ -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);
Expand All @@ -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;
}
}
}
}
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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++;
Expand All @@ -1920,7 +1926,7 @@ void MainWindow::drawSatellites(QPainter &c, int w, int h, int x0, int y0,
y[i] = static_cast<int>(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 :
c.setBrush(!anyValidSatFreq ? Color::Silver :
(freq < NFREQ + 1 ? snrColor(snr[freq]) : color_sys[sysIdx]));
c.setPen(Qt::darkGray);
color_text = Qt::white;
Expand Down
2 changes: 1 addition & 1 deletion app/qtapp/rtknavi_qt/navimain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
21 changes: 16 additions & 5 deletions app/winapp/rtknavi/mondlg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -410,8 +410,14 @@ void __fastcall TMonitorDialog::ShowRtk(void)
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[1+k*2]=rtk->ssat[j].azel[1];
k++;
Expand Down Expand Up @@ -740,8 +746,13 @@ void __fastcall TMonitorDialog::ShowSat(void)
Label->Caption="";

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,n=1;i<MAXSAT;i++) {
if (!(satsys(i+1,NULL)&sys)) continue;
Expand All @@ -764,7 +775,7 @@ void __fastcall TMonitorDialog::ShowSat(void)
if (SelSat->ItemIndex==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);
Expand Down
35 changes: 20 additions & 15 deletions app/winapp/rtknavi/navimain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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<MAXSAT;j++) {
Sat[i][j]=Vsat[i][j]=0;
Sat[i][j]=0;
Az[i][j]=El[i][j]=0.0;
for (int k=0;k<NFREQ;k++) Snr[i][j][k]=0;
for (int k=0;k<NFREQ;k++) {
Snr[i][j][k]=0;
Vsat[i][j][k]=0;
}
}
PrcOpt=prcopt_default;
SolOpt=solopt_default;
Expand Down Expand Up @@ -1666,8 +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];

Expand All @@ -1678,12 +1681,8 @@ void __fastcall TMainForm::DrawPlot(TImage *plot, int type, int freq)
}
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);
Expand All @@ -1698,15 +1697,15 @@ void __fastcall TMainForm::DrawPlot(TImage *plot, int type, int freq)
Az [i][j]=az [i][j];
El [i][j]=el [i][j];
for (int k=0;k<NFREQ;k++) {
Vsat[i][j][k]=vsat[i][j][k];
Snr[i][j][k]=snr[i][j][k];
}
Vsat[i][j]=vsat[i][j];
}
}
else {
for (j=0;j<Nsat[i];j++) {
Vsat[i][j]=0;
for (int k=0;k<NFREQ;k++) {
Vsat[i][j][k]=0;
Snr[i][j][k]=0;
}
}
Expand Down Expand Up @@ -1884,7 +1883,10 @@ void __fastcall TMainForm::DrawSnr(TCanvas *c, int w, int h, int x0, int y0,
if (j==0) {
c->Brush->Style=bsSolid;
c->Brush->Color=freq<NFREQ+1?SnrColor(snr[k]):color_sys[l];
if (!Vsat[index][i]) c->Brush->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 {
Expand Down Expand Up @@ -1929,7 +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++;
}
Expand All @@ -1938,7 +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:
(freq<NFREQ+1?SnrColor(snr[freq]):color_sys[l]);
c->Brush->Style=bsSolid;
c->Pen->Color=clGray;
Expand Down
2 changes: 1 addition & 1 deletion app/winapp/rtknavi/navimain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -254,7 +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;
Expand Down
4 changes: 2 additions & 2 deletions src/rtklib.h
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Expand Up @@ -1896,8 +1896,8 @@ 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);

Expand Down
24 changes: 10 additions & 14 deletions src/rtksvr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1124,31 +1124,27 @@ 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;i<ns;i++) {
for (int i=0;i<ns;i++) {
sat [i]=svr->obs[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;j<NFREQ;j++) {
snr[i][j]=(int)(svr->obs[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;j<NFREQ;j++) {
snr[i][j] = (int)(svr->obs[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);
Expand Down