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RS92: GPS sat status

pull/13/head
Zilog80 2016-10-07 23:55:41 +02:00
rodzic 92faae6166
commit bdde313d7c
2 zmienionych plików z 111 dodań i 78 usunięć
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99
rs92/rs92ecc.c
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@ -430,18 +430,19 @@ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
#define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte? #define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte?
#define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f #define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f
#define pos_Calfreq 0x1A // 2 byte, calfr 0x00 #define pos_Calfreq 0x1A // 2 byte, calfr 0x00
#define pos_GPSTOW 0x48 // 4 byte
#define pos_AuxData 0xC8 // 8 byte
#define posGPS_TOW 0x48 // 4 byte
#define posGPS_PRN 0x4E // 12*5 bit in 8 byte #define posGPS_PRN 0x4E // 12*5 bit in 8 byte
#define posGPS_STATUS 0x56 // 12 byte
#define posGPS_DATA 0x62 // 12*8 byte #define posGPS_DATA 0x62 // 12*8 byte
#define pos_MEAS 0x2C // 24 byte #define pos_MEAS 0x2C // 24 byte
#define pos_AuxData 0xC8 // 8 byte
#define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1] #define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1]
#define BLOCK_PTU 0x690C #define BLOCK_PTU 0x690C
#define BLOCK_GPS 0x673D // frame[pos_GPSTOW-2], (frame[pos_GPSTOW-1] #define BLOCK_GPS 0x673D // frame[posGPS_TOW-2], frame[posGPS_TOW-1]
#define BLOCK_AUX 0x6805 #define BLOCK_AUX 0x6805
#define LEN_CFG (2*(BLOCK_CFG & 0xFF)) #define LEN_CFG (2*(BLOCK_CFG & 0xFF))
@ -499,8 +500,8 @@ int get_SondeID() {
crc = crc16(pos_FrameNb, LEN_CFG); crc = crc16(pos_FrameNb, LEN_CFG);
/* /*
if (option_crc) { if (option_crc) {
//printf(" (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]); //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]);
printf(" [%04X:%04X] ", crc_frame, crc); fprintf(stdout, " [%04X:%04X] ", crc_frame, crc);
} }
*/ */
ret = 0; ret = 0;
@ -533,13 +534,13 @@ int get_GPStime() {
float ms; float ms;
int crc_frame, crc; int crc_frame, crc;
// BLOCK_GPS == frame[pos_GPSTOW-2 .. pos_GPSTOW-1] ? // BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ?
crc_frame = framebyte(pos_GPSTOW+LEN_GPS) | (framebyte(pos_GPSTOW+LEN_GPS+1) << 8); crc_frame = framebyte(posGPS_TOW+LEN_GPS) | (framebyte(posGPS_TOW+LEN_GPS+1) << 8);
crc = crc16(pos_GPSTOW, LEN_GPS); crc = crc16(posGPS_TOW, LEN_GPS);
/* /*
if (option_crc) { if (option_crc) {
//printf(" (%04X:%02X%02X) ", BLOCK_GPS, frame[pos_GPSTOW-2], frame[pos_GPSTOW-1]); //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_GPS, frame[posGPS_TOW-2], frame[posGPS_TOW-1]);
printf(" [%04X:%04X] ", crc_frame, crc); fprintf(stdout, " [%04X:%04X] ", crc_frame, crc);
} }
*/ */
ret = 0; ret = 0;
@ -548,7 +549,7 @@ int get_GPStime() {
} }
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
byte = framebyte(pos_GPSTOW + i); byte = framebyte(posGPS_TOW + i);
gpstime_bytes[i] = byte; gpstime_bytes[i] = byte;
} }
@ -625,7 +626,7 @@ int get_Cal() {
freq_bytes[i] = byte; freq_bytes[i] = byte;
} }
byte = freq_bytes[0] + (freq_bytes[1] << 8); byte = freq_bytes[0] + (freq_bytes[1] << 8);
//printf(":%04x ", byte); //fprintf(stdout, ":%04x ", byte);
freq = 400000 + 10*byte; // kHz; freq = 400000 + 10*byte; // kHz;
fprintf(stdout, " : freq %d kHz", freq); fprintf(stdout, " : freq %d kHz", freq);
} }
@ -805,8 +806,9 @@ int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
typedef struct { typedef struct {
ui32_t tow;
ui8_t status;
int chips; int chips;
ui32_t time;
int ca; int ca;
} RANGE_t; } RANGE_t;
RANGE_t range[33]; RANGE_t range[33];
@ -828,7 +830,7 @@ int get_pseudorange() {
double pr0, prj; double pr0, prj;
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
gpstime_bytes[i] = framebyte(pos_GPSTOW + i); gpstime_bytes[i] = framebyte(posGPS_TOW + i);
} }
memcpy(&gpstime, gpstime_bytes, 4); // GPS-TOW in ms memcpy(&gpstime, gpstime_bytes, 4); // GPS-TOW in ms
@ -854,17 +856,20 @@ int get_pseudorange() {
if ( byteval == 0x7FFFFFFF || byteval == 0x55555555 ) { if ( byteval == 0x7FFFFFFF || byteval == 0x55555555 ) {
range[prns[j]].chips = 0; range[prns[j]].chips = 0;
range[prns[j]].status = frame[posGPS_STATUS+j];
continue; continue;
} }
if (option_vergps != 8) { if (option_vergps != 8) {
if ( byteval > 0x10000000 && byteval < 0xF0000000 ) { if ( byteval > 0x10000000 && byteval < 0xF0000000 ) {
range[prns[j]].chips = 0; range[prns[j]].chips = 0;
range[prns[j]].status = frame[posGPS_STATUS+j];
continue; continue;
}} }}
if ( prns[j] == 0 ) prns[j] = 32; if ( prns[j] == 0 ) prns[j] = 32;
range[prns[j]].chips = byteval; range[prns[j]].chips = byteval;
range[prns[j]].time = gpstime; range[prns[j]].tow = gpstime;
range[prns[j]].status = frame[posGPS_STATUS+j];
/* /*
for (i = 0; i < 4; i++) { pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; } for (i = 0; i < 4; i++) { pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; }
memcpy(&byteval, pseudobytes, 4); memcpy(&byteval, pseudobytes, 4);
@ -918,9 +923,9 @@ int get_GPSkoord(int N) {
SAT_t Sat_B[12]; // N <= 12 SAT_t Sat_B[12]; // N <= 12
if (option_vergps == 8) { if (option_vergps == 8) {
printf(" sats: "); fprintf(stdout, " sats: ");
for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]); for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]);
printf("\n"); fprintf(stdout, "\n");
} }
gpx.lat = gpx.lon = gpx.h = 0; gpx.lat = gpx.lon = gpx.h = 0;
@ -938,21 +943,21 @@ int get_GPSkoord(int N) {
num += 1; num += 1;
if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) { if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) {
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
//printf(" DOP : %.1f ", gdop); //fprintf(stdout, " DOP : %.1f ", gdop);
if (option_vergps == 8) { if (option_vergps == 8) {
//gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); //gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
hdop = sqrt(DOP[0]+DOP[1]); hdop = sqrt(DOP[0]+DOP[1]);
vdop = sqrt(DOP[2]); vdop = sqrt(DOP[2]);
pdop = sqrt(DOP[0]+DOP[1]+DOP[2]); pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
if (gdop < dop_limit) { if (gdop < dop_limit) {
printf(" "); fprintf(stdout, " ");
printf("lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt); fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
printf(" sats: "); fprintf(stdout, " sats: ");
printf("%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]); fprintf(stdout, "%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]);
printf(" GDOP : %.1f ", gdop); fprintf(stdout, " GDOP : %.1f ", gdop);
printf(" HDOP: %.1f VDOP: %.1f ", hdop, vdop); fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
printf(" PDOP: %.1f ", pdop); fprintf(stdout, " PDOP: %.1f ", pdop);
printf("\n"); fprintf(stdout, "\n");
} }
} }
} }
@ -978,8 +983,8 @@ int get_GPSkoord(int N) {
if (option_vergps == 8) { if (option_vergps == 8) {
NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias); NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias);
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt); ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
printf("bancroft1[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); fprintf(stdout, "bancroft1[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
printf("\n"); fprintf(stdout, "\n");
} }
NAV_bancroft2(N, Sat_B, pos_ecef, &rx_cl_bias); NAV_bancroft2(N, Sat_B, pos_ecef, &rx_cl_bias);
@ -990,13 +995,13 @@ int get_GPSkoord(int N) {
} }
if (option_vergps == 8) { if (option_vergps == 8) {
printf("bancroft2[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); fprintf(stdout, "bancroft2[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
printf(" GDOP["); fprintf(stdout, " GDOP[");
for (j = 0; j < N; j++) { for (j = 0; j < N; j++) {
printf("%d", prn[j]); fprintf(stdout, "%d", prn[j]);
if (j < N-1) printf(","); else printf("] %.1f ", gdop); if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop);
} }
printf("\n"); fprintf(stdout, "\n");
} }
if (option_vergps == 2) { if (option_vergps == 2) {
@ -1030,12 +1035,12 @@ int rs92_ecc(int msglen) {
errors = decode_rs_char(rs, codeword, errpos, 0); errors = decode_rs_char(rs, codeword, errpos, 0);
/* /*
printf("codeword, "); fprintf(stdout, "codeword, ");
printf("errors: %d\n", errors); fprintf(stdout, "errors: %d\n", errors);
if (errors > 0) { if (errors > 0) {
printf("pos: "); fprintf(stdout, "pos: ");
for (i = 0; i < errors; i++) printf(" %d", errpos[i]); for (i = 0; i < errors; i++) fprintf(stdout, " %d", errpos[i]);
printf("\n"); fprintf(stdout, "\n");
} }
*/ */
@ -1093,8 +1098,8 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
else { else {
fprintf(stdout, " GDOP["); fprintf(stdout, " GDOP[");
for (j = 0; j < k; j++) { for (j = 0; j < k; j++) {
printf("%d", prn[j]); fprintf(stdout, "%d", prn[j]);
if (j < k-1) printf(","); else printf("] %.1f ", gpx.dop); if (j < k-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop);
} }
} }
} }
@ -1104,11 +1109,23 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
get_Cal(); get_Cal();
if (option_vergps == 8)
{
fprintf(stdout, "\n");
for (j = 0; j < 60; j++) { fprintf(stdout, "%d", prn_le[j]); if (j % 5 == 4) fprintf(stdout, " "); }
fprintf(stdout, ": ");
for (j = 0; j < 12; j++) fprintf(stdout, "%2d ", prns[j]);
fprintf(stdout, "\n");
fprintf(stdout, " status: ");
for (j = 0; j < 12; j++) fprintf(stdout, "%02X ", range[prns[j]].status);
fprintf(stdout, "\n");
}
} }
if (!err1) { if (!err1) {
fprintf(stdout, "\n"); fprintf(stdout, "\n");
if (option_vergps == 8) printf("\n"); //if (option_vergps == 8) fprintf(stdout, "\n");
} }
return err2; return err2;

90
rs92/rs92gps.c
Wyświetl plik

@ -400,18 +400,19 @@ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
#define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte? #define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte?
#define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f #define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f
#define pos_Calfreq 0x1A // 2 byte, calfr 0x00 #define pos_Calfreq 0x1A // 2 byte, calfr 0x00
#define pos_GPSTOW 0x48 // 4 byte
#define pos_AuxData 0xC8 // 8 byte
#define posGPS_TOW 0x48 // 4 byte
#define posGPS_PRN 0x4E // 12*5 bit in 8 byte #define posGPS_PRN 0x4E // 12*5 bit in 8 byte
#define posGPS_STATUS 0x56 // 12 byte
#define posGPS_DATA 0x62 // 12*8 byte #define posGPS_DATA 0x62 // 12*8 byte
#define pos_MEAS 0x2C // 24 byte #define pos_MEAS 0x2C // 24 byte
#define pos_AuxData 0xC8 // 8 byte
#define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1] #define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1]
#define BLOCK_PTU 0x690C #define BLOCK_PTU 0x690C
#define BLOCK_GPS 0x673D // frame[pos_GPSTOW-2], (frame[pos_GPSTOW-1] #define BLOCK_GPS 0x673D // frame[posGPS_TOW-2], frame[posGPS_TOW-1]
#define BLOCK_AUX 0x6805 #define BLOCK_AUX 0x6805
#define LEN_CFG (2*(BLOCK_CFG & 0xFF)) #define LEN_CFG (2*(BLOCK_CFG & 0xFF))
@ -469,8 +470,8 @@ int get_SondeID() {
crc = crc16(pos_FrameNb, LEN_CFG); crc = crc16(pos_FrameNb, LEN_CFG);
/* /*
if (option_crc) { if (option_crc) {
//printf(" (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]); //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]);
printf(" [%04X:%04X] ", crc_frame, crc); fprintf(stdout, " [%04X:%04X] ", crc_frame, crc);
} }
*/ */
ret = 0; ret = 0;
@ -503,13 +504,13 @@ int get_GPStime() {
float ms; float ms;
int crc_frame, crc; int crc_frame, crc;
// BLOCK_GPS == frame[pos_GPSTOW-2 .. pos_GPSTOW-1] ? // BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ?
crc_frame = framebyte(pos_GPSTOW+LEN_GPS) | (framebyte(pos_GPSTOW+LEN_GPS+1) << 8); crc_frame = framebyte(posGPS_TOW+LEN_GPS) | (framebyte(posGPS_TOW+LEN_GPS+1) << 8);
crc = crc16(pos_GPSTOW, LEN_GPS); crc = crc16(posGPS_TOW, LEN_GPS);
/* /*
if (option_crc) { if (option_crc) {
//printf(" (%04X:%02X%02X) ", BLOCK_GPS, frame[pos_GPSTOW-2], frame[pos_GPSTOW-1]); //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_GPS, frame[posGPS_TOW-2], frame[posGPS_TOW-1]);
printf(" [%04X:%04X] ", crc_frame, crc); fprintf(stdout, " [%04X:%04X] ", crc_frame, crc);
} }
*/ */
ret = 0; ret = 0;
@ -518,7 +519,7 @@ int get_GPStime() {
} }
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
byte = framebyte(pos_GPSTOW + i); byte = framebyte(posGPS_TOW + i);
gpstime_bytes[i] = byte; gpstime_bytes[i] = byte;
} }
@ -595,7 +596,7 @@ int get_Cal() {
freq_bytes[i] = byte; freq_bytes[i] = byte;
} }
byte = freq_bytes[0] + (freq_bytes[1] << 8); byte = freq_bytes[0] + (freq_bytes[1] << 8);
//printf(":%04x ", byte); //fprintf(stdout, ":%04x ", byte);
freq = 400000 + 10*byte; // kHz; freq = 400000 + 10*byte; // kHz;
fprintf(stdout, " : freq %d kHz", freq); fprintf(stdout, " : freq %d kHz", freq);
} }
@ -775,8 +776,9 @@ int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
typedef struct { typedef struct {
ui32_t tow;
ui8_t status;
int chips; int chips;
ui32_t time;
int ca; int ca;
} RANGE_t; } RANGE_t;
RANGE_t range[33]; RANGE_t range[33];
@ -798,7 +800,7 @@ int get_pseudorange() {
double pr0, prj; double pr0, prj;
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
gpstime_bytes[i] = framebyte(pos_GPSTOW + i); gpstime_bytes[i] = framebyte(posGPS_TOW + i);
} }
memcpy(&gpstime, gpstime_bytes, 4); // GPS-TOW in ms memcpy(&gpstime, gpstime_bytes, 4); // GPS-TOW in ms
@ -824,17 +826,20 @@ int get_pseudorange() {
if ( byteval == 0x7FFFFFFF || byteval == 0x55555555 ) { if ( byteval == 0x7FFFFFFF || byteval == 0x55555555 ) {
range[prns[j]].chips = 0; range[prns[j]].chips = 0;
range[prns[j]].status = frame[posGPS_STATUS+j];
continue; continue;
} }
if (option_vergps != 8) { if (option_vergps != 8) {
if ( byteval > 0x10000000 && byteval < 0xF0000000 ) { if ( byteval > 0x10000000 && byteval < 0xF0000000 ) {
range[prns[j]].chips = 0; range[prns[j]].chips = 0;
range[prns[j]].status = frame[posGPS_STATUS+j];
continue; continue;
}} }}
if ( prns[j] == 0 ) prns[j] = 32; if ( prns[j] == 0 ) prns[j] = 32;
range[prns[j]].chips = byteval; range[prns[j]].chips = byteval;
range[prns[j]].time = gpstime; range[prns[j]].tow = gpstime;
range[prns[j]].status = frame[posGPS_STATUS+j];
/* /*
for (i = 0; i < 4; i++) { pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; } for (i = 0; i < 4; i++) { pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; }
memcpy(&byteval, pseudobytes, 4); memcpy(&byteval, pseudobytes, 4);
@ -888,9 +893,9 @@ int get_GPSkoord(int N) {
SAT_t Sat_B[12]; // N <= 12 SAT_t Sat_B[12]; // N <= 12
if (option_vergps == 8) { if (option_vergps == 8) {
printf(" sats: "); fprintf(stdout, " sats: ");
for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]); for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]);
printf("\n"); fprintf(stdout, "\n");
} }
gpx.lat = gpx.lon = gpx.h = 0; gpx.lat = gpx.lon = gpx.h = 0;
@ -908,21 +913,21 @@ int get_GPSkoord(int N) {
num += 1; num += 1;
if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) { if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) {
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
//printf(" DOP : %.1f ", gdop); //fprintf(stdout, " DOP : %.1f ", gdop);
if (option_vergps == 8) { if (option_vergps == 8) {
//gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); //gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
hdop = sqrt(DOP[0]+DOP[1]); hdop = sqrt(DOP[0]+DOP[1]);
vdop = sqrt(DOP[2]); vdop = sqrt(DOP[2]);
pdop = sqrt(DOP[0]+DOP[1]+DOP[2]); pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
if (gdop < dop_limit) { if (gdop < dop_limit) {
printf(" "); fprintf(stdout, " ");
printf("lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt); fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
printf(" sats: "); fprintf(stdout, " sats: ");
printf("%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]); fprintf(stdout, "%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]);
printf(" GDOP : %.1f ", gdop); fprintf(stdout, " GDOP : %.1f ", gdop);
printf(" HDOP: %.1f VDOP: %.1f ", hdop, vdop); fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
printf(" PDOP: %.1f ", pdop); fprintf(stdout, " PDOP: %.1f ", pdop);
printf("\n"); fprintf(stdout, "\n");
} }
} }
} }
@ -948,8 +953,8 @@ int get_GPSkoord(int N) {
if (option_vergps == 8) { if (option_vergps == 8) {
NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias); NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias);
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt); ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
printf("bancroft1[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); fprintf(stdout, "bancroft1[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
printf("\n"); fprintf(stdout, "\n");
} }
NAV_bancroft2(N, Sat_B, pos_ecef, &rx_cl_bias); NAV_bancroft2(N, Sat_B, pos_ecef, &rx_cl_bias);
@ -960,13 +965,13 @@ int get_GPSkoord(int N) {
} }
if (option_vergps == 8) { if (option_vergps == 8) {
printf("bancroft2[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); fprintf(stdout, "bancroft2[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
printf(" GDOP["); fprintf(stdout, " GDOP[");
for (j = 0; j < N; j++) { for (j = 0; j < N; j++) {
printf("%d", prn[j]); fprintf(stdout, "%d", prn[j]);
if (j < N-1) printf(","); else printf("] %.1f ", gdop); if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop);
} }
printf("\n"); fprintf(stdout, "\n");
} }
if (option_vergps == 2) { if (option_vergps == 2) {
@ -978,7 +983,6 @@ int get_GPSkoord(int N) {
} }
} }
return num; return num;
} }
@ -1029,8 +1033,8 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
else { else {
fprintf(stdout, " GDOP["); fprintf(stdout, " GDOP[");
for (j = 0; j < k; j++) { for (j = 0; j < k; j++) {
printf("%d", prn[j]); fprintf(stdout, "%d", prn[j]);
if (j < k-1) printf(","); else printf("] %.1f ", gpx.dop); if (j < k-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop);
} }
} }
} }
@ -1040,11 +1044,23 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
get_Cal(); get_Cal();
if (option_vergps == 8)
{
fprintf(stdout, "\n");
for (j = 0; j < 60; j++) { fprintf(stdout, "%d", prn_le[j]); if (j % 5 == 4) fprintf(stdout, " "); }
fprintf(stdout, ": ");
for (j = 0; j < 12; j++) fprintf(stdout, "%2d ", prns[j]);
fprintf(stdout, "\n");
fprintf(stdout, " status: ");
for (j = 0; j < 12; j++) fprintf(stdout, "%02X ", range[prns[j]].status);
fprintf(stdout, "\n");
}
} }
if (!err1) { if (!err1) {
fprintf(stdout, "\n"); fprintf(stdout, "\n");
if (option_vergps == 8) printf("\n"); //if (option_vergps == 8) fprintf(stdout, "\n");
} }
return err2; return err2;