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rtksvr send_nmea: send the single solution status #842

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rtksvr send_nmea: send the single solution status #842

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35 changes: 19 additions & 16 deletions src/rtksvr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -548,30 +548,29 @@ 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());
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);

Expand All @@ -581,21 +580,25 @@ static void send_nmea(rtksvr_t *svr, uint32_t *tickreset)
*tickreset=tick;
}
if (norm(svr->rtk.sol.rr,3)<=0.0) return;
sol_nmea.stat=SOLQ_SINGLE;
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]);
}
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
Expand Down