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_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();
}
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]);
}
}
