Merge latest changes from main branch

app/consapp/rnx2rtkp/rnx2rtkp.c

@@ -193,7 +193,7 @@ int main(int argc, char **argv)
         else if (n<MAXFILE) infile[n++]=argv[i];
     }
     if (!prcopt.navsys) {
-        prcopt.navsys=SYS_GPS|SYS_GLO;
+        prcopt.navsys=SYS_GPS|SYS_GLO|SYS_GAL|SYS_CMP;
     }
     if (n<=0) {
         showmsg("error : no input file");

app/qtapp/rtklaunch_qt/CMakeLists.txt

@@ -26,7 +26,7 @@ set_target_properties(rtklaunch_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS rtklaunch_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES rtklaunch_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/rtklaunch.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/rtknavi_qt/CMakeLists.txt

@@ -81,7 +81,7 @@ set_target_properties(rtknavi_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS rtknavi_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES rtknavi_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/rtknavi.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/rtknavi_qt/navimain.cpp

@@ -75,7 +75,7 @@ MainWindow *mainForm;
 #define KACYCLE     5000                // keep alive cycle (ms)
 #define TIMEOUT     10000               // inactive timeout time (ms)
 #define MAX_PORT_OFFSET  9              // max port number offset
-#define MAXTRKSCALE 23                  // track scale
+#define MAXTRKSCALE 26                  // track scale
 #define MAXPANELMODE 7                  // max panel mode
 
 #define SQRT(x)     ((x)<0.0||(x)!=(x)?0.0:sqrt(x))
@@ -126,7 +126,7 @@ MainWindow::MainWindow(QWidget *parent)
     timeSystem = solutionType = 0;
     for (int i = 0; i < 4; i++) {
         plotType[i] = frequencyType[i] = baselineMode[i] = trackType[i] = 0;
-        trackScale[i] = 5;
+        trackScale[i] = 8;
     };
     solutionsCurrent = solutionsStart = solutionsEnd = numSatellites[0] = numSatellites[1] = 0;
     nMapPoint = 0;
@@ -1720,12 +1720,12 @@ void MainWindow::drawSolutionPlot(QLabel *plot, int type, int freq)
             drawText(c, w / 2 + x, 1, s2, Qt::darkGray, 1, 2);
         }
     } else if (type == 1) { // snr plot rover
-        drawSnr(c, w, h - topMargin, 0, topMargin, 0, type);
+        drawSnr(c, w, h - topMargin, 0, topMargin, 0, freq);
         s1 = tr("Rover %L1 SNR (dBHz)").arg(fstr[freq]);
         drawText(c, x, 1, s1, Qt::darkGray, 1, 2);
     } else if (type == 2) { // skyplot rover
-        drawSatellites(c, w, h, 0, 0, 0, type);
-        s1 = tr("Rover %L1").arg(fstr[type]);
+        drawSatellites(c, w, h, 0, 0, 0, freq);
+        s1 = tr("Rover %L1").arg(fstr[freq]);
         drawText(c, x, 1, s1, Qt::darkGray, 1, 2);
     } else if (type == 3) { // skyplot+snr plot rover
         s1 = tr("Rover %L1").arg(fstr[freq]);
@@ -1921,7 +1921,7 @@ void MainWindow::drawSatellites(QPainter &c, int w, int h, int x0, int y0,
         radius = QFontMetrics(optDialog->panelFont).height();
 
         c.setBrush(!validSatellites[index][k] ? Color::Silver :
-                        (freq < NFREQ ? snrColor(snr[freq]) : color_sys[sysIdx]));
+                        (freq < NFREQ + 1 ? snrColor(snr[freq]) : color_sys[sysIdx]));
         c.setPen(Qt::darkGray);
         color_text = Qt::white;
         if (freq < NFREQ + 1 && snr[freq] <= 0) {
@@ -2041,17 +2041,18 @@ void MainWindow::drawTrack(QPainter &c, int id, QPaintDevice *plot)
     QPoint p1, p2;
     QString label;
     static const double scale[] = {
-        0.00021, 0.00047, 0.001, 0.0021, 0.0047, 0.01, 0.021, 0.047, 0.1,   0.21,   0.47,
-        1.0,	 2.1,	  4.7,	 10.0,	 21.0,	 47.0, 100.0, 210.0, 470.0, 1000.0, 2100.0,4700.0,
+        0.000021, 0.000047, 0.0001, 0.00021, 0.00047, 0.001, 0.0021, 0.0047,
+        0.01, 0.021, 0.047, 0.1,   0.21,   0.47,
+        1.0,	 2.1,	  4.7,	 10.0,	 21.0,	 47.0, 100.0, 210.0, 470.0, 1000.0, 2100.0, 4700.0,
         10000.0
     };
     double *x, *y, xt, yt, sx, sy, ref[3], pos[3], dr[3], enu[3];
-    int i, j, currentPointNo, numPoints = 0, type, scl;
+    int i, j, currentPointNo, numPoints = 0;
 
     trace(3, "drawTrack\n");
 
-    type = id == 0 ? trackType[0] : trackType[1];
-    scl = id == 0 ? trackScale[0] : trackScale[1];
+    int type = trackType[id];
+    int scl = trackScale[id];
 
     x = new double[optDialog->solutionBufferSize];
     y = new double[optDialog->solutionBufferSize];
@@ -2535,10 +2536,10 @@ void MainWindow::loadOptions()
     trackType[1] = settings.value("setting/trktype2", 0).toInt();
     trackType[2] = settings.value("setting/trktype3", 0).toInt();
     trackType[3] = settings.value("setting/trktype4", 0).toInt();
-    trackScale[0] = settings.value("setting/trkscale1", 5).toInt();
-    trackScale[1] = settings.value("setting/trkscale2", 5).toInt();
-    trackScale[2] = settings.value("setting/trkscale3", 5).toInt();
-    trackScale[3] = settings.value("setting/trkscale4", 5).toInt();
+    trackScale[0] = settings.value("setting/trkscale1", 8).toInt();
+    trackScale[1] = settings.value("setting/trkscale2", 8).toInt();
+    trackScale[2] = settings.value("setting/trkscale3", 8).toInt();
+    trackScale[3] = settings.value("setting/trkscale4", 8).toInt();
     frequencyType[0] = settings.value("setting/freqtype1", 0).toInt();
     frequencyType[1] = settings.value("setting/freqtype2", 0).toInt();
     frequencyType[2] = settings.value("setting/freqtype3", 0).toInt();

app/qtapp/rtkplot_qt/CMakeLists.txt

@@ -90,7 +90,7 @@ set_target_properties(rtkplot_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS rtkplot_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES rtkplot_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/rtkplot.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/rtkpost_qt/CMakeLists.txt

@@ -51,7 +51,7 @@ set_target_properties(rtkpost_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS rtkpost_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES rtkpost_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/rtkpost.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/srctblbrows_qt/CMakeLists.txt

@@ -51,7 +51,7 @@ set_target_properties(srctblbrows_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS srctblbrows_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES srctblbrows_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/srctblbrows.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/strsvr_qt/CMakeLists.txt

@@ -53,7 +53,7 @@ set_target_properties(strsvr_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS strsvr_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES strsvr_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/strsvr.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/winapp/rtknavi/navimain.cpp

@@ -127,8 +127,8 @@ __fastcall TMainForm::TMainForm(TComponent* Owner)
         CmdEna[i][0]=CmdEna[i][1]=CmdEna[i][2]=0;
     }
     TimeSys=SolType=PlotType1=PlotType2=FreqType1=FreqType2=0;
-    TrkType1=TrkType2=0;
-    TrkScale1=TrkScale2=5;
+    TrkType1=TrkType2=TrkType3=TrkType4=0;
+    TrkScale1=TrkScale2=TrkScale3=TrkScale4=8;
     BLMode1=BLMode2=BLMode3=BLMode4=0;
     PSol=PSolS=PSolE=Nsat[0]=Nsat[1]=0;
     NMapPnt=0;
@@ -1011,6 +1011,34 @@ void __fastcall TMainForm::BtnShrink2Click(TObject *Sender)
     TrkScale2++;
     UpdatePlot();
 }
+// callback on button expand-2 ----------------------------------------------
+void __fastcall TMainForm::BtnExpand3Click(TObject *Sender)
+{
+    if (TrkScale3<=0) return;
+    TrkScale3--;
+    UpdatePlot();
+}
+// callback on button shrink-3 ----------------------------------------------
+void __fastcall TMainForm::BtnShrink3Click(TObject *Sender)
+{
+    if (TrkScale3>=MAXTRKSCALE) return;
+    TrkScale3++;
+    UpdatePlot();
+}
+// callback on button expand-4 ----------------------------------------------
+void __fastcall TMainForm::BtnExpand4Click(TObject *Sender)
+{
+    if (TrkScale4<=0) return;
+    TrkScale4--;
+    UpdatePlot();
+}
+// callback on button shrink-4 ----------------------------------------------
+void __fastcall TMainForm::BtnShrink4Click(TObject *Sender)
+{
+    if (TrkScale4>=MAXTRKSCALE) return;
+    TrkScale4++;
+    UpdatePlot();
+}
 // callback on button-rtk-monitor -------------------------------------------
 void __fastcall TMainForm::BtnMonitorClick(TObject *Sender)
 {
@@ -1292,6 +1320,7 @@ void __fastcall TMainForm::SvrStart(void)
     strsetopt(stropt);
     strcpy(rtksvr.cmd_reset,ResetCmd.c_str());
     rtksvr.bl_reset=MaxBL;
+    //rtksvrinit(&rtksvr);  // uncomment this to make RTKNAVI repeatable from run to run (useful for debug)
 
     // start rtk server
     if (!rtksvrstart(&rtksvr,SvrCycle,SvrBuffSize,strs,(const char **)paths,Format,
@@ -2037,12 +2066,12 @@ void __fastcall TMainForm::DrawTrk(TImage *plot)
         10000.0
     };
     double *x,*y,xt,yt,sx,sy,ref[3],pos[3],dr[3],enu[3];
-    int i,j,k,n=0,type,scl;
+    int i,j,k,n=0;
 
     trace(3,"DrawTrk\n");
 
-    type=plot->Name=="Plot1"?TrkType1 :TrkType2 ;
-    scl =plot->Name=="Plot1"?TrkScale1:TrkScale2;
+    int type=plot->Name=="Plot1"?TrkType1:plot->Name=="Plot2"?TrkType2:plot->Name=="Plot3"?TrkType3:TrkType4;
+    int scl =plot->Name=="Plot1"?TrkScale1:plot->Name=="Plot2"?TrkScale2:plot->Name=="Plot3"?TrkScale3:TrkScale4;
 
     x=new double[SolBuffSize];
     y=new double[SolBuffSize];
@@ -2611,10 +2640,10 @@ void __fastcall TMainForm::LoadOpt(void)
     TrkType2        =ini->ReadInteger("setting","trktype2",        0);
     TrkType3        =ini->ReadInteger("setting","trktype3",        0);
     TrkType4        =ini->ReadInteger("setting","trktype4",        0);
-    TrkScale1       =ini->ReadInteger("setting","trkscale1",       5);
-    TrkScale2       =ini->ReadInteger("setting","trkscale2",       5);
-    TrkScale3       =ini->ReadInteger("setting","trkscale3",       5);
-    TrkScale4       =ini->ReadInteger("setting","trkscale4",       5);
+    TrkScale1       =ini->ReadInteger("setting","trkscale1",       8);
+    TrkScale2       =ini->ReadInteger("setting","trkscale2",       8);
+    TrkScale3       =ini->ReadInteger("setting","trkscale3",       8);
+    TrkScale4       =ini->ReadInteger("setting","trkscale4",       8);
     FreqType1       =ini->ReadInteger("setting","freqtype1",       0);
     FreqType2       =ini->ReadInteger("setting","freqtype2",       0);
     FreqType3       =ini->ReadInteger("setting","freqtype3",       0);

app/winapp/rtknavi/navimain.dfm

@@ -707,7 +707,7 @@ object MainForm: TMainForm
           B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF
           FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
           FF00}
-        OnClick = BtnExpand2Click
+        OnClick = BtnExpand3Click
       end
       object BtnShrink3: TSpeedButton
         Left = 1
@@ -735,7 +735,7 @@ object MainForm: TMainForm
           B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF
           FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
           FF00}
-        OnClick = BtnShrink2Click
+        OnClick = BtnShrink3Click
       end
     end
     object Panel25: TPanel
@@ -833,7 +833,7 @@ object MainForm: TMainForm
           B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF
           FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
           FF00}
-        OnClick = BtnExpand2Click
+        OnClick = BtnExpand4Click
       end
       object BtnShrink4: TSpeedButton
         Left = 1
@@ -861,7 +861,7 @@ object MainForm: TMainForm
           B4000000000000000000B4B4B4FFFFFFFFFFFFFFFFFFFFFFFF00FFFFFFFFFFFF
           FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
           FF00}
-        OnClick = BtnShrink2Click
+        OnClick = BtnShrink4Click
       end
     end
   end

app/winapp/rtknavi/navimain.h

@@ -186,6 +186,10 @@ class TMainForm : public TForm
 	void __fastcall BtnShrink1Click(TObject *Sender);
 	void __fastcall BtnExpand2Click(TObject *Sender);
 	void __fastcall BtnShrink2Click(TObject *Sender);
+	void __fastcall BtnExpand3Click(TObject *Sender);
+	void __fastcall BtnShrink3Click(TObject *Sender);
+	void __fastcall BtnExpand4Click(TObject *Sender);
+	void __fastcall BtnShrink4Click(TObject *Sender);
 	void __fastcall BtnMarkClick(TObject *Sender);
 	void __fastcall Panel24Resize(TObject *Sender);
 	void __fastcall Panel25Resize(TObject *Sender);

src/ephemeris.c

@@ -808,8 +808,13 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
         time[i]=timeadd(obs[i].time,-pr/CLIGHT);
 
         /* satellite clock offset from precise products or broadcast ephemeris */
-        if (ephopt==EPHOPT_PREC&&nav->nc>0) {
-          if(!pephclk(time[i],obs[i].sat,nav,&dt,NULL)) {
+
+        // Note: this uses as input the estimated satellite clock time without
+        // correction but the precise clock corrections are wrt GPST.  The
+        // satellite clock drift over this small period is considered
+        // negligible to the clock offset lookup here.
+        if (ephopt == EPHOPT_PREC) {
+          if (!pephclk(time[i], obs[i].sat, nav, &dt, NULL)) {
             trace(3,"no precise clock %s sat=%2d\n",time2str(time[i],tstr,3),obs[i].sat);
             continue;
           }

src/ppp.c

@@ -124,7 +124,7 @@ static double STD(rtk_t *rtk, int i)
     return SQRT(rtk->P[i+i*rtk->nx]);
 }
 /* write solution status for PPP ---------------------------------------------*/
-extern int pppoutstat(rtk_t *rtk, char *buff)
+extern int pppoutstat(rtk_t *rtk, char *buff, int level)
 {
     ssat_t *ssat;
     double tow,pos[3],vel[3],acc[3],*x;
@@ -184,17 +184,23 @@ extern int pppoutstat(rtk_t *rtk, char *buff)
                        rtk->ssat[i].azel[1]*R2D,x[j],STD(rtk,j));
         }
     }
-#ifdef OUTSTAT_AMB
-    /* ambiguity parameters */
-    int k;
-    for (i=0;i<MAXSAT;i++) for (j=0;j<NF(&rtk->opt);j++) {
-        k=IB(i+1,j,&rtk->opt);
-        if (rtk->x[k]==0.0) continue;
+    if (level <= 1) return (int)(p-buff);
+
+    /* Write residuals and status */
+    for (int i=0;i<MAXSAT;i++) {
+        ssat=rtk->ssat+i;
+        if (!ssat->vs) continue;
         satno2id(i+1,id);
-        p+=sprintf(p,"$AMB,%d,%.3f,%d,%s,%d,%.4f,%.4f\n",week,tow,
-                   rtk->sol.stat,id,j+1,x[k],STD(rtk,k));
+        for (int j=0;j<NF(&rtk->opt);j++) {
+            int k=IB(i+1,j,&rtk->opt);
+            p+=sprintf(p,"$SAT,%d,%.3f,%s,%d,%.1f,%.1f,%.4f,%.4f,%d,%.0f,%d,%d,%d,%u,%u,%u,%.2f,%.6f,%.5f\n",
+                       week,tow,id,j+1,ssat->azel[0]*R2D,ssat->azel[1]*R2D,
+                       ssat->resp[j],ssat->resc[j],ssat->vsat[j],ssat->snr_rover[j],
+                       ssat->fix[j],ssat->slip[j]&(LLI_SLIP|LLI_HALFC),ssat->lock[j],ssat->outc[j],
+                       ssat->slipc[j],ssat->rejc[j],k<rtk->nx?rtk->x[k]:0,
+                       k<rtk->nx?rtk->P[k+k*rtk->nx]:0,ssat->icbias[j]);
+        }
     }
-#endif
     return (int)(p-buff);
 }
 /* exclude meas of eclipsing satellite (block IIA) ---------------------------*/
@@ -426,18 +432,11 @@ static void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel,
         P[i]=obs->P[i]               -dants[i]-dantr[i];
         double P_nobias = P[i];
         if (opt->sateph==EPHOPT_SSRAPC||opt->sateph==EPHOPT_SSRCOM) {
-            /* select SSR code correction based on code */
-            if (sys==SYS_GPS)
-                ix=(i==0?CODE_L1W-1:CODE_L2W-1);
-            else if (sys==SYS_GLO)
-                ix=(i==0?CODE_L1P-1:CODE_L2P-1);
-            else if (sys==SYS_GAL)
-                ix=(i==0?CODE_L1X-1:CODE_L7X-1);
             /* apply SSR correction */
-            P[i]+=(nav->ssr[obs->sat-1].cbias[obs->code[i]-1]-nav->ssr[obs->sat-1].cbias[ix]);
+            P[i]-=nav->ssr[obs->sat-1].cbias[obs->code[i]-1];
         }
         else {   /* apply code bias corrections from file */
-            P[i]-=code2bias(nav,sys,obs->sat,obs->code[i],0); /* differential bias*/
+            P[i]-=code2bias(nav,sys,obs->sat,obs->code[i],1); /* absolute bias*/
         }
         trace(4,"sys=%d sat=%d frq=%d, P: %.3f->%.3f, dt=%.3f\n",sys,obs->sat,i,P_nobias,P[i],(P[i]-P_nobias)/(1E-9*CLIGHT));
     }
@@ -450,6 +449,7 @@ static void corr_meas(const obsd_t *obs, const nav_t *nav, const double *azel,
 
     if (L[0]!=0.0&&L[frq2]!=0.0) *Lc=C1*L[0]+C2*L[frq2];
     if (P[0]!=0.0&&P[frq2]!=0.0) *Pc=C1*P[0]+C2*P[frq2];
+    trace(4,"corr_meas: sat=%d f2=%d, Lc=%.3f Pc=%.3f\n",obs->sat,frq2,*Lc,*Pc);
 }
 /* detect cycle slip by LLI --------------------------------------------------*/
 static void detslp_ll(rtk_t *rtk, const obsd_t *obs, int n)