void dgnss_rebase_ref(u8 num_sdiffs, sdiff_t *sdiffs, double reciever_ecef[3], u8 old_prns[MAX_CHANNELS], sdiff_t *corrected_sdiffs)
{
(void)reciever_ecef;
//all the ref sat stuff
s8 sats_management_code = rebase_sats_management(&sats_management, num_sdiffs, sdiffs, corrected_sdiffs);
if (sats_management_code == NEW_REF_START_OVER) {
printf("====== START OVER =======\n"); // TODO WRITE WHAT GOTTA BE DONE, YO
/*dgnss_init(num_sdiffs, sdiffs, reciever_ecef, dt); //TODO use current baseline state*/
return;
}
else if (sats_management_code == NEW_REF) {
// do everything related to changing the reference sat here
rebase_kf(&kf, sats_management.num_sats, &old_prns[0], &sats_management.prns[0]);
rebase_nkf(&nkf, sats_management.num_sats, &old_prns[0], &sats_management.prns[0]);
}
}
void dgnss_rebase_ref(u8 num_sdiffs, sdiff_t *sdiffs, double receiver_ecef[3], gnss_signal_t old_sids[MAX_CHANNELS], sdiff_t *corrected_sdiffs)
{
(void)receiver_ecef;
/* all the ref sat stuff */
s8 sats_management_code = rebase_sats_management(&sats_management, num_sdiffs, sdiffs, corrected_sdiffs);
if (sats_management_code == NEW_REF_START_OVER) {
log_info("Unable to rebase to new ref, resetting filters and starting over");
dgnss_init(num_sdiffs, sdiffs, receiver_ecef);
memcpy(old_sids, sats_management.sids, sats_management.num_sats * sizeof(gnss_signal_t));
if (num_sdiffs >= 1) {
copy_sdiffs_put_ref_first(old_sids[0], num_sdiffs, sdiffs, corrected_sdiffs);
}
/*dgnss_init(num_sdiffs, sdiffs, receiver_ecef); //TODO use current baseline state*/
return;
}
else if (sats_management_code == NEW_REF) {
/* do everything related to changing the reference sat here */
rebase_nkf(&nkf, sats_management.num_sats, &old_sids[0], &sats_management.sids[0]);
}
}