kopia lustrzana https://github.com/rs1729/RS
RS92: all velocities
Zilog80
rodzic
b73f2541d4
commit
493507ba65
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@ -20,7 +20,7 @@
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/*
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gcc rs92gps.c -lm -o rs92gps
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(includes nav_gps.c)
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(includes nav_gps_vel.c)
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examples:
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@ -94,6 +94,7 @@ typedef struct {
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double vH; double vD; double vU;
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int sats[4];
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double dop;
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int freq;
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unsigned short aux[4];
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double diter;
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} gpx_t;
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@ -441,7 +442,7 @@ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
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#define posGPS_STATUS 0x56 // 12 byte
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#define posGPS_DATA 0x62 // 12*8 byte
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#define pos_MEAS 0x2C // 24 byte
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#define pos_PTU 0x2C // 24 byte
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#define pos_AuxData 0xC8 // 8 byte
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@ -452,6 +453,7 @@ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
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#define LEN_CFG (2*(BLOCK_CFG & 0xFF))
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#define LEN_GPS (2*(BLOCK_GPS & 0xFF))
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#define LEN_PTU (2*(BLOCK_PTU & 0xFF))
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int crc16(int start, int len) {
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@ -634,7 +636,8 @@ int get_Cal() {
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byte = freq_bytes[0] + (freq_bytes[1] << 8);
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//fprintf(stdout, ":%04x ", byte);
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freq = 400000 + 10*byte; // kHz;
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fprintf(stdout, " : freq %d kHz", freq);
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gpx.freq = freq;
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fprintf(stdout, " : fq %d kHz", freq);
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}
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return 0;
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@ -713,7 +716,7 @@ int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) {
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else rollover = 0;
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week = alm[j].week - rollover;
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if (option_vel == 2) {
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if (option_vel >= 2) {
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GPS_SatellitePositionVelocity_Ephem(
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week, t, alm[j],
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&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
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@ -769,7 +772,7 @@ int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *satp) {
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}
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}
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if (option_vel == 2) {
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if (option_vel >= 2) {
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GPS_SatellitePositionVelocity_Ephem(
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week, t, eph[j][ti],
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&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
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@ -834,7 +837,7 @@ int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
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if ( satfound )
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{
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if (option_vel == 2) {
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if (option_vel >= 2) {
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GPS_SatellitePositionVelocity_Ephem(
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week, t, eph[count0],
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&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
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@ -1023,13 +1026,14 @@ int get_GPSkoord(int N) {
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double pos_ecef[3], pos1s_ecef[3], dpos_ecef[3],
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vel_ecef[3], dvel_ecef[3];
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double gdop, gdop0 = 1000.0;
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double hdop, vdop, pdop;
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//double hdop, vdop, pdop;
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int i0, i1, i2, i3, j;
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int nav_ret = 0;
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int num = 0;
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SAT_t Sat_A[4];
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SAT_t Sat_B[12]; // N <= 12
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SAT_t Sat_B1s[12];
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double diter;
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if (option_vergps == 8) {
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fprintf(stdout, " sats: ");
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@ -1053,19 +1057,36 @@ int get_GPSkoord(int N) {
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if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) {
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gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
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//fprintf(stdout, " DOP : %.1f ", gdop);
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if ( option_vel == 4 ) {
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NAV_LinP(4, Sat_A, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
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diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1],dpos_ecef[2]);
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for (j = 0; j < 3; j++) pos_ecef[j] += dpos_ecef[j];
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ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
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vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
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NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
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for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
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NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias);
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for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
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get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU);
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}
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if (option_vergps == 8) {
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//gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
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hdop = sqrt(DOP[0]+DOP[1]);
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vdop = sqrt(DOP[2]);
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pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
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// gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); // s.o.
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//hdop = sqrt(DOP[0]+DOP[1]);
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//vdop = sqrt(DOP[2]);
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//pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
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if (gdop < dop_limit) {
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fprintf(stdout, " ");
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fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
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if ( option_vel ) {
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fprintf(stdout, " (d:%.1f) ", diter);
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fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
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}
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fprintf(stdout, " sats: ");
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fprintf(stdout, "%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]);
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fprintf(stdout, " GDOP : %.1f ", gdop);
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fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
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fprintf(stdout, " PDOP: %.1f ", pdop);
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//fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
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//fprintf(stdout, " PDOP: %.1f ", pdop);
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fprintf(stdout, "\n");
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}
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}
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@ -1079,6 +1100,12 @@ int get_GPSkoord(int N) {
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gpx.dop = gdop;
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gpx.sats[0] = prn[i0]; gpx.sats[1] = prn[i1]; gpx.sats[2] = prn[i2]; gpx.sats[3] = prn[i3];
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gdop0 = gdop;
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if (option_vel) {
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gpx.vH = vH;
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gpx.vD = vD;
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gpx.vU = vU;
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}
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}
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}
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@ -1120,7 +1147,7 @@ int get_GPSkoord(int N) {
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fprintf(stdout, "\n");
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}
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}
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if (option_vel == 2) {
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if (option_vel >= 2) {
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//fprintf(stdout, "\nP(%.1f,%.1f,%.1f) \n", pos_ecef[0], pos_ecef[1], pos_ecef[2]);
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vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
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NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
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@ -1138,7 +1165,10 @@ int get_GPSkoord(int N) {
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if (option_vergps == 8) {
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fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
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fprintf(stdout, " GDOP[");
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if (option_vel) {
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fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
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}
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fprintf(stdout, " DOP[");
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for (j = 0; j < N; j++) {
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fprintf(stdout, "%d", prn[j]);
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if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop);
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@ -1152,11 +1182,12 @@ int get_GPSkoord(int N) {
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gpx.h = alt;
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gpx.dop = gdop;
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num = N;
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}
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if (option_vel) {
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gpx.vH = vH;
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gpx.vD = vD;
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gpx.vU = vU;
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if (option_vel) {
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gpx.vH = vH;
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gpx.vD = vD;
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gpx.vU = vU;
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}
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}
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}
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@ -1223,7 +1254,7 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
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if (!err2) {
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fprintf(stdout, "%s ", weekday[gpx.wday]);
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fprintf(stdout, "%02d:%02d:%04.1f", gpx.std, gpx.min, gpx.sek);
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fprintf(stdout, "%02d:%02d:%04.1f", gpx.std, gpx.min, gpx.sek); // wenn sek >= 59.950, wird auf 60.0 gerundet
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/*
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fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%02d",
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gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek);
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@ -1242,16 +1273,16 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
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if (option_iter && (option_vergps == 8 || option_vergps == 2)) {
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fprintf(stdout, " (d:%.1f) ", gpx.diter);
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}
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if (option_vel && option_vergps >= 2) {
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if (option_vel /*&& option_vergps >= 2*/) {
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fprintf(stdout," vH: %4.1f D: %5.1f° vV: %3.1f ", gpx.vH, gpx.vD, gpx.vU);
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}
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if (option_verbose && option_vergps >= 2) {
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if (option_verbose) {
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if (option_vergps != 2) {
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fprintf(stdout, " GDOP[%02d,%02d,%02d,%02d] %.1f",
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fprintf(stdout, " DOP[%02d,%02d,%02d,%02d] %.1f",
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gpx.sats[0], gpx.sats[1], gpx.sats[2], gpx.sats[3], gpx.dop);
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}
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else {
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fprintf(stdout, " GDOP[");
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fprintf(stdout, " DOP[");
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for (j = 0; j < k; j++) {
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fprintf(stdout, "%d", prn[j]);
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if (j < k-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop);
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@ -1348,7 +1379,7 @@ int main(int argc, char *argv[]) {
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fprintf(stderr, "%s [options] <file>\n", fpname);
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fprintf(stderr, " file: audio.wav or raw_data\n");
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fprintf(stderr, " options:\n");
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fprintf(stderr, " --vel1, --vel2 (-g2)\n");
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fprintf(stderr, " --vel; --vel1, --vel2 (-g2)\n");
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fprintf(stderr, " -v, -vx, -vv\n");
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fprintf(stderr, " -r, --raw\n");
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fprintf(stderr, " -i, --invert\n");
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@ -1362,6 +1393,9 @@ int main(int argc, char *argv[]) {
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fprintf(stderr, " --rawin1,2 (raw_data file)\n");
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return 0;
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}
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else if ( (strcmp(*argv, "--vel") == 0) ) {
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option_vel = 4;
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}
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else if ( (strcmp(*argv, "--vel1") == 0) ) {
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option_vel = 1;
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if (option_vergps < 1) option_vergps = 2;
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@ -20,7 +20,7 @@
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/*
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gcc rs92gps.c -lm -o rs92gps
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(includes nav_gps.c)
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(includes nav_gps_vel.c)
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examples:
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@ -65,6 +65,7 @@ typedef struct {
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double vH; double vD; double vU;
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int sats[4];
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double dop;
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int freq;
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unsigned short aux[4];
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double diter;
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} gpx_t;
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@ -411,7 +412,7 @@ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
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#define posGPS_STATUS 0x56 // 12 byte
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#define posGPS_DATA 0x62 // 12*8 byte
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#define pos_MEAS 0x2C // 24 byte
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#define pos_PTU 0x2C // 24 byte
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#define pos_AuxData 0xC8 // 8 byte
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@ -422,6 +423,7 @@ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
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#define LEN_CFG (2*(BLOCK_CFG & 0xFF))
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#define LEN_GPS (2*(BLOCK_GPS & 0xFF))
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#define LEN_PTU (2*(BLOCK_PTU & 0xFF))
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int crc16(int start, int len) {
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@ -604,7 +606,8 @@ int get_Cal() {
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byte = freq_bytes[0] + (freq_bytes[1] << 8);
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//fprintf(stdout, ":%04x ", byte);
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freq = 400000 + 10*byte; // kHz;
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fprintf(stdout, " : freq %d kHz", freq);
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gpx.freq = freq;
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fprintf(stdout, " : fq %d kHz", freq);
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}
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return 0;
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@ -683,7 +686,7 @@ int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) {
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else rollover = 0;
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week = alm[j].week - rollover;
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if (option_vel == 2) {
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if (option_vel >= 2) {
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GPS_SatellitePositionVelocity_Ephem(
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week, t, alm[j],
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&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
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@ -739,7 +742,7 @@ int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *satp) {
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}
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}
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if (option_vel == 2) {
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if (option_vel >= 2) {
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GPS_SatellitePositionVelocity_Ephem(
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week, t, eph[j][ti],
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&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
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@ -804,7 +807,7 @@ int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
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if ( satfound )
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{
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if (option_vel == 2) {
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if (option_vel >= 2) {
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GPS_SatellitePositionVelocity_Ephem(
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week, t, eph[count0],
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&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
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@ -993,13 +996,14 @@ int get_GPSkoord(int N) {
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double pos_ecef[3], pos1s_ecef[3], dpos_ecef[3],
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vel_ecef[3], dvel_ecef[3];
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double gdop, gdop0 = 1000.0;
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double hdop, vdop, pdop;
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//double hdop, vdop, pdop;
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int i0, i1, i2, i3, j;
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int nav_ret = 0;
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int num = 0;
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SAT_t Sat_A[4];
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SAT_t Sat_B[12]; // N <= 12
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SAT_t Sat_B1s[12];
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double diter;
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if (option_vergps == 8) {
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fprintf(stdout, " sats: ");
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@ -1023,19 +1027,36 @@ int get_GPSkoord(int N) {
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if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) {
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gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
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//fprintf(stdout, " DOP : %.1f ", gdop);
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if ( option_vel == 4 ) {
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NAV_LinP(4, Sat_A, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
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diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1],dpos_ecef[2]);
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for (j = 0; j < 3; j++) pos_ecef[j] += dpos_ecef[j];
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ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
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vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
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NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
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for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
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NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias);
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for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
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get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU);
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}
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if (option_vergps == 8) {
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//gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
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hdop = sqrt(DOP[0]+DOP[1]);
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vdop = sqrt(DOP[2]);
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pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
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// gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); // s.o.
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//hdop = sqrt(DOP[0]+DOP[1]);
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//vdop = sqrt(DOP[2]);
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//pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
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if (gdop < dop_limit) {
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fprintf(stdout, " ");
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fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
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if ( option_vel ) {
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fprintf(stdout, " (d:%.1f) ", diter);
|
||||
fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
|
||||
}
|
||||
fprintf(stdout, " sats: ");
|
||||
fprintf(stdout, "%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]);
|
||||
fprintf(stdout, " GDOP : %.1f ", gdop);
|
||||
fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
|
||||
fprintf(stdout, " PDOP: %.1f ", pdop);
|
||||
//fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
|
||||
//fprintf(stdout, " PDOP: %.1f ", pdop);
|
||||
fprintf(stdout, "\n");
|
||||
}
|
||||
}
|
||||
|
|
@ -1049,6 +1070,12 @@ int get_GPSkoord(int N) {
|
|||
gpx.dop = gdop;
|
||||
gpx.sats[0] = prn[i0]; gpx.sats[1] = prn[i1]; gpx.sats[2] = prn[i2]; gpx.sats[3] = prn[i3];
|
||||
gdop0 = gdop;
|
||||
|
||||
if (option_vel) {
|
||||
gpx.vH = vH;
|
||||
gpx.vD = vD;
|
||||
gpx.vU = vU;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1090,7 +1117,7 @@ int get_GPSkoord(int N) {
|
|||
fprintf(stdout, "\n");
|
||||
}
|
||||
}
|
||||
if (option_vel == 2) {
|
||||
if (option_vel >= 2) {
|
||||
//fprintf(stdout, "\nP(%.1f,%.1f,%.1f) \n", pos_ecef[0], pos_ecef[1], pos_ecef[2]);
|
||||
vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
|
||||
NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
|
||||
|
|
@ -1108,7 +1135,10 @@ int get_GPSkoord(int N) {
|
|||
|
||||
if (option_vergps == 8) {
|
||||
fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
|
||||
fprintf(stdout, " GDOP[");
|
||||
if (option_vel) {
|
||||
fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
|
||||
}
|
||||
fprintf(stdout, " DOP[");
|
||||
for (j = 0; j < N; j++) {
|
||||
fprintf(stdout, "%d", prn[j]);
|
||||
if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop);
|
||||
|
|
@ -1122,11 +1152,12 @@ int get_GPSkoord(int N) {
|
|||
gpx.h = alt;
|
||||
gpx.dop = gdop;
|
||||
num = N;
|
||||
}
|
||||
if (option_vel) {
|
||||
gpx.vH = vH;
|
||||
gpx.vD = vD;
|
||||
gpx.vU = vU;
|
||||
|
||||
if (option_vel) {
|
||||
gpx.vH = vH;
|
||||
gpx.vD = vD;
|
||||
gpx.vU = vU;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1159,7 +1190,7 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
|
|||
|
||||
if (!err2) {
|
||||
fprintf(stdout, "%s ", weekday[gpx.wday]);
|
||||
fprintf(stdout, "%02d:%02d:%04.1f", gpx.std, gpx.min, gpx.sek);
|
||||
fprintf(stdout, "%02d:%02d:%04.1f", gpx.std, gpx.min, gpx.sek); // wenn sek >= 59.950, wird auf 60.0 gerundet
|
||||
/*
|
||||
fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%02d",
|
||||
gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek);
|
||||
|
|
@ -1178,16 +1209,16 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
|
|||
if (option_iter && (option_vergps == 8 || option_vergps == 2)) {
|
||||
fprintf(stdout, " (d:%.1f) ", gpx.diter);
|
||||
}
|
||||
if (option_vel && option_vergps >= 2) {
|
||||
if (option_vel /*&& option_vergps >= 2*/) {
|
||||
fprintf(stdout," vH: %4.1f D: %5.1f° vV: %3.1f ", gpx.vH, gpx.vD, gpx.vU);
|
||||
}
|
||||
if (option_verbose && option_vergps >= 2) {
|
||||
if (option_verbose) {
|
||||
if (option_vergps != 2) {
|
||||
fprintf(stdout, " GDOP[%02d,%02d,%02d,%02d] %.1f",
|
||||
fprintf(stdout, " DOP[%02d,%02d,%02d,%02d] %.1f",
|
||||
gpx.sats[0], gpx.sats[1], gpx.sats[2], gpx.sats[3], gpx.dop);
|
||||
}
|
||||
else {
|
||||
fprintf(stdout, " GDOP[");
|
||||
fprintf(stdout, " DOP[");
|
||||
for (j = 0; j < k; j++) {
|
||||
fprintf(stdout, "%d", prn[j]);
|
||||
if (j < k-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop);
|
||||
|
|
@ -1267,7 +1298,7 @@ int main(int argc, char *argv[]) {
|
|||
fprintf(stderr, "%s [options] <file>\n", fpname);
|
||||
fprintf(stderr, " file: audio.wav or raw_data\n");
|
||||
fprintf(stderr, " options:\n");
|
||||
fprintf(stderr, " --vel1, --vel2 (-g2)\n");
|
||||
fprintf(stderr, " --vel; --vel1, --vel2 (-g2)\n");
|
||||
fprintf(stderr, " -v, -vx, -vv\n");
|
||||
fprintf(stderr, " -r, --raw\n");
|
||||
fprintf(stderr, " -i, --invert\n");
|
||||
|
|
@ -1280,6 +1311,9 @@ int main(int argc, char *argv[]) {
|
|||
fprintf(stderr, " --rawin1,2 (raw_data file)\n");
|
||||
return 0;
|
||||
}
|
||||
else if ( (strcmp(*argv, "--vel") == 0) ) {
|
||||
option_vel = 4;
|
||||
}
|
||||
else if ( (strcmp(*argv, "--vel1") == 0) ) {
|
||||
option_vel = 1;
|
||||
if (option_vergps < 1) option_vergps = 2;
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue