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rtksvr rtcm ssr: defer using ssr without a matching iode #859

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rtksvr rtcm ssr: defer using ssr without a matching iode #859

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1 change: 1 addition & 0 deletions src/rtcm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@ extern int init_rtcm(rtcm_t *rtcm)
rtcm->dgps=NULL;
for (i=0;i<MAXSAT;i++) {
rtcm->ssr[i]=ssr0;
rtcm->ssr[i].iode= -1;
}
rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0';
for (i=0;i<6;i++) rtcm->msmtype[i][0]='\0';
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36 changes: 33 additions & 3 deletions src/rtksvr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -318,6 +318,35 @@ static void update_ssr(rtksvr_t *svr, int index)
if (svr->rtcm[index].ssr[i].iod[0] != svr->rtcm[index].ssr[i].iod[1])
continue;

// Check consistency of iode between ssr and broadcast.
int ssr_iode = svr->rtcm[index].ssr[i].iode, iode = -1;
if (ssr_iode < 0) continue;
int sys = satsys(i + 1, NULL);
if (sys != SYS_GLO) {
for (int j = 0; j < svr->nav.n; j++) {
if (svr->nav.eph[j].sat == i + 1 && ssr_iode == svr->nav.eph[j].iode) {
// Galileo SSR is wrt the I/NAV broadcast clock, skip F/NAV.
if (sys == SYS_GAL && (svr->nav.eph[j].code & (1 << 8)) != 0) {
trace(4, "update_ssr skipping F/NAV sat=%d\n", i + 1);
continue;
}
iode = svr->nav.eph[j].iode;
break;
}
}
} else {
for (int j = 0; j < svr->nav.ng; j++) {
if (svr->nav.geph[j].sat == i + 1 && ssr_iode == svr->nav.geph[j].iode) {
iode = svr->nav.geph[j].iode;
break;
}
}
}
if (iode == -1) {
trace(4, "update_ssr deferred sat=%d ssr_iode=%d\n", i + 1, ssr_iode);
continue;
}

svr->nav.ssr[i] = svr->rtcm[index].ssr[i];
svr->rtcm[index].ssr[i].update = 0;
}
Expand Down Expand Up @@ -820,10 +849,11 @@ extern int rtksvrinit(rtksvr_t *svr)
}
for (i=0;i<MAXSTRRTK;i++) strinit(svr->stream+i);

for (i=0;i<MAXSAT;i++) for (j=0;j<6;j++) {
svr->nav.ssr[i].t0[j]=time0;
for (int i = 0; i < MAXSAT; i++) {
for (int j = 0; j < 6; j++) svr->nav.ssr[i].t0[j] = time0;
svr->nav.ssr[i].iode = -1;
}

for (i=0;i<3;i++) *svr->cmds_periodic[i]='\0';
*svr->cmd_reset='\0';
svr->bl_reset=10.0;
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