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- For u-blox F9P, combine GPS L2C(L)/L2C(M) codes to L2X and Galileo E1B/E1C to E1X and L7I/L7Q to L7X. Ported from Emlid version of RTKLIB. RTKLIB is unable to properly handle the mixed codes
- Update M8T config files - Update code version from b33c to b33d
1 parent 024f958 commit e4eab4d

5 files changed

Lines changed: 28 additions & 30 deletions

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‎data/demo5_m8t_1hz.conf‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,8 @@ pos2-arfilter =on # (0:off,1:on)
2222
pos2-arthres =3
2323
pos2-arthres1 =0.1 # use 0.004 if data quality allows
2424
pos2-arthres2 =0
25-
pos2-arthres3 =1e-05
26-
pos2-arthres4 =0.0001
25+
pos2-arthres3 =1e-09
26+
pos2-arthres4 =1e-05
2727
pos2-arlockcnt =0 # set higher if arfilter=off
2828
pos2-minfixsats =4 # min sats to fix ambiguities
2929
pos2-minholdsats =5 # min sats to hold ambiguities
@@ -40,13 +40,13 @@ pos2-aroutcnt =20 # (samples) adjust for sample rate
4040
pos2-maxage =30 # (s)
4141
pos2-syncsol =off # (0:off,1:on)
4242
pos2-slipthres =0.05 # (m)
43-
pos2-rejionno =1000 # (m)
43+
pos2-rejionno =1 # (m)
4444
pos2-rejgdop =30
4545
pos2-niter =1
4646
pos2-baselen =0 # (m)
4747
pos2-basesig =0 # (m)
4848

49-
out-solformat =enu # (0:llh,1:xyz,2:enu,3:nmea)
49+
out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)
5050
out-outhead =on # (0:off,1:on)
5151
out-outopt =on # (0:off,1:on)
5252
out-timesys =gpst # (0:gpst,1:utc,2:jst)
@@ -96,7 +96,7 @@ ant2-antdeln =0 # (m)
9696
ant2-antdelu =0 # (m)
9797
ant2-maxaveep =1
9898
ant2-initrst =off # (0:off,1:on)
99-
misc-timeinterp =off # (0:off,1:on)
99+
misc-timeinterp =on # (0:off,1:on)
100100
misc-sbasatsel =0 # (0:all)
101101
misc-rnxopt1 =
102102
misc-rnxopt2 =
@@ -111,5 +111,5 @@ file-eopfile =
111111
file-blqfile =
112112
file-tempdir =
113113
file-geexefile =
114-
file-solstatfile =2
115-
file-tracefile =2
114+
file-solstatfile =
115+
file-tracefile =

‎data/demo5_m8t_5hz.conf‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,8 @@ pos2-arfilter =on # (0:off,1:on)
2222
pos2-arthres =3
2323
pos2-arthres1 =0.1 # use 0.004 if data quality allows
2424
pos2-arthres2 =0
25-
pos2-arthres3 =1e-05
26-
pos2-arthres4 =0.0001
25+
pos2-arthres3 =1e-09
26+
pos2-arthres4 =1e-05
2727
pos2-arlockcnt =0 # set higher if arfilter=off
2828
pos2-minfixsats =4 # min sats to fix ambiguities
2929
pos2-minholdsats =5 # min sats to hold ambiguities
@@ -40,13 +40,13 @@ pos2-aroutcnt =100 # (samples) adjust for sample rate
4040
pos2-maxage =30 # (s)
4141
pos2-syncsol =off # (0:off,1:on)
4242
pos2-slipthres =0.05 # (m)
43-
pos2-rejionno =1000 # (m)
43+
pos2-rejionno =1 # (m)
4444
pos2-rejgdop =30
4545
pos2-niter =1
4646
pos2-baselen =0 # (m)
4747
pos2-basesig =0 # (m)
4848

49-
out-solformat =enu # (0:llh,1:xyz,2:enu,3:nmea)
49+
out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)
5050
out-outhead =on # (0:off,1:on)
5151
out-outopt =on # (0:off,1:on)
5252
out-timesys =gpst # (0:gpst,1:utc,2:jst)
@@ -96,7 +96,7 @@ ant2-antdeln =0 # (m)
9696
ant2-antdelu =0 # (m)
9797
ant2-maxaveep =1
9898
ant2-initrst =off # (0:off,1:on)
99-
misc-timeinterp =off # (0:off,1:on)
99+
misc-timeinterp =on # (0:off,1:on)
100100
misc-sbasatsel =0 # (0:all)
101101
misc-rnxopt1 =
102102
misc-rnxopt2 =
@@ -111,5 +111,5 @@ file-eopfile =
111111
file-blqfile =
112112
file-tempdir =
113113
file-geexefile =
114-
file-solstatfile =2
115-
file-tracefile =2
114+
file-solstatfile =
115+
file-tracefile =

‎src/convrnx.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -794,7 +794,7 @@ static void set_obstype(int format, rnxopt_t *opt)
794794
{0}
795795
};
796796
static const unsigned char codes_other[NSATSYS][8]={ /* others inc u-blox */
797-
{CODE_L1C,CODE_L2L,CODE_L2S},
797+
{CODE_L1C,CODE_L2S},
798798
{CODE_L1C,CODE_L2C},
799799
{CODE_L1C,CODE_L1X,CODE_L7Q},
800800
{CODE_L1C},

‎src/rcv/ublox.c‎

Lines changed: 12 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -167,22 +167,23 @@ static int ubx_sig(int sys, int sigid)
167167
{
168168
if (sys == SYS_GPS) {
169169
if (sigid == 0) return CODE_L1C; /* L1C/A */
170-
if (sigid == 3) return CODE_L2L; /* L2C(L) */
171-
if (sigid == 4) return CODE_L2S; /* L2C(M) */
170+
if (sigid == 3) return CODE_L2X; /* L2C(L) */
171+
if (sigid == 4) return CODE_L2X; /* L2C(M) */
172172
}
173173
else if (sys == SYS_GLO) {
174174
if (sigid == 0) return CODE_L1C; /* G1C/A (GLO L1 OF) */
175175
if (sigid == 2) return CODE_L2C; /* G2C/A (GLO L2 OF) */
176176
}
177177
else if (sys == SYS_GAL) {
178-
if (sigid == 0) return CODE_L1C; /* E1C */
179-
if (sigid == 1) return CODE_L1B; /* E1B */
180-
if (sigid == 5) return CODE_L7I; /* E5bI */
181-
if (sigid == 6) return CODE_L7Q; /* E5bQ */
178+
if (sigid == 0) return CODE_L1X; /* E1C */
179+
if (sigid == 1) return CODE_L1X; /* E1B */
180+
if (sigid == 5) return CODE_L7X; /* E5bI */
181+
if (sigid == 6) return CODE_L7X; /* E5bQ */
182182
}
183183
else if (sys == SYS_QZS) {
184184
if (sigid == 0) return CODE_L1C; /* L1C/A */
185-
if (sigid == 5) return CODE_L2L; /* L2CL (not specified in [5]) */
185+
if (sigid == 4) return CODE_L2X; /* L2CM */
186+
if (sigid == 5) return CODE_L2X; /* L2CL (not specified in [5]) */
186187
}
187188
else if (sys == SYS_CMP) {
188189
if (sigid == 0) return CODE_L2I; /* B1I D1 (rinex 3.03) */
@@ -200,22 +201,19 @@ static int sig_idx(int sys, int code)
200201
{
201202
if (sys == SYS_GPS) {
202203
if (code==CODE_L1C) return 1;
203-
if (code==CODE_L2L) return 2;
204-
if (code==CODE_L2S) return 2;
204+
if (code==CODE_L2X) return 2;
205205
}
206206
else if (sys == SYS_GLO) {
207207
if (code==CODE_L1C) return 1;
208208
if (code==CODE_L2C) return 2;
209209
}
210210
else if (sys == SYS_GAL) {
211-
if (code==CODE_L1C) return 1;
212-
if (code==CODE_L1B) return 1;
213-
if (code==CODE_L7I) return 2; /* E5bI */
214-
if (code==CODE_L7Q) return 2; /* E5bQ */
211+
if (code==CODE_L1X) return 1;
212+
if (code==CODE_L7X) return 2; /* E5bI, E5bQ */
215213
}
216214
else if (sys == SYS_QZS) {
217215
if (code==CODE_L1C) return 1;
218-
if (code==CODE_L2L) return 2;
216+
if (code==CODE_L2X) return 2;
219217
}
220218
else if (sys == SYS_CMP) {
221219
if (code==CODE_L1I||code==CODE_L2I) return 1;

‎src/rtklib.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@ extern "C" {
5858

5959
#define VER_RTKLIB "demo5" /* library version */
6060

61-
#define PATCH_LEVEL "b33c" /* patch level */
61+
#define PATCH_LEVEL "b33d" /* patch level */
6262

6363
#define COPYRIGHT_RTKLIB \
6464
"Copyright (C) 2007-2019 T.Takasu\nAll rights reserved."

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