void dgnss_init(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3]) { DEBUG_ENTRY(); sdiff_t corrected_sdiffs[num_sats]; init_sats_management(&sats_management, num_sats, sdiffs, corrected_sdiffs); create_ambiguity_test(&ambiguity_test); if (num_sats <= 1) { DEBUG_EXIT(); return; } double dd_measurements[2*(num_sats-1)]; make_measurements(num_sats-1, corrected_sdiffs, dd_measurements); set_nkf( &nkf, dgnss_settings.amb_drift_var, dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf, dgnss_settings.amb_init_var, num_sats, corrected_sdiffs, dd_measurements, receiver_ecef ); DEBUG_EXIT(); }
void dgnss_init(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3], double dt) { sdiff_t corrected_sdiffs[num_sats]; init_sats_management(&sats_management, num_sats, sdiffs, corrected_sdiffs); double dd_measurements[2*(num_sats-1)]; make_measurements(num_sats-1, corrected_sdiffs, dd_measurements); get_kf( &kf, dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf, dgnss_settings.pos_trans_var, dgnss_settings.vel_trans_var, dgnss_settings.int_trans_var, dgnss_settings.pos_init_var, dgnss_settings.vel_init_var, dgnss_settings.amb_init_var, num_sats, corrected_sdiffs, dd_measurements, reciever_ecef, dt ); set_nkf( &nkf, dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf, dgnss_settings.amb_init_var, num_sats, corrected_sdiffs, dd_measurements, reciever_ecef ); create_ambiguity_test(&ambiguity_test); }