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SNR, Pstd, Lstd: float rather than compressed encoding #506

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SNR, Pstd, Lstd: float rather than compressed encoding #506

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d07d7a8
SNR, P and L std, float storage
ourairquality Oct 28, 2024
ad913c9
rtknavi_qt: show the P and L std in the monitor obs page
ourairquality Oct 28, 2024
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2 changes: 1 addition & 1 deletion app/consapp/rtkrcv/rtkrcv.c
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Original file line number Diff line number Diff line change
Expand Up @@ -868,7 +868,7 @@ static void probserv(vt_t *vt, int nf)
for (j=0;j<nf;j++) vt_printf(vt,"%13.3f",obs[i].P[j]);
for (j=0;j<nf;j++) vt_printf(vt,"%14.3f",obs[i].L[j]);
for (j=0;j<nf;j++) vt_printf(vt,"%8.1f" ,obs[i].D[j]);
for (j=0;j<nf;j++) vt_printf(vt,"%3.0f" ,obs[i].SNR[j]*SNR_UNIT);
for (j=0;j<nf;j++) vt_printf(vt,"%3.0f" ,obs[i].SNR[j]);
for (j=0;j<nf;j++) vt_printf(vt,"%2d" ,obs[i].LLI[j]);
vt_printf(vt,"\n");
}
Expand Down
32 changes: 27 additions & 5 deletions app/qtapp/rtknavi_qt/mondlg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -997,8 +997,11 @@ void MonitorDialog::setObservations()
const QString label[] = {tr("Trcv (GPST)"), tr("SAT"), tr("STR")};
int i, j = 0, width[] = {230, 46, 40};
int nex = ui->cBSelectObservation->currentIndex() ? NEXOBS : 0;
// Show standard deviations when the extended observations are
// also selected, but this could be a separate option.
int std = ui->cBSelectObservation->currentIndex();

ui->tWConsole->setColumnCount(3 + (NFREQ + nex) * 6);
ui->tWConsole->setColumnCount(3 + (NFREQ + nex) * (6 + std * 2));
ui->tWConsole->setRowCount(0);
header.clear();

Expand All @@ -1017,11 +1020,19 @@ void MonitorDialog::setObservations()
for (i = 0; i < NFREQ + nex; i++) {
ui->tWConsole->setColumnWidth(j++, 135 * fontScale / 96);
header << (i < NFREQ ? tr("P%1 (m)").arg(i+1) : tr("PX%1 (m)").arg(i - NFREQ + 1));
if (std) {
ui->tWConsole->setColumnWidth(j++, 65 * fontScale / 96);
header << tr("Std");
}
}
for (i = 0; i < NFREQ + nex; i++) {
ui->tWConsole->setColumnWidth(j++, 160 * fontScale / 96);
header << (i < NFREQ ? tr("L%1 (cycle)").arg(i+1) : tr("LX%1 (cycle)").arg(i - NFREQ + 1));
}
if (std) {
ui->tWConsole->setColumnWidth(j++, 75 * fontScale / 96);
header << tr("Std");
}
}
for (i = 0; i < NFREQ + nex; i++) {
ui->tWConsole->setColumnWidth(j++, 120 * fontScale / 96);
header << (i < NFREQ ? tr("D%1 (Hz)").arg(i+1) : tr("DX%1 (Hz)").arg(i - NFREQ + 1));
Expand All @@ -1041,6 +1052,7 @@ void MonitorDialog::showObservations()
char tstr[64], id[32], *code;
int i, k, n = 0, nex = ui->cBSelectObservation->currentIndex() ? NEXOBS : 0;
int sys = sys_tbl[ui->cBSelectNavigationSystems->currentIndex()];
int std = ui->cBSelectObservation->currentIndex();

rtksvrlock(rtksvr);
for (i = 0; i < rtksvr->obs[0][0].n && n < MAXOBS * 2; i++) {
Expand Down Expand Up @@ -1077,13 +1089,23 @@ void MonitorDialog::showObservations()
else ui->tWConsole->item(i, j++)->setText("-");
}
for (k = 0; k < NFREQ + nex; k++) {
if (obs[i].SNR[k]) ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].SNR[k] * SNR_UNIT, 'f', 1));
if (obs[i].SNR[k]) ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].SNR[k], 'f', 1));
else ui->tWConsole->item(i, j++)->setText("-");
}
for (k = 0; k < NFREQ + nex; k++)
for (k = 0; k < NFREQ + nex; k++) {
ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].P[k], 'f', 3));
for (k = 0; k < NFREQ + nex; k++)
if (std) {
if (obs[i].Pstd[k]) ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].Pstd[k], 'f', 3));
else ui->tWConsole->item(i, j++)->setText("-");
}
}
for (k = 0; k < NFREQ + nex; k++) {
ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].L[k], 'f', 3));
if (std) {
if (obs[i].Lstd[k]) ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].Lstd[k], 'f', 4));
else ui->tWConsole->item(i, j++)->setText("-");
}
}
for (k = 0; k < NFREQ + nex; k++)
ui->tWConsole->item(i, j++)->setText(QString::number(obs[i].D[k], 'f', 3));
for (k = 0; k < NFREQ + nex; k++)
Expand Down
4 changes: 2 additions & 2 deletions app/qtapp/rtkplot_qt/plotcmn.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -342,7 +342,7 @@ QColor Plot::observationColor(const obsd_t *obs, double az, double el, QVariant
if (obs->L[freq-1] == 0.0 && obs->P[freq-1] == 0.0) {
return Qt::black;
}
color = snrColor(obs->SNR[freq-1] * SNR_UNIT);
color = snrColor(obs->SNR[freq-1]);
} else { // code
for (i = 0; i < NFREQ + NEXOBS; i++) {
if (!strcmp(code2obs(obs->code[i]), qPrintable(obstype.toString()))) break;
Expand All @@ -353,7 +353,7 @@ QColor Plot::observationColor(const obsd_t *obs, double az, double el, QVariant
if (obs->L[i] == 0.0 && obs->P[i] == 0.0) {
return Qt::black;
}
color = snrColor(obs->SNR[i] * SNR_UNIT);
color = snrColor(obs->SNR[i]);
}

// check against elevation mask
Expand Down
2 changes: 1 addition & 1 deletion app/qtapp/rtkplot_qt/plotdata.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1032,7 +1032,7 @@ void Plot::saveSnrMp(const QString &file)
time2str(timeadd(gpst2utc(time), 9 * 3600.0), tstr, 1);
}
data = QString("%1 %2 %3 %4 %5 %6f\n").arg(tstr).arg(sat, 6).arg(azimuth[j] * R2D, 8, 'f', 1)
.arg(elevation[j] * R2D, 8, 'f', 1).arg(observation.data[j].SNR[k] * SNR_UNIT, 9, 'f', 2).arg(!multipath[k] ? 0.0 : multipath[k][j], 10, 'f', 4);
.arg(elevation[j] * R2D, 8, 'f', 1).arg(observation.data[j].SNR[k], 9, 'f', 2).arg(!multipath[k] ? 0.0 : multipath[k][j], 10, 'f', 4);
fp.write(data.toLatin1());
}
}
Expand Down
18 changes: 9 additions & 9 deletions app/qtapp/rtkplot_qt/plotdraw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1509,7 +1509,7 @@ void Plot::drawSky(QPainter &c, int level)
if (obs->P[j] == 0.0 && obs->L[j] == 0.0)
s += "-- ";
else
s += QStringLiteral("%1 ").arg(obs->SNR[j] * SNR_UNIT, 2, 'f', 0, QChar('0'));
s += QStringLiteral("%1 ").arg(obs->SNR[j], 2, 'f', 0, QChar('0'));
}

// LLI
Expand All @@ -1532,7 +1532,7 @@ void Plot::drawSky(QPainter &c, int level)
if (obs->P[freq - 1] == 0.0 && obs->L[freq - 1] == 0.0)
s += "---- ";
else
s += QStringLiteral("%1 ").arg(obs->SNR[freq - 1] * SNR_UNIT, 4, 'f', 1);
s += QStringLiteral("%1 ").arg(obs->SNR[freq - 1], 4, 'f', 1);

// LLI
if (obs->L[freq-1] == 0.0)
Expand All @@ -1554,7 +1554,7 @@ void Plot::drawSky(QPainter &c, int level)
if (obs->P[j] == 0.0 && obs->L[j] == 0.0)
s += "---- ";
else
s += QStringLiteral("%1 ").arg(obs->SNR[j] * SNR_UNIT, 4, 'f', 1);
s += QStringLiteral("%1 ").arg(obs->SNR[j], 4, 'f', 1);

// LLI
if (obs->L[j] == 0.0)
Expand Down Expand Up @@ -1861,12 +1861,12 @@ void Plot::drawSnr(QPainter &c, int level)
}
if (idx >= NFREQ + NEXOBS) continue;
}
if (obs->SNR[idx] * SNR_UNIT <= 0.0) continue; // skip negative SNR
if (obs->SNR[idx] <= 0.0) continue; // skip negative SNR

// calculate position
x[n] = timePosition(obs->time);
if (panel == 0) { // SNR
y[n] = obs->SNR[idx] * SNR_UNIT;
y[n] = obs->SNR[idx];
col[n] = plotOptDialog->getMarkerColor(0, 4);
} else if (panel == 1) { // multipath
if (!multipath[idx] || multipath[idx][j] == 0.0) continue;
Expand All @@ -1878,7 +1878,7 @@ void Plot::drawSnr(QPainter &c, int level)
if (simulatedObservation)
col[n] = sysColor(obs->sat);
else
col[n] = snrColor(obs->SNR[idx] * SNR_UNIT);
col[n] = snrColor(obs->SNR[idx]);

if (elevation[j] > 0.0 && elevation[j] < plotOptDialog->getElevationMask() * D2R) col[n] = plotOptDialog->getMarkerColor(0, 0);
}
Expand Down Expand Up @@ -2059,10 +2059,10 @@ void Plot::drawSnrE(QPainter &c, int level)
}
if (idx >= NFREQ + NEXOBS) continue;
}
if (obs->SNR[idx] * SNR_UNIT <= 0.0) continue;
if (obs->SNR[idx] <= 0.0) continue;

x[0][n[0]] = x[1][n[1]] = elevation[j] * R2D;
y[0][n[0]] = obs->SNR[idx] * SNR_UNIT;
y[0][n[0]] = obs->SNR[idx];
y[1][n[1]] = !multipath[idx] ? 0.0 : multipath[idx][j];

col[0][n[0]] = col[1][n[1]] = (elevation[j] > 0.0 && elevation[j] < plotOptDialog->getElevationMask() * D2R) ?\
Expand Down Expand Up @@ -2340,7 +2340,7 @@ void Plot::drawResidual(QPainter &c, int level)
y[0][m[0]] = solstat->resp;
y[1][m[1]] = solstat->resc;
y[2][m[2]] = solstat->el * R2D;
y[3][m[3]] = solstat->snr * SNR_UNIT;
y[3][m[3]] = solstat->snr;

if (!(solstat->flag >> 5)) q = 0; // invalid
else if ((solstat->flag & 7) <= 1) q = 2; // float
Expand Down
2 changes: 1 addition & 1 deletion app/winapp/rtknavi/mondlg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1004,7 +1004,7 @@ void __fastcall TMonitorDialog::ShowObs(void)
else Tbl->Cells[j++][i+1]="-";
}
for (k=0;k<NFREQ+nex;k++) {
if (obs[i].SNR[k]) Tbl->Cells[j++][i+1]=s.sprintf("%.1f",obs[i].SNR[k]*SNR_UNIT);
if (obs[i].SNR[k]) Tbl->Cells[j++][i+1]=s.sprintf("%.1f",obs[i].SNR[k]);
else Tbl->Cells[j++][i+1]=s.sprintf("-");
}
for (k=0;k<NFREQ+nex;k++) {
Expand Down
4 changes: 2 additions & 2 deletions app/winapp/rtkplot/plotcmn.cpp
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Expand Up @@ -342,7 +342,7 @@ TColor __fastcall TPlot::ObsColor(const obsd_t *obs, double az, double el)
if (obs->L[freq-1]==0.0&&obs->P[freq-1]==0.0) {
return clBlack;
}
color=SnrColor(obs->SNR[freq-1]*SNR_UNIT);
color=SnrColor(obs->SNR[freq-1]);
}
else {
for (i=0;i<NFREQ+NEXOBS;i++) {
Expand All @@ -354,7 +354,7 @@ TColor __fastcall TPlot::ObsColor(const obsd_t *obs, double az, double el)
if (obs->L[i]==0.0&&obs->P[i]==0.0) {
return clBlack;
}
color=SnrColor(obs->SNR[i]*SNR_UNIT);
color=SnrColor(obs->SNR[i]);
}
if (el<ElMask*D2R||(ElMaskP&&el<ElMaskData[(int)(az*R2D+0.5)])) {
return HideLowSat?clBlack:MColor[0][0];
Expand Down
2 changes: 1 addition & 1 deletion app/winapp/rtkplot/plotdata.cpp
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Expand Up @@ -1047,7 +1047,7 @@ void __fastcall TPlot::SaveSnrMp(AnsiString file)
time2str(timeadd(gpst2utc(time),9*3600.0),tstr,1);
}
fprintf(fp,"%s %6s %8.1f %8.1f %9.2f %10.4f\n",tstr,sat,Az[j]*R2D,
El[j]*R2D,Obs.data[j].SNR[k]*SNR_UNIT,!Mp[k]?0.0:Mp[k][j]);
El[j]*R2D,Obs.data[j].SNR[k],!Mp[k]?0.0:Mp[k][j]);
}
}
fclose(fp);
Expand Down
18 changes: 9 additions & 9 deletions app/winapp/rtkplot/plotdraw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1346,7 +1346,7 @@ void __fastcall TPlot::DrawSky(int level)
ustr+=" ";
for (j=0;j<NFREQ;j++) {
if (obs->P[j]==0.0&&obs->L[j]==0.0) ustr+="-- ";
else ustr+=ss.sprintf("%02.0f ",obs->SNR[j]*SNR_UNIT);
else ustr+=ss.sprintf("%02.0f ",obs->SNR[j]);
}
for (j=0;j<NFREQ;j++) {
if (obs->L[j]==0.0) ustr+="-";
Expand All @@ -1360,7 +1360,7 @@ void __fastcall TPlot::DrawSky(int level)
obs->P[freq-1]==0.0?"-":"C",obs->L[freq-1]==0.0?"-":"L",
obs->D[freq-1]==0.0?"-":"D");
if (obs->P[freq-1]==0.0&&obs->L[freq-1]==0.0) ustr+="---- ";
else ustr+=ss.sprintf("%4.1f ",obs->SNR[freq-1]*SNR_UNIT);
else ustr+=ss.sprintf("%4.1f ",obs->SNR[freq-1]);
if (obs->L[freq-1]==0.0) ustr+=" -";
else ustr+=ss.sprintf("%2d",obs->LLI[freq-1]);
}
Expand All @@ -1373,7 +1373,7 @@ void __fastcall TPlot::DrawSky(int level)
obs->P[j]==0.0?"-":"C",obs->L[j]==0.0?"-":"L",
obs->D[j]==0.0?"-":"D");
if (obs->P[j]==0.0&&obs->L[j]==0.0) ustr+="---- ";
else ustr+=ss.sprintf("%4.1f ",obs->SNR[j]*SNR_UNIT);
else ustr+=ss.sprintf("%4.1f ",obs->SNR[j]);
if (obs->L[j]==0.0) ustr+=" -";
else ustr+=ss.sprintf("%2d",obs->LLI[j]);
}
Expand Down Expand Up @@ -1644,11 +1644,11 @@ void __fastcall TPlot::DrawSnr(int level)
}
if (k>=NFREQ+NEXOBS) continue;
}
if (obs->SNR[k]*SNR_UNIT<=0.0) continue;
if (obs->SNR[k]<=0.0) continue;

x[n]=TimePos(obs->time);
if (i==0) {
y[n]=obs->SNR[k]*SNR_UNIT;
y[n]=obs->SNR[k];
col[n]=MColor[0][4];
}
else if (i==1) {
Expand All @@ -1659,7 +1659,7 @@ void __fastcall TPlot::DrawSnr(int level)
else {
y[n]=El[j]*R2D;
if (SimObs) col[n]=SysColor(obs->sat);
else col[n]=SnrColor(obs->SNR[k]*SNR_UNIT);
else col[n]=SnrColor(obs->SNR[k]);
if (El[j]>0.0&&El[j]<ElMask*D2R) col[n]=MColor[0][0];
}
if (timediff(time,obs->time)==0.0&&np<MAXSAT) {
Expand Down Expand Up @@ -1801,10 +1801,10 @@ void __fastcall TPlot::DrawSnrE(int level)
}
if (k>=NFREQ+NEXOBS) continue;
}
if (obs->SNR[k]*SNR_UNIT<=0.0) continue;
if (obs->SNR[k]<=0.0) continue;

x[0][n[0]]=x[1][n[1]]=El[j]*R2D;
y[0][n[0]]=obs->SNR[k]*SNR_UNIT;
y[0][n[0]]=obs->SNR[k];
y[1][n[1]]=!Mp[k]?0.0:Mp[k][j];

col[0][n[0]]=col[1][n[1]]=
Expand Down Expand Up @@ -2042,7 +2042,7 @@ void __fastcall TPlot::DrawRes(int level)
y[0][m[0]]=p->resp;
y[1][m[1]]=p->resc;
y[2][m[2]]=p->el*R2D;
y[3][m[3]]=p->snr*SNR_UNIT;
y[3][m[3]]=p->snr;
if (!(p->flag>>5)) q=0; // invalid
else if ((p->flag&7)<=1) q=2; // float
else if ((p->flag&7)<=3) q=1; // fixed
Expand Down
8 changes: 4 additions & 4 deletions src/pntpos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -65,12 +65,12 @@ static double varerr(const prcopt_t *opt, const ssat_t *ssat, const obsd_t *obs,
/* var = R^2*(a^2 + (b^2/sin(el) + c^2*(10^(0.1*(snr_max-snr_rover)))) + (d*rcv_std)^2) */
varr=SQR(opt->err[1])+SQR(opt->err[2])/sin(el);
if (opt->err[6]>0.0) { /* if snr term not zero */
snr_rover=(ssat)?SNR_UNIT*ssat->snr_rover[0]:opt->err[5];
snr_rover=(ssat)?ssat->snr_rover[0]:opt->err[5];
varr+=SQR(opt->err[6])*pow(10,0.1*MAX(opt->err[5]-snr_rover,0));
}
varr*=SQR(opt->eratio[0]);
if (opt->err[7]>0.0) {
varr+=SQR(opt->err[7]*0.01*(1<<(obs->Pstd[0]+5))); /* 0.01*2^(n+5) m */
varr+=SQR(opt->err[7]*obs->Pstd[0]);
}
if (opt->ionoopt==IONOOPT_IFLC) varr*=SQR(3.0); /* iono-free */
return SQR(fact)*varr;
Expand Down Expand Up @@ -98,12 +98,12 @@ static int snrmask(const obsd_t *obs, const double *azel, const prcopt_t *opt)
{
int f2;

if (testsnr(0,0,azel[1],obs->SNR[0]*SNR_UNIT,&opt->snrmask)) {
if (testsnr(0,0,azel[1],obs->SNR[0],&opt->snrmask)) {
return 0;
}
if (opt->ionoopt==IONOOPT_IFLC) {
f2=seliflc(opt->nf,satsys(obs->sat,NULL));
if (testsnr(0,f2,azel[1],obs->SNR[f2]*SNR_UNIT,&opt->snrmask)) return 0;
if (testsnr(0,f2,azel[1],obs->SNR[f2],&opt->snrmask)) return 0;
}
return 1;
}
Expand Down
8 changes: 4 additions & 4 deletions src/ppp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -360,8 +360,8 @@ static double varerr(int sat, int sys, double el, double snr_rover,
var+=e*e*(pow(10,0.1*MAX(snr_max-snr_rover,0)));
}
if (opt->err[7]>0.0) { /* add rcvr stdevs term */
if (code) var+=SQR(opt->err[7]*0.01*(1<<(obs->Pstd[frq]+5))); /* 0.01*2^(n+5) */
else var+=SQR(opt->err[7]*obs->Lstd[frq]*0.004*0.2); /* 0.004 cycles -> m) */
if (code) var+=SQR(opt->err[7]*obs->Pstd[frq]);
else var+=SQR(opt->err[7]*obs->Lstd[frq]*0.2);
}
/* FIXME: the scaling factor is not 3 for other signals/constellations than GPS L1/L2 */
var*=(opt->ionoopt==IONOOPT_IFLC)?SQR(3.0):1.0;
Expand Down Expand Up @@ -414,7 +414,7 @@ static void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel,
/* skip if low SNR or missing observations */
freq[i]=sat2freq(obs->sat,obs->code[i],nav);
if (freq[i]==0.0||obs->L[i]==0.0||obs->P[i]==0.0) continue;
if (testsnr(0,0,azel[1],obs->SNR[i]*SNR_UNIT,&opt->snrmask)) continue;
if (testsnr(0,0,azel[1],obs->SNR[i],&opt->snrmask)) continue;

/* antenna phase center and phase windup correction */
L[i]=obs->L[i]*CLIGHT/freq[i]-dants[i]-dantr[i]-phw*CLIGHT/freq[i];
Expand Down Expand Up @@ -1045,7 +1045,7 @@ static int ppp_res(int post, const obsd_t *obs, int n, const double *rs,

/* variance */
var[nv]=varerr(sat,sys,azel[1+i*2],
SNR_UNIT*rtk->ssat[sat-1].snr_rover[frq],
rtk->ssat[sat-1].snr_rover[frq],
j,opt,obs+i);
var[nv] +=vart+SQR(C)*vari+var_rs[i];
if (sys==SYS_GLO&&code==1) var[nv]+=VAR_GLO_IFB;
Expand Down
12 changes: 6 additions & 6 deletions src/rcv/binex.c
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Original file line number Diff line number Diff line change
Expand Up @@ -976,16 +976,16 @@ static uint8_t *decode_bnx_7f_05_obs(raw_t *raw, uint8_t *buff, int sat,
}
if (k<0) {
data->P[i]=data->L[i]=0.0;
data->D[i]=0.0f;
data->SNR[i]=data->LLI[i]=0;
data->D[i]=data->SNR[i]=0.0;
data->LLI[i]=0;
data->code[i]=CODE_NONE;
}
else {
freq=code2freq(sys,codes[code[k]],fcn);
data->P[i]=range[k];
data->L[i]=phase[k]*freq/CLIGHT;
data->D[i]=dopp[k];
data->SNR[i]=(uint16_t)(cnr[k]/SNR_UNIT+0.5);
data->SNR[i]=cnr[k];
data->code[i]=codes[code[k]];
data->LLI[i]=slip[k]?1:0;
mask[k]=1;
Expand All @@ -997,16 +997,16 @@ static uint8_t *decode_bnx_7f_05_obs(raw_t *raw, uint8_t *buff, int sat,
}
if (k>=nobs) {
data->P[i]=data->L[i]=0.0;
data->D[i]=0.0f;
data->SNR[i]=data->LLI[i]=0;
data->D[i]=data->SNR[i]=0.0;
data->LLI[i]=0;
data->code[i]=CODE_NONE;
}
else {
freq=code2freq(sys,codes[code[k]],fcn);
data->P[i]=range[k];
data->L[i]=phase[k]*freq/CLIGHT;
data->D[i]=dopp[k];
data->SNR[i]=(uint16_t)(cnr[k]/SNR_UNIT+0.5);
data->SNR[i]=cnr[k];
data->code[i]=codes[code[k]];
data->LLI[i]=slip[k]?1:0;
mask[k]=1;
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