| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "VectorNavBinaryConverter.hpp" | ||
| 10 | |||
| 11 | #include <cmath> | ||
| 12 | |||
| 13 | #include "Navigation/Time/InsTime.hpp" | ||
| 14 | #include "NodeData/Baro/BaroPressObs.hpp" | ||
| 15 | #include "util/Logger.hpp" | ||
| 16 | |||
| 17 | #include "internal/NodeManager.hpp" | ||
| 18 | namespace nm = NAV::NodeManager; | ||
| 19 | #include "internal/FlowManager.hpp" | ||
| 20 | |||
| 21 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 22 | |||
| 23 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 24 | #include "Navigation/Transformations/Units.hpp" | ||
| 25 | |||
| 26 | /// @brief Scale factor to kPa to hPa | ||
| 27 | constexpr double SCALE_FACTOR_KILO2HECTOPASCAL = 10; | ||
| 28 | |||
| 29 | 144 | NAV::VectorNavBinaryConverter::VectorNavBinaryConverter() | |
| 30 |
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144 | : Node(typeStatic()) |
| 31 | { | ||
| 32 | LOG_TRACE("{}: called", name); | ||
| 33 | 144 | _hasConfig = true; | |
| 34 | 144 | _guiConfigDefaultWindowSize = { 350, 123 }; | |
| 35 | |||
| 36 |
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576 | nm::CreateOutputPin(this, "ImuObs", Pin::Type::Flow, { NAV::ImuObsWDelta::type() }); |
| 37 | |||
| 38 |
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432 | nm::CreateInputPin(this, "BinaryOutput", Pin::Type::Flow, { NAV::VectorNavBinaryOutput::type() }, &VectorNavBinaryConverter::receiveObs); |
| 39 | 432 | } | |
| 40 | |||
| 41 | 352 | NAV::VectorNavBinaryConverter::~VectorNavBinaryConverter() | |
| 42 | { | ||
| 43 | LOG_TRACE("{}: called", nameId()); | ||
| 44 | 352 | } | |
| 45 | |||
| 46 | 256 | std::string NAV::VectorNavBinaryConverter::typeStatic() | |
| 47 | { | ||
| 48 |
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512 | return "VectorNavBinaryConverter"; |
| 49 | } | ||
| 50 | |||
| 51 | ✗ | std::string NAV::VectorNavBinaryConverter::type() const | |
| 52 | { | ||
| 53 | ✗ | return typeStatic(); | |
| 54 | } | ||
| 55 | |||
| 56 | 112 | std::string NAV::VectorNavBinaryConverter::category() | |
| 57 | { | ||
| 58 |
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224 | return "Converter"; |
| 59 | } | ||
| 60 | |||
| 61 | ✗ | void NAV::VectorNavBinaryConverter::guiConfig() | |
| 62 | { | ||
| 63 | ✗ | if (gui::widgets::EnumCombo(fmt::format("Output Type##{}", size_t(id)).c_str(), _outputType)) | |
| 64 | { | ||
| 65 | ✗ | LOG_DEBUG("{}: Output Type changed to {}", nameId(), to_string(_outputType)); | |
| 66 | ✗ | if (_outputType == OutputType::ImuObs) | |
| 67 | { | ||
| 68 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObs::type() }; | |
| 69 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObs::type(); | |
| 70 | } | ||
| 71 | ✗ | else if (_outputType == OutputType::ImuObsWDelta) | |
| 72 | { | ||
| 73 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObsWDelta::type() }; | |
| 74 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObsWDelta::type(); | |
| 75 | } | ||
| 76 | ✗ | else if (_outputType == OutputType::BaroPressObs) | |
| 77 | { | ||
| 78 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::BaroPressObs::type() }; | |
| 79 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::BaroPressObs::type(); | |
| 80 | } | ||
| 81 | ✗ | else if (_outputType == OutputType::PosVelAtt) | |
| 82 | { | ||
| 83 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::PosVelAtt::type() }; | |
| 84 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::PosVelAtt::type(); | |
| 85 | } | ||
| 86 | ✗ | else if (_outputType == OutputType::GnssObs) | |
| 87 | { | ||
| 88 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::GnssObs::type() }; | |
| 89 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::GnssObs::type(); | |
| 90 | } | ||
| 91 | |||
| 92 | ✗ | for (auto& link : outputPins.front().links) | |
| 93 | { | ||
| 94 | ✗ | if (auto* connectedPin = link.getConnectedPin()) | |
| 95 | { | ||
| 96 | ✗ | outputPins.front().recreateLink(*connectedPin); | |
| 97 | } | ||
| 98 | } | ||
| 99 | |||
| 100 | ✗ | flow::ApplyChanges(); | |
| 101 | } | ||
| 102 | ✗ | if (_outputType == OutputType::ImuObsWDelta || _outputType == OutputType::ImuObs) | |
| 103 | { | ||
| 104 | ✗ | if (ImGui::Checkbox(fmt::format("Use compensated data##{}", size_t(id)).c_str(), &_useCompensatedData)) | |
| 105 | { | ||
| 106 | ✗ | LOG_DEBUG("{}: _useCompensatedData changed to {}", nameId(), _useCompensatedData); | |
| 107 | ✗ | flow::ApplyChanges(); | |
| 108 | } | ||
| 109 | } | ||
| 110 | ✗ | else if (_outputType == OutputType::PosVelAtt) | |
| 111 | { | ||
| 112 | ✗ | if (auto posVelSource = static_cast<int>(_posVelSource); | |
| 113 | ✗ | ImGui::Combo(fmt::format("Data Source##{}", size_t(id)).c_str(), &posVelSource, "Best\0INS\0GNSS 1\0GNSS 2\0\0")) | |
| 114 | { | ||
| 115 | ✗ | _posVelSource = static_cast<decltype(_posVelSource)>(posVelSource); | |
| 116 | ✗ | LOG_DEBUG("{}: _posVelSource changed to {}", nameId(), fmt::underlying(_posVelSource)); | |
| 117 | ✗ | flow::ApplyChanges(); | |
| 118 | } | ||
| 119 | ✗ | if (ImGui::Checkbox(fmt::format("Force static##{}", size_t(id)).c_str(), &_forceStatic)) | |
| 120 | { | ||
| 121 | ✗ | LOG_DEBUG("{}: _forceStatic changed to {}", nameId(), _forceStatic); | |
| 122 | ✗ | flow::ApplyChanges(); | |
| 123 | } | ||
| 124 | } | ||
| 125 | ✗ | } | |
| 126 | |||
| 127 | ✗ | [[nodiscard]] json NAV::VectorNavBinaryConverter::save() const | |
| 128 | { | ||
| 129 | LOG_TRACE("{}: called", nameId()); | ||
| 130 | |||
| 131 | ✗ | json j; | |
| 132 | |||
| 133 | ✗ | j["outputType"] = _outputType; | |
| 134 | ✗ | j["posVelSource"] = _posVelSource; | |
| 135 | ✗ | j["forceStatic"] = _forceStatic; | |
| 136 | ✗ | j["useCompensatedData"] = _useCompensatedData; | |
| 137 | |||
| 138 | ✗ | return j; | |
| 139 | ✗ | } | |
| 140 | |||
| 141 | 32 | void NAV::VectorNavBinaryConverter::restore(json const& j) | |
| 142 | { | ||
| 143 | LOG_TRACE("{}: called", nameId()); | ||
| 144 | |||
| 145 |
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32 | if (j.contains("outputType")) |
| 146 | { | ||
| 147 | 32 | j.at("outputType").get_to(_outputType); | |
| 148 | |||
| 149 |
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32 | if (!outputPins.empty()) |
| 150 | { | ||
| 151 |
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32 | if (_outputType == OutputType::ImuObsWDelta) |
| 152 | { | ||
| 153 |
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32 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObsWDelta::type() }; |
| 154 |
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16 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObsWDelta::type(); |
| 155 | } | ||
| 156 |
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16 | else if (_outputType == OutputType::ImuObs) |
| 157 | { | ||
| 158 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObs::type() }; | |
| 159 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObs::type(); | |
| 160 | } | ||
| 161 |
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16 | else if (_outputType == OutputType::BaroPressObs) |
| 162 | { | ||
| 163 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::BaroPressObs::type() }; | |
| 164 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::BaroPressObs::type(); | |
| 165 | } | ||
| 166 |
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16 | else if (_outputType == OutputType::PosVelAtt) |
| 167 | { | ||
| 168 |
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32 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::PosVelAtt::type() }; |
| 169 |
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16 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::PosVelAtt::type(); |
| 170 | } | ||
| 171 | ✗ | else if (_outputType == OutputType::GnssObs) | |
| 172 | { | ||
| 173 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::GnssObs::type() }; | |
| 174 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::GnssObs::type(); | |
| 175 | } | ||
| 176 | } | ||
| 177 | } | ||
| 178 |
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32 | if (j.contains("posVelSource")) |
| 179 | { | ||
| 180 | 32 | j.at("posVelSource").get_to(_posVelSource); | |
| 181 | } | ||
| 182 |
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32 | if (j.contains("forceStatic")) |
| 183 | { | ||
| 184 | 32 | _forceStatic = j.at("forceStatic"); | |
| 185 | } | ||
| 186 |
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32 | if (j.contains("useCompensatedData")) |
| 187 | { | ||
| 188 | 32 | _useCompensatedData = j.at("useCompensatedData"); | |
| 189 | } | ||
| 190 | 64 | } | |
| 191 | |||
| 192 | 96 | bool NAV::VectorNavBinaryConverter::initialize() | |
| 193 | { | ||
| 194 | LOG_TRACE("{}: called", nameId()); | ||
| 195 | |||
| 196 | 96 | _posVelAtt__init = nullptr; | |
| 197 | |||
| 198 | 96 | return true; | |
| 199 | } | ||
| 200 | |||
| 201 | 28384 | void NAV::VectorNavBinaryConverter::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 202 | { | ||
| 203 |
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28384 | auto vnObs = std::static_pointer_cast<const VectorNavBinaryOutput>(queue.extract_front()); |
| 204 | |||
| 205 | 28384 | std::shared_ptr<const NodeData> convertedData = nullptr; | |
| 206 | |||
| 207 |
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28384 | if (_outputType == OutputType::ImuObsWDelta) |
| 208 | { | ||
| 209 |
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25776 | convertedData = convert2ImuObsWDelta(vnObs); |
| 210 | } | ||
| 211 |
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2608 | else if (_outputType == OutputType::ImuObs) |
| 212 | { | ||
| 213 | ✗ | convertedData = convert2ImuObs(vnObs); | |
| 214 | } | ||
| 215 |
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2608 | else if (_outputType == OutputType::BaroPressObs) |
| 216 | { | ||
| 217 | ✗ | convertedData = convert2BaroPressObs(vnObs); | |
| 218 | } | ||
| 219 |
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2608 | else if (_outputType == OutputType::PosVelAtt) |
| 220 | { | ||
| 221 |
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2608 | convertedData = convert2PosVelAtt(vnObs); |
| 222 | } | ||
| 223 | ✗ | else if (_outputType == OutputType::GnssObs) | |
| 224 | { | ||
| 225 | ✗ | convertedData = convert2GnssObs(vnObs); | |
| 226 | } | ||
| 227 | |||
| 228 |
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28384 | if (convertedData) |
| 229 | { | ||
| 230 |
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28384 | invokeCallbacks(OUTPUT_PORT_INDEX_CONVERTED, convertedData); |
| 231 | } | ||
| 232 | 28384 | } | |
| 233 | |||
| 234 | 25776 | std::shared_ptr<const NAV::ImuObsWDelta> NAV::VectorNavBinaryConverter::convert2ImuObsWDelta(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const // NOLINT(readability-convert-member-functions-to-static) | |
| 235 | { | ||
| 236 |
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25776 | auto imuObs = std::make_shared<ImuObsWDelta>(vnObs->imuPos); |
| 237 | |||
| 238 |
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25776 | if (vnObs->gnss1Outputs || vnObs->gnss2Outputs) // If there is no GNSS data selected in the vnSensor, Imu messages should still be sent out. The VN-100 will not provide any data otherwise. |
| 239 | { | ||
| 240 | 25776 | if (!vnObs->timeOutputs | |
| 241 |
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25776 | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) |
| 242 |
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25776 | || !vnObs->timeOutputs->timeStatus.dateOk() |
| 243 |
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25776 | || !vnObs->timeOutputs->timeStatus.timeOk() |
| 244 |
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25776 | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) |
| 245 |
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51552 | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) |
| 246 | { | ||
| 247 | ✗ | return nullptr; | |
| 248 | } | ||
| 249 |
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25776 | imuObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); |
| 250 | } | ||
| 251 | else | ||
| 252 | { | ||
| 253 | // VN-100 vnObs->insTime is set from | ||
| 254 | // - 'timeSyncMaster->ppsTime + timeSyncIn' when working together with the VN-310E or | ||
| 255 | // - the computer time | ||
| 256 | ✗ | imuObs->insTime = vnObs->insTime; | |
| 257 | } | ||
| 258 | |||
| 259 | 25776 | bool accelFound = false; | |
| 260 | 25776 | bool gyroFound = false; | |
| 261 | 25776 | bool dThetaFound = false; | |
| 262 | 25776 | bool dVelFound = false; | |
| 263 |
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25776 | if (vnObs->imuOutputs) |
| 264 | { | ||
| 265 |
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25776 | if (!_useCompensatedData) |
| 266 | { | ||
| 267 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) | |
| 268 | { | ||
| 269 | ✗ | imuObs->p_magneticField = vnObs->imuOutputs->uncompMag.cast<double>(); | |
| 270 | } | ||
| 271 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) | |
| 272 | { | ||
| 273 | ✗ | imuObs->p_acceleration = vnObs->imuOutputs->uncompAccel.cast<double>(); | |
| 274 | ✗ | accelFound = true; | |
| 275 | } | ||
| 276 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) | |
| 277 | { | ||
| 278 | ✗ | imuObs->p_angularRate = vnObs->imuOutputs->uncompGyro.cast<double>(); | |
| 279 | ✗ | gyroFound = true; | |
| 280 | } | ||
| 281 | } | ||
| 282 | else | ||
| 283 | { | ||
| 284 |
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25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) |
| 285 | { | ||
| 286 |
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25776 | imuObs->p_magneticField = vnObs->imuOutputs->mag.cast<double>(); |
| 287 | } | ||
| 288 |
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25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) |
| 289 | { | ||
| 290 |
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25776 | imuObs->p_acceleration = vnObs->imuOutputs->accel.cast<double>(); |
| 291 | 25776 | accelFound = true; | |
| 292 | } | ||
| 293 |
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25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) |
| 294 | { | ||
| 295 |
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25776 | imuObs->p_angularRate = vnObs->imuOutputs->angularRate.cast<double>(); |
| 296 | 25776 | gyroFound = true; | |
| 297 | } | ||
| 298 | } | ||
| 299 |
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25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) |
| 300 | { | ||
| 301 | 25776 | imuObs->temperature = vnObs->imuOutputs->temp; | |
| 302 | } | ||
| 303 |
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25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA) |
| 304 | { | ||
| 305 | 25776 | imuObs->dtime = vnObs->imuOutputs->deltaTime; | |
| 306 |
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25776 | imuObs->dtheta = deg2rad(vnObs->imuOutputs->deltaTheta.cast<double>()); |
| 307 | 25776 | dThetaFound = true; | |
| 308 | } | ||
| 309 |
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25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL) |
| 310 | { | ||
| 311 |
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25776 | imuObs->dvel = vnObs->imuOutputs->deltaV.cast<double>(); |
| 312 | 25776 | dVelFound = true; | |
| 313 | } | ||
| 314 | } | ||
| 315 | |||
| 316 |
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25776 | if (accelFound && gyroFound && dThetaFound && dVelFound) |
| 317 | { | ||
| 318 | 25776 | return imuObs; | |
| 319 | } | ||
| 320 | |||
| 321 | ✗ | LOG_ERROR("{}: Conversion failed. Need {} acceleration and gyroscope measurements and deltaTheta and deltaVel in the input data.", | |
| 322 | nameId(), _useCompensatedData ? "compensated" : "uncompensated"); | ||
| 323 | ✗ | return nullptr; | |
| 324 | 25776 | } | |
| 325 | |||
| 326 | ✗ | std::shared_ptr<const NAV::ImuObs> NAV::VectorNavBinaryConverter::convert2ImuObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const // NOLINT(readability-convert-member-functions-to-static) | |
| 327 | { | ||
| 328 | ✗ | auto imuObs = std::make_shared<ImuObs>(vnObs->imuPos); | |
| 329 | |||
| 330 | ✗ | if (vnObs->gnss1Outputs || vnObs->gnss2Outputs) // If there is no GNSS data selected in the vnSensor, Imu messages should still be sent out. The VN-100 will not provide any data otherwise. | |
| 331 | { | ||
| 332 | ✗ | if (!vnObs->timeOutputs | |
| 333 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) | |
| 334 | ✗ | || !vnObs->timeOutputs->timeStatus.dateOk() | |
| 335 | ✗ | || !vnObs->timeOutputs->timeStatus.timeOk() | |
| 336 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) | |
| 337 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) | |
| 338 | { | ||
| 339 | ✗ | return nullptr; | |
| 340 | } | ||
| 341 | ✗ | imuObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); | |
| 342 | } | ||
| 343 | else | ||
| 344 | { | ||
| 345 | // VN-100 vnObs->insTime is set from | ||
| 346 | // - 'timeSyncMaster->ppsTime + timeSyncIn' when working together with the VN-310E or | ||
| 347 | // - the computer time | ||
| 348 | ✗ | imuObs->insTime = vnObs->insTime; | |
| 349 | } | ||
| 350 | |||
| 351 | ✗ | bool accelFound = false; | |
| 352 | ✗ | bool gyroFound = false; | |
| 353 | ✗ | if (vnObs->imuOutputs) | |
| 354 | { | ||
| 355 | ✗ | if (!_useCompensatedData) | |
| 356 | { | ||
| 357 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) | |
| 358 | { | ||
| 359 | ✗ | imuObs->p_magneticField = vnObs->imuOutputs->uncompMag.cast<double>(); | |
| 360 | } | ||
| 361 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) | |
| 362 | { | ||
| 363 | ✗ | imuObs->p_acceleration = vnObs->imuOutputs->uncompAccel.cast<double>(); | |
| 364 | ✗ | accelFound = true; | |
| 365 | } | ||
| 366 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) | |
| 367 | { | ||
| 368 | ✗ | imuObs->p_angularRate = vnObs->imuOutputs->uncompGyro.cast<double>(); | |
| 369 | ✗ | gyroFound = true; | |
| 370 | } | ||
| 371 | } | ||
| 372 | else | ||
| 373 | { | ||
| 374 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) | |
| 375 | { | ||
| 376 | ✗ | imuObs->p_magneticField = vnObs->imuOutputs->mag.cast<double>(); | |
| 377 | } | ||
| 378 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) | |
| 379 | { | ||
| 380 | ✗ | imuObs->p_acceleration = vnObs->imuOutputs->accel.cast<double>(); | |
| 381 | ✗ | accelFound = true; | |
| 382 | } | ||
| 383 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) | |
| 384 | { | ||
| 385 | ✗ | imuObs->p_angularRate = vnObs->imuOutputs->angularRate.cast<double>(); | |
| 386 | ✗ | gyroFound = true; | |
| 387 | } | ||
| 388 | } | ||
| 389 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) | |
| 390 | { | ||
| 391 | ✗ | imuObs->temperature = vnObs->imuOutputs->temp; | |
| 392 | } | ||
| 393 | } | ||
| 394 | |||
| 395 | ✗ | if (accelFound && gyroFound) | |
| 396 | { | ||
| 397 | ✗ | return imuObs; | |
| 398 | } | ||
| 399 | |||
| 400 | ✗ | LOG_ERROR("{}: Conversion failed. Need {} acceleration and gyroscope measurements in the input data.", nameId(), _useCompensatedData ? "compensated" : "uncompensated"); | |
| 401 | ✗ | return nullptr; | |
| 402 | ✗ | } | |
| 403 | |||
| 404 | ✗ | std::shared_ptr<const NAV::BaroPressObs> NAV::VectorNavBinaryConverter::convert2BaroPressObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const // NOLINT(readability-convert-member-functions-to-static) | |
| 405 | { | ||
| 406 | ✗ | auto baroPressObs = std::make_shared<BaroPressObs>(); | |
| 407 | |||
| 408 | ✗ | if (vnObs->gnss1Outputs || vnObs->gnss2Outputs) // If there is no GNSS data selected in the vnSensor, Baro messages should still be sent out. The VN-100 will not provide any data otherwise. | |
| 409 | { | ||
| 410 | ✗ | if (!vnObs->timeOutputs | |
| 411 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) | |
| 412 | ✗ | || !vnObs->timeOutputs->timeStatus.dateOk() | |
| 413 | ✗ | || !vnObs->timeOutputs->timeStatus.timeOk() | |
| 414 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) | |
| 415 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) | |
| 416 | { | ||
| 417 | ✗ | return nullptr; | |
| 418 | } | ||
| 419 | ✗ | baroPressObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); | |
| 420 | } | ||
| 421 | else | ||
| 422 | { | ||
| 423 | // VN-100 vnObs->insTime is set from | ||
| 424 | // - 'timeSyncMaster->ppsTime + timeSyncIn' when working together with the VN-310E or | ||
| 425 | // - the computer time | ||
| 426 | ✗ | baroPressObs->insTime = vnObs->insTime; | |
| 427 | } | ||
| 428 | |||
| 429 | ✗ | bool baroFound = false; | |
| 430 | ✗ | if (vnObs->imuOutputs) | |
| 431 | { | ||
| 432 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES) | |
| 433 | { | ||
| 434 | ✗ | baroPressObs->baro_pressure = SCALE_FACTOR_KILO2HECTOPASCAL * static_cast<double>(vnObs->imuOutputs->pres); | |
| 435 | ✗ | baroFound = true; | |
| 436 | } | ||
| 437 | |||
| 438 | // if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) | ||
| 439 | // { | ||
| 440 | // baroPressObs->temperature = vnObs->imuOutputs->temp; | ||
| 441 | // } | ||
| 442 | } | ||
| 443 | |||
| 444 | ✗ | if (baroFound) | |
| 445 | { | ||
| 446 | ✗ | return baroPressObs; | |
| 447 | } | ||
| 448 | |||
| 449 | ✗ | LOG_ERROR("{}: Conversion failed. No barometer pressure data found in the input data.", nameId()); | |
| 450 | ✗ | return nullptr; | |
| 451 | ✗ | } | |
| 452 | |||
| 453 | 2608 | std::shared_ptr<const NAV::PosVelAtt> NAV::VectorNavBinaryConverter::convert2PosVelAtt(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) // NOLINT(readability-convert-member-functions-to-static) | |
| 454 | { | ||
| 455 | 2608 | std::optional<Eigen::Quaterniond> n_Quat_b; | |
| 456 | 2608 | std::optional<Eigen::Vector3d> e_position; | |
| 457 | 2608 | std::optional<Eigen::Vector3d> lla_position; | |
| 458 | 2608 | std::optional<Eigen::Vector3d> n_velocity; | |
| 459 | |||
| 460 |
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2608 | if (vnObs->attitudeOutputs) |
| 461 | { | ||
| 462 |
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2608 | if (vnObs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION) |
| 463 | { | ||
| 464 | ✗ | n_Quat_b = vnObs->attitudeOutputs->qtn.cast<double>(); | |
| 465 | } | ||
| 466 |
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2608 | else if (vnObs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL) |
| 467 | { | ||
| 468 |
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2608 | Eigen::Vector3d ypr = deg2rad(vnObs->attitudeOutputs->ypr.cast<double>()); |
| 469 |
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2608 | n_Quat_b = trafo::n_Quat_b(ypr(2), ypr(1), ypr(0)); |
| 470 | } | ||
| 471 | ✗ | else if (vnObs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM) | |
| 472 | { | ||
| 473 | ✗ | n_Quat_b = vnObs->attitudeOutputs->dcm.cast<double>(); | |
| 474 | } | ||
| 475 | } | ||
| 476 | |||
| 477 |
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2608 | auto posVelAttObs = std::make_shared<PosVelAtt>(); |
| 478 | |||
| 479 | ✗ | if ((_posVelSource == PosVelSource_Best || _posVelSource == PosVelSource_Ins) | |
| 480 |
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2608 | && vnObs->insOutputs |
| 481 |
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7824 | && (vnObs->insOutputs->insStatus.mode() == NAV::vendor::vectornav::InsStatus::Mode::Aligning |
| 482 |
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2608 | || vnObs->insOutputs->insStatus.mode() == NAV::vendor::vectornav::InsStatus::Mode::Tracking)) |
| 483 | { | ||
| 484 | ✗ | if (!vnObs->timeOutputs | |
| 485 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) | |
| 486 | ✗ | || !vnObs->timeOutputs->timeStatus.dateOk() | |
| 487 | ✗ | || !vnObs->timeOutputs->timeStatus.timeOk() | |
| 488 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) | |
| 489 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) | |
| 490 | { | ||
| 491 | ✗ | return nullptr; | |
| 492 | } | ||
| 493 | |||
| 494 | ✗ | posVelAttObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); | |
| 495 | |||
| 496 | ✗ | if (vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA) | |
| 497 | { | ||
| 498 | ✗ | lla_position = { deg2rad(vnObs->insOutputs->posLla(0)), | |
| 499 | ✗ | deg2rad(vnObs->insOutputs->posLla(1)), | |
| 500 | ✗ | vnObs->insOutputs->posLla(2) }; | |
| 501 | } | ||
| 502 | ✗ | if (vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF) | |
| 503 | { | ||
| 504 | ✗ | e_position = vnObs->insOutputs->posEcef; | |
| 505 | } | ||
| 506 | |||
| 507 | ✗ | if (vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED) | |
| 508 | { | ||
| 509 | ✗ | n_velocity = vnObs->insOutputs->velNed.cast<double>(); | |
| 510 | } | ||
| 511 | ✗ | else if ((vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF) | |
| 512 | ✗ | && (e_position.has_value() || lla_position.has_value())) | |
| 513 | { | ||
| 514 | ✗ | Eigen::Vector3d lla = lla_position.has_value() ? lla_position.value() : trafo::ecef2lla_WGS84(e_position.value()); | |
| 515 | ✗ | n_velocity = trafo::n_Quat_e(lla(0), lla(1)) * vnObs->insOutputs->velEcef.cast<double>(); | |
| 516 | } | ||
| 517 | ✗ | else if ((vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY) | |
| 518 | ✗ | && n_Quat_b.has_value()) | |
| 519 | { | ||
| 520 | ✗ | n_velocity = n_Quat_b.value() * vnObs->insOutputs->velBody.cast<double>(); | |
| 521 | } | ||
| 522 | } | ||
| 523 | |||
| 524 | ✗ | if ((_posVelSource == PosVelSource_Best || _posVelSource == PosVelSource_Gnss1) | |
| 525 |
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2608 | && vnObs->gnss1Outputs && vnObs->gnss1Outputs->fix >= 2) |
| 526 | { | ||
| 527 | 2608 | if (!vnObs->gnss1Outputs | |
| 528 |
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2608 | || !vnObs->gnss1Outputs->timeInfo.status.timeOk() |
| 529 |
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5216 | || !vnObs->gnss1Outputs->timeInfo.status.dateOk()) |
| 530 | { | ||
| 531 | ✗ | return nullptr; | |
| 532 | } | ||
| 533 | |||
| 534 |
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2608 | posVelAttObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->gnss1Outputs->week), static_cast<double>(vnObs->gnss1Outputs->tow) * 1e-9L)); |
| 535 | |||
| 536 |
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2608 | if (!e_position.has_value() && !lla_position.has_value()) |
| 537 | { | ||
| 538 |
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2608 | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) |
| 539 | { | ||
| 540 |
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2608 | lla_position = { deg2rad(vnObs->gnss1Outputs->posLla(0)), |
| 541 |
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2608 | deg2rad(vnObs->gnss1Outputs->posLla(1)), |
| 542 |
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2608 | vnObs->gnss1Outputs->posLla(2) }; |
| 543 | } | ||
| 544 |
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2608 | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) |
| 545 | { | ||
| 546 | ✗ | e_position = vnObs->gnss1Outputs->posEcef; | |
| 547 | } | ||
| 548 | } | ||
| 549 | |||
| 550 |
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2608 | if (!n_velocity.has_value()) |
| 551 | { | ||
| 552 |
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2608 | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) |
| 553 | { | ||
| 554 |
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2608 | n_velocity = vnObs->gnss1Outputs->velNed.cast<double>(); |
| 555 | } | ||
| 556 | ✗ | else if ((vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) | |
| 557 | ✗ | && (e_position.has_value() || lla_position.has_value())) | |
| 558 | { | ||
| 559 | ✗ | Eigen::Vector3d lla = lla_position.has_value() ? lla_position.value() : trafo::ecef2lla_WGS84(e_position.value()); | |
| 560 | ✗ | n_velocity = trafo::n_Quat_e(lla(0), lla(1)) * vnObs->gnss1Outputs->velEcef.cast<double>(); | |
| 561 | } | ||
| 562 | } | ||
| 563 | } | ||
| 564 | ✗ | if ((_posVelSource == PosVelSource_Best || _posVelSource == PosVelSource_Gnss2) | |
| 565 |
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2608 | && vnObs->gnss2Outputs && vnObs->gnss2Outputs->fix >= 2) |
| 566 | { | ||
| 567 | ✗ | if (!vnObs->gnss2Outputs | |
| 568 | ✗ | || !vnObs->gnss2Outputs->timeInfo.status.timeOk() | |
| 569 | ✗ | || !vnObs->gnss2Outputs->timeInfo.status.dateOk()) | |
| 570 | { | ||
| 571 | ✗ | return nullptr; | |
| 572 | } | ||
| 573 | |||
| 574 | ✗ | posVelAttObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->gnss2Outputs->week), static_cast<double>(vnObs->gnss2Outputs->tow) * 1e-9L)); | |
| 575 | |||
| 576 | ✗ | if (!e_position.has_value() && !lla_position.has_value()) | |
| 577 | { | ||
| 578 | ✗ | if (vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) | |
| 579 | { | ||
| 580 | ✗ | lla_position = { deg2rad(vnObs->gnss2Outputs->posLla(0)), | |
| 581 | ✗ | deg2rad(vnObs->gnss2Outputs->posLla(1)), | |
| 582 | ✗ | vnObs->gnss2Outputs->posLla(2) }; | |
| 583 | } | ||
| 584 | ✗ | if (vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) | |
| 585 | { | ||
| 586 | ✗ | e_position = vnObs->gnss2Outputs->posEcef; | |
| 587 | } | ||
| 588 | } | ||
| 589 | |||
| 590 | ✗ | if (!n_velocity.has_value()) | |
| 591 | { | ||
| 592 | ✗ | if (vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) | |
| 593 | { | ||
| 594 | ✗ | n_velocity = vnObs->gnss2Outputs->velNed.cast<double>(); | |
| 595 | } | ||
| 596 | ✗ | else if ((vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) | |
| 597 | ✗ | && (e_position.has_value() || lla_position.has_value())) | |
| 598 | { | ||
| 599 | ✗ | Eigen::Vector3d lla = lla_position.has_value() ? lla_position.value() : trafo::ecef2lla_WGS84(e_position.value()); | |
| 600 | ✗ | n_velocity = trafo::n_Quat_e(lla(0), lla(1)) * vnObs->gnss2Outputs->velEcef.cast<double>(); | |
| 601 | } | ||
| 602 | } | ||
| 603 | } | ||
| 604 | |||
| 605 |
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2608 | if ((e_position.has_value() || lla_position.has_value()) && n_velocity.has_value()) |
| 606 | { | ||
| 607 |
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2608 | if (e_position.has_value()) |
| 608 | { | ||
| 609 | ✗ | posVelAttObs->setPosition_e(e_position.value()); | |
| 610 | } | ||
| 611 | else | ||
| 612 | { | ||
| 613 |
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2608 | posVelAttObs->setPosition_lla(lla_position.value()); |
| 614 | } | ||
| 615 |
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2608 | posVelAttObs->setVelocity_n(n_velocity.value()); |
| 616 | |||
| 617 |
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2608 | if (!n_Quat_b.has_value()) |
| 618 | { | ||
| 619 | ✗ | LOG_DEBUG("{}: Conversion succeeded but has no attitude info.", nameId()); | |
| 620 | } | ||
| 621 | else | ||
| 622 | { | ||
| 623 |
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2608 | posVelAttObs->setAttitude_n_Quat_b(n_Quat_b.value()); |
| 624 | } | ||
| 625 | |||
| 626 |
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2608 | if (_posVelAtt__init == nullptr) |
| 627 | { | ||
| 628 | 16 | _posVelAtt__init = posVelAttObs; | |
| 629 | } | ||
| 630 | |||
| 631 |
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|
2608 | if (_forceStatic) |
| 632 | { | ||
| 633 | ✗ | posVelAttObs->setPosition_e(_posVelAtt__init->e_position()); | |
| 634 | ✗ | posVelAttObs->setVelocity_n(Eigen::Vector3d::Zero()); | |
| 635 | ✗ | posVelAttObs->setAttitude_n_Quat_b(_posVelAtt__init->n_Quat_b()); | |
| 636 | } | ||
| 637 | |||
| 638 | 2608 | return posVelAttObs; | |
| 639 | } | ||
| 640 | |||
| 641 | ✗ | LOG_ERROR("{}: Conversion failed. No position or velocity data found in the input data.", nameId()); | |
| 642 | ✗ | return nullptr; | |
| 643 | 2608 | } | |
| 644 | |||
| 645 | ✗ | std::shared_ptr<const NAV::GnssObs> NAV::VectorNavBinaryConverter::convert2GnssObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) | |
| 646 | { | ||
| 647 | ✗ | auto gnssObs = std::make_shared<GnssObs>(); | |
| 648 | |||
| 649 | ✗ | if (!vnObs->gnss1Outputs | |
| 650 | ✗ | || !vnObs->gnss1Outputs->timeInfo.status.timeOk() | |
| 651 | ✗ | || !vnObs->gnss1Outputs->timeInfo.status.dateOk()) | |
| 652 | { | ||
| 653 | ✗ | return nullptr; | |
| 654 | } | ||
| 655 | |||
| 656 | ✗ | gnssObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->gnss1Outputs->raw.week), vnObs->gnss1Outputs->raw.tow)); | |
| 657 | |||
| 658 | ✗ | if (vnObs->gnss1Outputs) | |
| 659 | { | ||
| 660 | ✗ | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) | |
| 661 | { | ||
| 662 | ✗ | for (const auto& satRaw : vnObs->gnss1Outputs->raw.satellites) | |
| 663 | { | ||
| 664 | ✗ | bool skipMeasurement = false; | |
| 665 | ✗ | SatelliteSystem satSys = SatSys_None; | |
| 666 | ✗ | switch (satRaw.sys) | |
| 667 | { | ||
| 668 | ✗ | case vendor::vectornav::SatSys::GPS: | |
| 669 | ✗ | satSys = GPS; | |
| 670 | ✗ | break; | |
| 671 | ✗ | case vendor::vectornav::SatSys::SBAS: | |
| 672 | ✗ | satSys = SBAS; | |
| 673 | ✗ | break; | |
| 674 | ✗ | case vendor::vectornav::SatSys::Galileo: | |
| 675 | ✗ | satSys = GAL; | |
| 676 | ✗ | break; | |
| 677 | ✗ | case vendor::vectornav::SatSys::BeiDou: | |
| 678 | ✗ | satSys = BDS; | |
| 679 | ✗ | break; | |
| 680 | ✗ | case vendor::vectornav::SatSys::IMES: | |
| 681 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' is not supported yet. Skipping measurement.", satRaw.sys); | ||
| 682 | ✗ | skipMeasurement = true; | |
| 683 | ✗ | break; | |
| 684 | ✗ | case vendor::vectornav::SatSys::QZSS: | |
| 685 | ✗ | satSys = QZSS; | |
| 686 | ✗ | break; | |
| 687 | ✗ | case vendor::vectornav::SatSys::GLONASS: | |
| 688 | ✗ | satSys = GLO; | |
| 689 | ✗ | break; | |
| 690 | ✗ | default: // IRNSS not in vectorNav | |
| 691 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' is not supported yet. Skipping measurement.", satRaw.sys); | ||
| 692 | ✗ | skipMeasurement = true; | |
| 693 | ✗ | break; | |
| 694 | } | ||
| 695 | |||
| 696 | ✗ | Frequency frequency = Freq_None; | |
| 697 | ✗ | Code code; | |
| 698 | ✗ | switch (SatelliteSystem_(satSys)) | |
| 699 | { | ||
| 700 | ✗ | case GPS: | |
| 701 | ✗ | switch (satRaw.freq) | |
| 702 | { | ||
| 703 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 704 | ✗ | frequency = G01; | |
| 705 | ✗ | switch (satRaw.chan) | |
| 706 | { | ||
| 707 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 708 | ✗ | code = Code::G1P; | |
| 709 | ✗ | break; | |
| 710 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 711 | ✗ | code = Code::G1C; | |
| 712 | ✗ | break; | |
| 713 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Y_Code: | |
| 714 | ✗ | code = Code::G1Y; | |
| 715 | ✗ | break; | |
| 716 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Code: | |
| 717 | ✗ | code = Code::G1M; | |
| 718 | ✗ | break; | |
| 719 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Codeless: | |
| 720 | ✗ | code = Code::G1N; | |
| 721 | ✗ | break; | |
| 722 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 723 | ✗ | code = Code::G1S; | |
| 724 | ✗ | break; | |
| 725 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 726 | ✗ | code = Code::G1L; | |
| 727 | ✗ | break; | |
| 728 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 729 | ✗ | code = Code::G1X; | |
| 730 | ✗ | break; | |
| 731 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Z_Tracking: | |
| 732 | ✗ | code = Code::G1W; | |
| 733 | ✗ | break; | |
| 734 | ✗ | default: | |
| 735 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 736 | ✗ | skipMeasurement = true; | |
| 737 | ✗ | break; | |
| 738 | } | ||
| 739 | ✗ | break; | |
| 740 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L2: | |
| 741 | ✗ | frequency = G02; | |
| 742 | ✗ | switch (satRaw.chan) | |
| 743 | { | ||
| 744 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 745 | ✗ | code = Code::G2P; | |
| 746 | ✗ | break; | |
| 747 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 748 | ✗ | code = Code::G2C; | |
| 749 | ✗ | break; | |
| 750 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::SemiCodeless: | |
| 751 | ✗ | code = Code::G2D; | |
| 752 | ✗ | break; | |
| 753 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Y_Code: | |
| 754 | ✗ | code = Code::G2Y; | |
| 755 | ✗ | break; | |
| 756 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Code: | |
| 757 | ✗ | code = Code::G2M; | |
| 758 | ✗ | break; | |
| 759 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Codeless: | |
| 760 | ✗ | code = Code::G2N; | |
| 761 | ✗ | break; | |
| 762 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 763 | ✗ | code = Code::G2S; | |
| 764 | ✗ | break; | |
| 765 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 766 | ✗ | code = Code::G2L; | |
| 767 | ✗ | break; | |
| 768 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 769 | ✗ | code = Code::G2X; | |
| 770 | ✗ | break; | |
| 771 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Z_Tracking: | |
| 772 | ✗ | code = Code::G2W; | |
| 773 | ✗ | break; | |
| 774 | ✗ | default: | |
| 775 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 776 | ✗ | skipMeasurement = true; | |
| 777 | ✗ | break; | |
| 778 | } | ||
| 779 | ✗ | break; | |
| 780 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 781 | ✗ | frequency = G05; | |
| 782 | ✗ | switch (satRaw.chan) | |
| 783 | { | ||
| 784 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 785 | ✗ | code = Code::G5I; | |
| 786 | ✗ | break; | |
| 787 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 788 | ✗ | code = Code::G5Q; | |
| 789 | ✗ | break; | |
| 790 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 791 | ✗ | code = Code::G5X; | |
| 792 | ✗ | break; | |
| 793 | ✗ | default: | |
| 794 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 795 | ✗ | skipMeasurement = true; | |
| 796 | ✗ | break; | |
| 797 | } | ||
| 798 | ✗ | break; | |
| 799 | ✗ | default: | |
| 800 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 801 | ✗ | skipMeasurement = true; | |
| 802 | ✗ | break; | |
| 803 | } | ||
| 804 | ✗ | break; | |
| 805 | ✗ | case SBAS: | |
| 806 | ✗ | switch (satRaw.freq) | |
| 807 | { | ||
| 808 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 809 | ✗ | frequency = S01; | |
| 810 | ✗ | switch (satRaw.chan) | |
| 811 | { | ||
| 812 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 813 | ✗ | code = Code::S1C; | |
| 814 | ✗ | break; | |
| 815 | ✗ | default: | |
| 816 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 817 | ✗ | skipMeasurement = true; | |
| 818 | ✗ | break; | |
| 819 | } | ||
| 820 | ✗ | break; | |
| 821 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 822 | ✗ | frequency = S05; | |
| 823 | ✗ | switch (satRaw.chan) | |
| 824 | { | ||
| 825 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 826 | ✗ | code = Code::S5I; | |
| 827 | ✗ | break; | |
| 828 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 829 | ✗ | code = Code::S5Q; | |
| 830 | ✗ | break; | |
| 831 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 832 | ✗ | code = Code::S5X; | |
| 833 | ✗ | break; | |
| 834 | ✗ | default: | |
| 835 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 836 | ✗ | skipMeasurement = true; | |
| 837 | ✗ | break; | |
| 838 | } | ||
| 839 | ✗ | break; | |
| 840 | ✗ | default: | |
| 841 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 842 | ✗ | skipMeasurement = true; | |
| 843 | ✗ | break; | |
| 844 | } | ||
| 845 | ✗ | break; | |
| 846 | ✗ | case GAL: | |
| 847 | ✗ | switch (satRaw.freq) | |
| 848 | { | ||
| 849 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 850 | ✗ | frequency = E01; | |
| 851 | ✗ | switch (satRaw.chan) | |
| 852 | { | ||
| 853 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 854 | ✗ | code = Code::E1C; | |
| 855 | ✗ | break; | |
| 856 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::A_Chan: | |
| 857 | ✗ | code = Code::E1A; | |
| 858 | ✗ | break; | |
| 859 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::B_Chan: | |
| 860 | ✗ | code = Code::E1B; | |
| 861 | ✗ | break; | |
| 862 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 863 | ✗ | code = Code::E1X; | |
| 864 | ✗ | break; | |
| 865 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::ABC: | |
| 866 | ✗ | code = Code::E1Z; | |
| 867 | ✗ | break; | |
| 868 | ✗ | default: | |
| 869 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 870 | ✗ | skipMeasurement = true; | |
| 871 | ✗ | break; | |
| 872 | } | ||
| 873 | ✗ | break; | |
| 874 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 875 | ✗ | frequency = E08; | |
| 876 | ✗ | switch (satRaw.chan) | |
| 877 | { | ||
| 878 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 879 | ✗ | code = Code::E8I; | |
| 880 | ✗ | break; | |
| 881 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 882 | ✗ | code = Code::E8Q; | |
| 883 | ✗ | break; | |
| 884 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 885 | ✗ | code = Code::E8X; | |
| 886 | ✗ | break; | |
| 887 | ✗ | default: | |
| 888 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 889 | ✗ | skipMeasurement = true; | |
| 890 | ✗ | break; | |
| 891 | } | ||
| 892 | ✗ | break; | |
| 893 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E6: | |
| 894 | ✗ | frequency = E06; | |
| 895 | ✗ | switch (satRaw.chan) | |
| 896 | { | ||
| 897 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::B_Chan: | |
| 898 | ✗ | code = Code::E6B; | |
| 899 | ✗ | break; | |
| 900 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 901 | ✗ | code = Code::E6C; | |
| 902 | ✗ | break; | |
| 903 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 904 | ✗ | code = Code::E6X; | |
| 905 | ✗ | break; | |
| 906 | ✗ | default: | |
| 907 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 908 | ✗ | skipMeasurement = true; | |
| 909 | ✗ | break; | |
| 910 | } | ||
| 911 | ✗ | break; | |
| 912 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E5a: | |
| 913 | ✗ | frequency = E05; | |
| 914 | ✗ | switch (satRaw.chan) | |
| 915 | { | ||
| 916 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 917 | ✗ | code = Code::E5I; | |
| 918 | ✗ | break; | |
| 919 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 920 | ✗ | code = Code::E5Q; | |
| 921 | ✗ | break; | |
| 922 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 923 | ✗ | code = Code::E5X; | |
| 924 | ✗ | break; | |
| 925 | ✗ | default: | |
| 926 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 927 | ✗ | skipMeasurement = true; | |
| 928 | ✗ | break; | |
| 929 | } | ||
| 930 | ✗ | break; | |
| 931 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E5b: | |
| 932 | ✗ | frequency = E07; | |
| 933 | ✗ | switch (satRaw.chan) | |
| 934 | { | ||
| 935 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 936 | ✗ | code = Code::E7I; | |
| 937 | ✗ | break; | |
| 938 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 939 | ✗ | code = Code::E7Q; | |
| 940 | ✗ | break; | |
| 941 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 942 | ✗ | code = Code::E7X; | |
| 943 | ✗ | break; | |
| 944 | ✗ | default: | |
| 945 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 946 | ✗ | skipMeasurement = true; | |
| 947 | ✗ | break; | |
| 948 | } | ||
| 949 | ✗ | break; | |
| 950 | ✗ | default: | |
| 951 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 952 | ✗ | skipMeasurement = true; | |
| 953 | ✗ | break; | |
| 954 | } | ||
| 955 | ✗ | break; | |
| 956 | ✗ | case BDS: | |
| 957 | ✗ | switch (satRaw.freq) | |
| 958 | { | ||
| 959 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 960 | ✗ | frequency = B01; | |
| 961 | ✗ | switch (satRaw.chan) | |
| 962 | { | ||
| 963 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 964 | ✗ | code = Code::B2I; | |
| 965 | ✗ | break; | |
| 966 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 967 | ✗ | code = Code::B2Q; | |
| 968 | ✗ | break; | |
| 969 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 970 | ✗ | code = Code::B2X; | |
| 971 | ✗ | break; | |
| 972 | ✗ | default: | |
| 973 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 974 | ✗ | skipMeasurement = true; | |
| 975 | ✗ | break; | |
| 976 | } | ||
| 977 | ✗ | break; | |
| 978 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E6: | |
| 979 | ✗ | frequency = B06; | |
| 980 | ✗ | switch (satRaw.chan) | |
| 981 | { | ||
| 982 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::A_Chan: | |
| 983 | ✗ | code = Code::B6A; | |
| 984 | ✗ | break; | |
| 985 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 986 | ✗ | code = Code::B6I; | |
| 987 | ✗ | break; | |
| 988 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 989 | ✗ | code = Code::B6Q; | |
| 990 | ✗ | break; | |
| 991 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 992 | ✗ | code = Code::B6X; | |
| 993 | ✗ | break; | |
| 994 | ✗ | default: | |
| 995 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 996 | ✗ | skipMeasurement = true; | |
| 997 | ✗ | break; | |
| 998 | } | ||
| 999 | ✗ | break; | |
| 1000 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E5b: | |
| 1001 | ✗ | frequency = B08; | |
| 1002 | ✗ | switch (satRaw.chan) | |
| 1003 | { | ||
| 1004 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 1005 | ✗ | code = Code::B7I; | |
| 1006 | ✗ | break; | |
| 1007 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 1008 | ✗ | code = Code::B7Q; | |
| 1009 | ✗ | break; | |
| 1010 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1011 | ✗ | code = Code::B7X; | |
| 1012 | ✗ | break; | |
| 1013 | ✗ | default: | |
| 1014 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1015 | ✗ | skipMeasurement = true; | |
| 1016 | ✗ | break; | |
| 1017 | } | ||
| 1018 | ✗ | break; | |
| 1019 | ✗ | default: | |
| 1020 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 1021 | ✗ | skipMeasurement = true; | |
| 1022 | ✗ | break; | |
| 1023 | } | ||
| 1024 | ✗ | break; | |
| 1025 | ✗ | case QZSS: | |
| 1026 | ✗ | switch (satRaw.freq) | |
| 1027 | { | ||
| 1028 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 1029 | ✗ | frequency = J01; | |
| 1030 | ✗ | switch (satRaw.chan) | |
| 1031 | { | ||
| 1032 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 1033 | ✗ | code = Code::J1C; | |
| 1034 | ✗ | break; | |
| 1035 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 1036 | ✗ | code = Code::J1S; | |
| 1037 | ✗ | break; | |
| 1038 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 1039 | ✗ | code = Code::J1L; | |
| 1040 | ✗ | break; | |
| 1041 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1042 | ✗ | code = Code::J1X; | |
| 1043 | ✗ | break; | |
| 1044 | ✗ | default: | |
| 1045 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1046 | ✗ | skipMeasurement = true; | |
| 1047 | ✗ | break; | |
| 1048 | } | ||
| 1049 | ✗ | break; | |
| 1050 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L2: | |
| 1051 | ✗ | frequency = J02; | |
| 1052 | ✗ | switch (satRaw.chan) | |
| 1053 | { | ||
| 1054 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 1055 | ✗ | code = Code::J2S; | |
| 1056 | ✗ | break; | |
| 1057 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 1058 | ✗ | code = Code::J2L; | |
| 1059 | ✗ | break; | |
| 1060 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1061 | ✗ | code = Code::J2X; | |
| 1062 | ✗ | break; | |
| 1063 | ✗ | default: | |
| 1064 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1065 | ✗ | skipMeasurement = true; | |
| 1066 | ✗ | break; | |
| 1067 | } | ||
| 1068 | ✗ | break; | |
| 1069 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 1070 | ✗ | frequency = J05; | |
| 1071 | ✗ | switch (satRaw.chan) | |
| 1072 | { | ||
| 1073 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 1074 | ✗ | code = Code::J5I; | |
| 1075 | ✗ | break; | |
| 1076 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 1077 | ✗ | code = Code::J5Q; | |
| 1078 | ✗ | break; | |
| 1079 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1080 | ✗ | code = Code::J5X; | |
| 1081 | ✗ | break; | |
| 1082 | ✗ | default: | |
| 1083 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1084 | ✗ | skipMeasurement = true; | |
| 1085 | ✗ | break; | |
| 1086 | } | ||
| 1087 | ✗ | break; | |
| 1088 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E6: | |
| 1089 | ✗ | frequency = J06; | |
| 1090 | ✗ | switch (satRaw.chan) | |
| 1091 | { | ||
| 1092 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 1093 | ✗ | code = Code::J6S; | |
| 1094 | ✗ | break; | |
| 1095 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 1096 | ✗ | code = Code::J6L; | |
| 1097 | ✗ | break; | |
| 1098 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1099 | ✗ | code = Code::J6X; | |
| 1100 | ✗ | break; | |
| 1101 | ✗ | default: | |
| 1102 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1103 | ✗ | skipMeasurement = true; | |
| 1104 | ✗ | break; | |
| 1105 | } | ||
| 1106 | ✗ | break; | |
| 1107 | ✗ | default: | |
| 1108 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 1109 | ✗ | skipMeasurement = true; | |
| 1110 | ✗ | break; | |
| 1111 | } | ||
| 1112 | ✗ | break; | |
| 1113 | ✗ | case GLO: | |
| 1114 | ✗ | switch (satRaw.freq) | |
| 1115 | { | ||
| 1116 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 1117 | ✗ | frequency = R01; | |
| 1118 | ✗ | switch (satRaw.chan) | |
| 1119 | { | ||
| 1120 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 1121 | ✗ | code = Code::R1C; | |
| 1122 | ✗ | break; | |
| 1123 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 1124 | ✗ | code = Code::R1P; | |
| 1125 | ✗ | break; | |
| 1126 | ✗ | default: | |
| 1127 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1128 | ✗ | skipMeasurement = true; | |
| 1129 | ✗ | break; | |
| 1130 | } | ||
| 1131 | ✗ | break; | |
| 1132 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L2: | |
| 1133 | ✗ | frequency = R02; | |
| 1134 | ✗ | switch (satRaw.chan) | |
| 1135 | { | ||
| 1136 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 1137 | ✗ | code = Code::R2C; | |
| 1138 | ✗ | break; | |
| 1139 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 1140 | ✗ | code = Code::R2P; | |
| 1141 | ✗ | break; | |
| 1142 | ✗ | default: | |
| 1143 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1144 | ✗ | skipMeasurement = true; | |
| 1145 | ✗ | break; | |
| 1146 | } | ||
| 1147 | ✗ | break; | |
| 1148 | ✗ | default: | |
| 1149 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 1150 | ✗ | skipMeasurement = true; | |
| 1151 | ✗ | break; | |
| 1152 | } | ||
| 1153 | ✗ | break; | |
| 1154 | ✗ | case IRNSS: // IRNSS not in vectorNav | |
| 1155 | case SatSys_None: | ||
| 1156 | ✗ | skipMeasurement = true; | |
| 1157 | ✗ | break; | |
| 1158 | } | ||
| 1159 | |||
| 1160 | ✗ | if (skipMeasurement) | |
| 1161 | { | ||
| 1162 | ✗ | continue; | |
| 1163 | } | ||
| 1164 | |||
| 1165 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).pseudorange = { .value = satRaw.pr }; | |
| 1166 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).carrierPhase = { .value = satRaw.cp }; | |
| 1167 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).doppler = satRaw.dp; | |
| 1168 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).CN0 = satRaw.cno; | |
| 1169 | |||
| 1170 | // LLI has not been implemented yet, but can be calculated from vendor::vectornav::RawMeas::SatRawElement::Flags | ||
| 1171 | // (*gnssObs)[{ frequency, satRaw.svId }].LLI = ... | ||
| 1172 | } | ||
| 1173 | } | ||
| 1174 | } | ||
| 1175 | |||
| 1176 | ✗ | return gnssObs; | |
| 1177 | ✗ | } | |
| 1178 | |||
| 1179 | ✗ | const char* NAV::to_string(NAV::VectorNavBinaryConverter::OutputType value) | |
| 1180 | { | ||
| 1181 | ✗ | switch (value) | |
| 1182 | { | ||
| 1183 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::ImuObs: | |
| 1184 | ✗ | return "ImuObs"; | |
| 1185 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::ImuObsWDelta: | |
| 1186 | ✗ | return "ImuObsWDelta"; | |
| 1187 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::BaroPressObs: | |
| 1188 | ✗ | return "BaroPressObs"; | |
| 1189 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::PosVelAtt: | |
| 1190 | ✗ | return "PosVelAtt"; | |
| 1191 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::GnssObs: | |
| 1192 | ✗ | return "GnssObs"; | |
| 1193 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::COUNT: | |
| 1194 | ✗ | return ""; | |
| 1195 | } | ||
| 1196 | ✗ | return ""; | |
| 1197 | } | ||
| 1198 |