bool RawRtcm23::ProcessAntennaRef(Frame& f)
{
int64 x = ((int64)f.GetSigned(3, 1, 24)<<14) | f.GetField(4, 1, 14);
int64 y = ((int64)f.GetSigned(4, 17, 24)<<30) | (f.GetField(5, 1, 24)<<6) | f.GetField(6,1,6);
int64 z = ((int64)f.GetSigned(6, 9, 24)<<22) | f.GetField(7, 1, 22);
int64 height = 0;
if (f.GetField(7, 24, 24) != 0)
height = f.GetField(8, 1, 18);
Pos = Position(x/10000.0, y/10000.0, z/10000.0);
AntennaHeight = height/10000.0;
debug("ProcessAntennaRef: x=%.3f y=%.3f z=%.3f h=%.3f\n",
Pos.x, Pos.y, Pos.z, AntennaHeight);
return OK;
}
bool RawRtcm23::ProcessCarrierPhase(Frame& f)
{
// Get the time of measurement
if (GetMeasurementTime(f) != OK)
return OK;
// We are only interested in L1 for now
if (f.GetField(3, 1, 2) != 0)
return OK;
// Decide how many observables
int n = (f.NrWords-3)/2;
// Get the data for each observation
for (int i=0; i<n; i++) {
// We want C/A GPS measurements only (for now)
if (f.GetField(4+2*i, 2, 3) != 0) continue;
// which satellite?
int svid = f.GetField(4+2*i, 4, 8);
int Sat = SvidToSat(svid);
if (Sat == -1) return Error("RawRtcm23: didn't recognize svid=%d\n", svid);
HasPhase[Sat] = true;
// Phase
int64 phase = (f.GetSigned(4+2*i, 17, 24)<<24) | f.GetField(5+2*i, 1, 24);
obs[Sat].Phase = phase / -256.0;
obs[Sat].Doppler = 0;
// TODO: Handle phase rollover.
// for now, it will be caught as an outlier
// Quality
uint32 DataQual = f.GetField(4+2*i, 9, 11);
// Slipped?
int32 LossCount = f.GetField(4+2*i, 12, 16);
obs[Sat].Slip = (LossCount == CarrierLossCount[Sat]);
if (obs[Sat].Slip)
CarrierLossCount[Sat] = LossCount;
// More?
MoreToCome = (f.GetField(4+2*i, 1, 1) != 0);
debug("RawRtcm23: Sat=%d Phase=%.3f MoreToComm=%d\n", Sat,obs[Sat].Phase, MoreToCome);
}
return OK;
}
