void measure_amb_kf_b(u8 num_sdiffs, sdiff_t *sdiffs,
const double receiver_ecef[3], double *b)
{
DEBUG_ENTRY();
sdiff_t sdiffs_with_ref_first[num_sdiffs];
/* We require the sats updating has already been done with these sdiffs */
gnss_signal_t ref_sid = sats_management.sids[0];
copy_sdiffs_put_ref_first(ref_sid, num_sdiffs, sdiffs, sdiffs_with_ref_first);
measure_b( nkf.state_dim, nkf.state_mean,
num_sdiffs, sdiffs_with_ref_first, receiver_ecef, b);
DEBUG_EXIT();
}
void measure_iar_b_with_external_ambs(double *state_mean,
u8 num_sdiffs, sdiff_t *sdiffs,
double receiver_ecef[3],
double *b)
{
DEBUG_ENTRY();
sdiff_t sdiffs_with_ref_first[num_sdiffs];
match_sdiffs_to_sats_man(&ambiguity_test.sats, num_sdiffs, sdiffs, sdiffs_with_ref_first);
measure_b(CLAMP_DIFF(ambiguity_test.sats.num_sats, 1), state_mean,
num_sdiffs, sdiffs_with_ref_first, receiver_ecef, b);
DEBUG_EXIT();
}
void measure_b_with_external_ambs(u8 state_dim, const double *state_mean,
u8 num_sdiffs, sdiff_t *sdiffs,
const double receiver_ecef[3], double *b)
{
DEBUG_ENTRY();
sdiff_t sdiffs_with_ref_first[num_sdiffs];
/* We require the sats updating has already been done with these sdiffs */
u8 ref_prn = sats_management.prns[0];
copy_sdiffs_put_ref_first(ref_prn, num_sdiffs, sdiffs, sdiffs_with_ref_first);
measure_b(state_dim, state_mean, num_sdiffs, sdiffs_with_ref_first, receiver_ecef, b);
DEBUG_EXIT();
}
