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