From eff3d2459255e502e6b099de97d1e8c94402561c Mon Sep 17 00:00:00 2001
From: Scott Kovach <dskovach@gmail.com>
Date: Tue, 21 Jul 2015 12:12:41 -0700
Subject: [PATCH 1/6] add raim_flag to gnss_solution, clarify dgnss_baseline

---
 include/libswiftnav/dgnss_management.h |  1 +
 include/libswiftnav/pvt.h              |  4 +++
 src/dgnss_management.c                 | 45 +++++++++++++++++++-------
 src/pvt.c                              | 21 ++++++++----
 tests/check_dgnss_management.c         |  6 ++--
 tests/check_pvt.c                      |  4 +++
 6 files changed, 62 insertions(+), 19 deletions(-)

diff --git a/include/libswiftnav/dgnss_management.h b/include/libswiftnav/dgnss_management.h
index 657187f8..672e8807 100644
--- a/include/libswiftnav/dgnss_management.h
+++ b/include/libswiftnav/dgnss_management.h
@@ -62,6 +62,7 @@ s8 dgnss_iar_get_single_hyp(double *hyp);
 void dgnss_reset_iar(void);
 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
 void dgnss_update_ambiguity_state(ambiguity_state_t *s);
+u8 baseline_flag(s8 ret, bool fixed);
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
                   u8 *num_used, double b[3],
diff --git a/include/libswiftnav/pvt.h b/include/libswiftnav/pvt.h
index 7f4c490b..cb342ef0 100644
--- a/include/libswiftnav/pvt.h
+++ b/include/libswiftnav/pvt.h
@@ -77,6 +77,10 @@ typedef struct __attribute__((packed)) {
   u8 valid;
   /* Number of channels used in the soluton. */
   u8 n_used;
+  /* bit 0: raim available?
+   * bit 1: raim repair used?
+   */
+  u8 raim_flag;
 } gnss_solution;
 
 s8 calc_PVT(const u8 n_used,
diff --git a/src/dgnss_management.c b/src/dgnss_management.c
index 80625cdf..8dac8de7 100644
--- a/src/dgnss_management.c
+++ b/src/dgnss_management.c
@@ -395,6 +395,23 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
   }
 }
 
+/** Formats flag bits for sbp.
+ *  bit positions:
+ *  -`0`: fixed mode?
+ *  -`3`: RAIM available?
+ *  -`4`: RAIM repair used?
+ *
+ *  \param ret return code from baseline()
+ *  \param fixed 1 for fixed, 0 for float
+ *  \return formatted flag value
+ */
+u8 baseline_flag(s8 ret, bool fixed)
+{
+  return (ret == 1) << 4  /* RAIM repair? */
+       | (ret != 2) << 3  /* RAIM available? */
+       | fixed;           /* Fixed mode? */
+}
+
 /** Finds the baseline using low latency sdiffs.
  * The low latency sdiffs are not guaranteed to match up with either the
  * amb_test's or the float sdiffs, and thus care must be taken to transform them
@@ -410,37 +427,43 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
  * \param b           Output baseline.
  * \param disable_raim Flag to turn off raim checks/repair.
  * \param raim_threshold raim check threshold
- * \return  1 if we are using an IAR resolved baseline.
- *          2 if we are using a float baseline.
- *         -1 if we can't give a baseline.
+ * \return positive value: SBP baseline msg flags
+ *         negative value: baseline error code
  */
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
                   u8 *num_used, double b[3],
                   bool disable_raim, double raim_threshold)
 {
-  s8 ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->fixed_ambs, num_used, b,
+  s8 ret;
+
+  /* Try IAR resolved baseline */
+  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->fixed_ambs, num_used, b,
                     disable_raim, raim_threshold);
   if (ret >= 0) {
-    if (ret == 1) /* TODO: Export this rather than just printing */
+    if (ret == 1)
       log_warn("dgnss_baseline: Fixed baseline RAIM repair");
     log_debug("fixed solution");
     DEBUG_EXIT();
-    return 1;
+    return baseline_flag(ret, true);
   }
+
   /* We weren't able to get an IAR resolved baseline, check if we can get a
    * float baseline. */
-  if ((ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->float_ambs, num_used, b,
-                      disable_raim, raim_threshold))
-        >= 0) {
-    if (ret == 1) /* TODO: Export this rather than just printing */
+  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->float_ambs, num_used, b,
+                 disable_raim, raim_threshold);
+  if (ret >= 0) {
+    if (ret == 1)
       log_warn("dgnss_baseline: Float baseline RAIM repair");
     log_debug("float solution");
     DEBUG_EXIT();
-    return 2;
+    return baseline_flag(ret, false);
   }
   log_debug("no baseline solution");
   DEBUG_EXIT();
+
+  /* Must be negative! */
+  assert(ret < 0);
   return ret;
 }
 
diff --git a/src/pvt.c b/src/pvt.c
index b4629322..845d1642 100644
--- a/src/pvt.c
+++ b/src/pvt.c
@@ -536,17 +536,26 @@ s8 calc_PVT(const u8 n_used,
   soln->n_used = n_used; // Keep track of number of working channels
 
   u8 removed_prn = -1;
-  s8 raim_flag = pvt_solve_raim(rx_state, n_used, nav_meas, disable_raim,
-                                H, &removed_prn, 0);
+  s8 code = pvt_solve_raim(rx_state, n_used, nav_meas, disable_raim,
+                           H, &removed_prn, 0);
 
-  if (raim_flag < 0) {
+  if (code < 0) {
     /* Didn't converge or least squares integrity check failed. */
-    return raim_flag - 3;
+    return code - 3;
   }
 
+  soln->raim_flag = 0;
+
   /* Initial solution failed, but repair was successful. */
-  if (raim_flag == 1) {
+  if (code == 1) {
     soln->n_used--;
+    soln->raim_flag = (1 << 1) | 1; /* 11 */
+  } else if (code == 2) {
+    soln->raim_flag = 0; /* 00 */
+  } else if (code == 0) {
+    soln->raim_flag = 1; /* 01 */
+  } else {
+    log_error("Invalid pvt_solve_raim return code: %d\n", code);
   }
 
   /* Compute various dilution of precision metrics. */
@@ -597,6 +606,6 @@ s8 calc_PVT(const u8 n_used,
 
   soln->valid = 1;
 
-  return raim_flag;
+  return code;
 }
 
diff --git a/tests/check_dgnss_management.c b/tests/check_dgnss_management.c
index 7cce1799..c796f1cf 100644
--- a/tests/check_dgnss_management.c
+++ b/tests/check_dgnss_management.c
@@ -212,7 +212,8 @@ START_TEST(test_dgnss_baseline_1)
   s.fixed_ambs.n = 0;
   s8 valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
     false, DEFAULT_RAIM_THRESHOLD);
-  fail_unless(valid == 2);
+  /* baseline_flag(initial solution ok, float mode) */
+  fail_unless(valid == baseline_flag(0, false));
   fail_unless(num_used == 5);
   fail_unless(within_epsilon(b[0], -0.742242));
   fail_unless(within_epsilon(b[1], -0.492905));
@@ -222,7 +223,8 @@ START_TEST(test_dgnss_baseline_1)
   s.fixed_ambs.n = 4;
   valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
     false, DEFAULT_RAIM_THRESHOLD);
-  fail_unless(valid == 1);
+  /* baseline_flag(initial solution ok, fixed mode) */
+  fail_unless(valid == baseline_flag(0, true));
   fail_unless(num_used == 5);
   fail_unless(within_epsilon(b[0], -0.417486));
   fail_unless(within_epsilon(b[1], -0.358386));
diff --git a/tests/check_pvt.c b/tests/check_pvt.c
index 279e1660..d3667772 100644
--- a/tests/check_pvt.c
+++ b/tests/check_pvt.c
@@ -86,6 +86,8 @@ START_TEST(test_pvt_repair)
   s8 code = calc_PVT(n_used, nms, false, &soln, &dops);
   fail_unless(code == 1,
     "Return code should be 1 (pvt repair). Saw: %d\n", code);
+  fail_unless(soln.raim_flag == 3,
+    "raim_flag should be 11, saw: %d\n", soln.raim_flag);
   fail_unless(soln.n_used == n_used - 1,
     "PVT solver failed to repair solution.");
 }
@@ -104,6 +106,8 @@ START_TEST(test_disable_pvt_raim)
   s8 code = calc_PVT(n_used, nms, true, &soln, &dops);
   fail_unless(code == 2,
     "Return code should be 2 (raim not used). Saw: %d\n", code);
+  fail_unless(soln.raim_flag == 0,
+    "raim_flag should be 00, saw: %d\n", soln.raim_flag);
   fail_unless(soln.valid == 1,
     "Solution should be valid!");
 }

From ca460983ccfbb761e06c20c5a49f54914ea0f504 Mon Sep 17 00:00:00 2001
From: Scott Kovach <dskovach@gmail.com>
Date: Thu, 23 Jul 2015 11:43:08 -0700
Subject: [PATCH 2/6] added flag accessors

---
 include/libswiftnav/dgnss_management.h |  3 +++
 src/dgnss_management.c                 | 15 +++++++++++++++
 src/pvt.c                              |  3 ++-
 3 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/include/libswiftnav/dgnss_management.h b/include/libswiftnav/dgnss_management.h
index 672e8807..898c806b 100644
--- a/include/libswiftnav/dgnss_management.h
+++ b/include/libswiftnav/dgnss_management.h
@@ -63,6 +63,9 @@ void dgnss_reset_iar(void);
 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
 void dgnss_update_ambiguity_state(ambiguity_state_t *s);
 u8 baseline_flag(s8 ret, bool fixed);
+u8 flag_raim_repaired(u8 flag);
+u8 flag_raim_available(u8 flag);
+u8 flag_fixed_mode(u8 flag);
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
                   u8 *num_used, double b[3],
diff --git a/src/dgnss_management.c b/src/dgnss_management.c
index 8dac8de7..abc2895b 100644
--- a/src/dgnss_management.c
+++ b/src/dgnss_management.c
@@ -412,6 +412,21 @@ u8 baseline_flag(s8 ret, bool fixed)
        | fixed;           /* Fixed mode? */
 }
 
+u8 flag_raim_repaired(u8 flag)
+{
+  return flag & (1 << 4);
+}
+
+u8 flag_raim_available(u8 flag)
+{
+  return flag & (1 << 3);
+}
+
+u8 flag_fixed_mode(u8 flag)
+{
+  return flag & 1;
+}
+
 /** Finds the baseline using low latency sdiffs.
  * The low latency sdiffs are not guaranteed to match up with either the
  * amb_test's or the float sdiffs, and thus care must be taken to transform them
diff --git a/src/pvt.c b/src/pvt.c
index 845d1642..0bb90f8d 100644
--- a/src/pvt.c
+++ b/src/pvt.c
@@ -546,11 +546,12 @@ s8 calc_PVT(const u8 n_used,
 
   soln->raim_flag = 0;
 
-  /* Initial solution failed, but repair was successful. */
   if (code == 1) {
+    /* Initial solution failed, but repair was successful. */
     soln->n_used--;
     soln->raim_flag = (1 << 1) | 1; /* 11 */
   } else if (code == 2) {
+    /* raim was unavailable */
     soln->raim_flag = 0; /* 00 */
   } else if (code == 0) {
     soln->raim_flag = 1; /* 01 */

From 8d2298ed1df51a8ccff202a4988570123156a0de Mon Sep 17 00:00:00 2001
From: Scott Kovach <dskovach@gmail.com>
Date: Fri, 31 Jul 2015 14:40:02 -0700
Subject: [PATCH 3/6] add baseline solution struct, move flag logic out to
 piksi_firmware

---
 include/libswiftnav/dgnss_management.h | 20 +++++++---
 src/dgnss_management.c                 | 52 ++++++++------------------
 tests/check_dgnss_management.c         | 36 +++++++++---------
 3 files changed, 48 insertions(+), 60 deletions(-)

diff --git a/include/libswiftnav/dgnss_management.h b/include/libswiftnav/dgnss_management.h
index 898c806b..880e48f1 100644
--- a/include/libswiftnav/dgnss_management.h
+++ b/include/libswiftnav/dgnss_management.h
@@ -39,6 +39,19 @@ typedef struct {
   ambiguities_t float_ambs;
 } ambiguity_state_t;
 
+typedef struct {
+  /* Baseline estimate */
+  double b[3];
+  /* Number of sdiffs used in the soluton. */
+  u8 num_used;
+  /* bool: fixed or float filter derived */
+  u8 fixed_mode;
+  /* bool: raim available for least squares baseline estimate */
+  u8 raim_available;
+  /* bool: raim used to repair baseline */
+  u8 raim_repair;
+} dgnss_baseline_t;
+
 extern dgnss_settings_t dgnss_settings;
 
 void dgnss_set_settings(double phase_var_test, double code_var_test,
@@ -62,13 +75,10 @@ s8 dgnss_iar_get_single_hyp(double *hyp);
 void dgnss_reset_iar(void);
 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
 void dgnss_update_ambiguity_state(ambiguity_state_t *s);
-u8 baseline_flag(s8 ret, bool fixed);
-u8 flag_raim_repaired(u8 flag);
-u8 flag_raim_available(u8 flag);
-u8 flag_fixed_mode(u8 flag);
+void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution);
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
-                  u8 *num_used, double b[3],
+                  dgnss_baseline_t *solution,
                   bool disable_raim, double raim_threshold);
 void measure_amb_kf_b(u8 num_sdiffs, sdiff_t *sdiffs,
                       const double receiver_ecef[3], double *b);
diff --git a/src/dgnss_management.c b/src/dgnss_management.c
index abc2895b..f3210968 100644
--- a/src/dgnss_management.c
+++ b/src/dgnss_management.c
@@ -395,36 +395,12 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
   }
 }
 
-/** Formats flag bits for sbp.
- *  bit positions:
- *  -`0`: fixed mode?
- *  -`3`: RAIM available?
- *  -`4`: RAIM repair used?
- *
- *  \param ret return code from baseline()
- *  \param fixed 1 for fixed, 0 for float
- *  \return formatted flag value
- */
-u8 baseline_flag(s8 ret, bool fixed)
-{
-  return (ret == 1) << 4  /* RAIM repair? */
-       | (ret != 2) << 3  /* RAIM available? */
-       | fixed;           /* Fixed mode? */
-}
-
-u8 flag_raim_repaired(u8 flag)
-{
-  return flag & (1 << 4);
-}
-
-u8 flag_raim_available(u8 flag)
-{
-  return flag & (1 << 3);
-}
-
-u8 flag_fixed_mode(u8 flag)
+/* Interpret raim-related content of baseline function return code. */
+void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
 {
-  return flag & 1;
+  solution->raim_repair    = ret == 1;
+  solution->raim_available = ret != 2;
+  solution->fixed_mode = fixed;
 }
 
 /** Finds the baseline using low latency sdiffs.
@@ -442,37 +418,41 @@ u8 flag_fixed_mode(u8 flag)
  * \param b           Output baseline.
  * \param disable_raim Flag to turn off raim checks/repair.
  * \param raim_threshold raim check threshold
- * \return positive value: SBP baseline msg flags
+ * \return 0: solution ok
  *         negative value: baseline error code
  */
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
-                  u8 *num_used, double b[3],
+                  dgnss_baseline_t *solution,
                   bool disable_raim, double raim_threshold)
 {
   s8 ret;
 
   /* Try IAR resolved baseline */
-  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->fixed_ambs, num_used, b,
-                    disable_raim, raim_threshold);
+  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->fixed_ambs,
+                 &solution->num_used, solution->b,
+                 disable_raim, raim_threshold);
   if (ret >= 0) {
     if (ret == 1)
       log_warn("dgnss_baseline: Fixed baseline RAIM repair");
     log_debug("fixed solution");
     DEBUG_EXIT();
-    return baseline_flag(ret, true);
+    fill_property_flags(ret, true, solution);
+    return 0;
   }
 
   /* We weren't able to get an IAR resolved baseline, check if we can get a
    * float baseline. */
-  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->float_ambs, num_used, b,
+  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->float_ambs,
+                 &solution->num_used, solution->b,
                  disable_raim, raim_threshold);
   if (ret >= 0) {
     if (ret == 1)
       log_warn("dgnss_baseline: Float baseline RAIM repair");
     log_debug("float solution");
     DEBUG_EXIT();
-    return baseline_flag(ret, false);
+    fill_property_flags(ret, false, solution);
+    return 0;
   }
   log_debug("no baseline solution");
   DEBUG_EXIT();
diff --git a/tests/check_dgnss_management.c b/tests/check_dgnss_management.c
index c796f1cf..1048912e 100644
--- a/tests/check_dgnss_management.c
+++ b/tests/check_dgnss_management.c
@@ -5,6 +5,7 @@
 #include "check_utils.h"
 #include "dgnss_management.h"
 #include "ambiguity_test.h"
+#include "printing_utils.h"
 #include "amb_kf.h"
 #include "printing_utils.h"
 
@@ -205,41 +206,38 @@ START_TEST(test_dgnss_baseline_1)
     }
   };
 
-  double b[3];
-  u8 num_used;
+  dgnss_baseline_t solution;
 
   /* Float only */
   s.fixed_ambs.n = 0;
-  s8 valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
+  s8 valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &solution,
     false, DEFAULT_RAIM_THRESHOLD);
   /* baseline_flag(initial solution ok, float mode) */
-  fail_unless(valid == baseline_flag(0, false));
-  fail_unless(num_used == 5);
-  fail_unless(within_epsilon(b[0], -0.742242));
-  fail_unless(within_epsilon(b[1], -0.492905));
-  fail_unless(within_epsilon(b[2], -0.0533294));
+  fail_unless(valid == 0);
+  fail_unless(solution.fixed_mode == 0);
+  fail_unless(solution.num_used == 5);
+  double expected1[] = {-0.742242, -0.492905, -0.0533294};
+  fail_unless(arr_within_epsilon(3, solution.b, expected1));
 
   /* Fixed and float */
   s.fixed_ambs.n = 4;
-  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
+  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &solution,
     false, DEFAULT_RAIM_THRESHOLD);
   /* baseline_flag(initial solution ok, fixed mode) */
-  fail_unless(valid == baseline_flag(0, true));
-  fail_unless(num_used == 5);
-  fail_unless(within_epsilon(b[0], -0.417486));
-  fail_unless(within_epsilon(b[1], -0.358386));
-  fail_unless(within_epsilon(b[2],  0.271427));
+  fail_unless(valid == 0);
+  fail_unless(solution.fixed_mode == 1);
+  fail_unless(solution.num_used == 5);
+  double expected2[] = {-0.622609, -0.432371, -0.00461595};
+  fail_unless(arr_within_epsilon(3, solution.b, expected2));
 
   /* No solution possible */
   s.fixed_ambs.n = 0;
   s.float_ambs.n = 0;
-  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
+  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &solution,
     false, DEFAULT_RAIM_THRESHOLD);
   fail_unless(valid == -1);
-  fail_unless(num_used == 5);
-  fail_unless(within_epsilon(b[0], -0.417486));
-  fail_unless(within_epsilon(b[1], -0.358386));
-  fail_unless(within_epsilon(b[2],  0.271427));
+  fail_unless(solution.num_used == 5);
+  fail_unless(arr_within_epsilon(3, solution.b, expected2));
 }
 END_TEST
 

From 7b855dc8d3e36703150464db9120effb7db91cd3 Mon Sep 17 00:00:00 2001
From: Scott Kovach <dskovach@gmail.com>
Date: Tue, 3 Nov 2015 18:17:10 -0800
Subject: [PATCH 4/6] fix baseline, doxygen

---
 src/dgnss_management.c         | 5 ++---
 tests/check_dgnss_management.c | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/dgnss_management.c b/src/dgnss_management.c
index f3210968..f7f94a28 100644
--- a/src/dgnss_management.c
+++ b/src/dgnss_management.c
@@ -413,9 +413,8 @@ void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
  * \param ref_ecef    The referece position for the baseline.
  *                    (TODO is this the local or remote receiver position?)
  * \param s           Current ambiguity test state.
- * \param num_used    Output number of sdiffs actually used in the baseline
- *                    estimate.
- * \param b           Output baseline.
+ * \param solution    struct containing output baseline, num sdiffs used,
+ *                    fixed mode, raim availability, whether raim was used.
  * \param disable_raim Flag to turn off raim checks/repair.
  * \param raim_threshold raim check threshold
  * \return 0: solution ok
diff --git a/tests/check_dgnss_management.c b/tests/check_dgnss_management.c
index 1048912e..f5750881 100644
--- a/tests/check_dgnss_management.c
+++ b/tests/check_dgnss_management.c
@@ -227,7 +227,7 @@ START_TEST(test_dgnss_baseline_1)
   fail_unless(valid == 0);
   fail_unless(solution.fixed_mode == 1);
   fail_unless(solution.num_used == 5);
-  double expected2[] = {-0.622609, -0.432371, -0.00461595};
+  double expected2[] = {-0.417486, -0.358386, 0.271427};
   fail_unless(arr_within_epsilon(3, solution.b, expected2));
 
   /* No solution possible */

From 8567d6297046947eee910c4b8fb0b16237a7f0c1 Mon Sep 17 00:00:00 2001
From: Scott Kovach <dskovach@gmail.com>
Date: Wed, 4 Nov 2015 16:06:42 -0800
Subject: [PATCH 5/6] PR comments

---
 include/libswiftnav/dgnss_management.h |  7 +++----
 src/dgnss_management.c                 |  2 +-
 src/pvt.c                              | 26 +++++++++++++++-----------
 tests/check_pvt.c                      |  2 +-
 4 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/include/libswiftnav/dgnss_management.h b/include/libswiftnav/dgnss_management.h
index 880e48f1..dd471f63 100644
--- a/include/libswiftnav/dgnss_management.h
+++ b/include/libswiftnav/dgnss_management.h
@@ -45,11 +45,11 @@ typedef struct {
   /* Number of sdiffs used in the soluton. */
   u8 num_used;
   /* bool: fixed or float filter derived */
-  u8 fixed_mode;
+  bool fixed_mode;
   /* bool: raim available for least squares baseline estimate */
-  u8 raim_available;
+  bool raim_available;
   /* bool: raim used to repair baseline */
-  u8 raim_repair;
+  bool raim_repair;
 } dgnss_baseline_t;
 
 extern dgnss_settings_t dgnss_settings;
@@ -75,7 +75,6 @@ s8 dgnss_iar_get_single_hyp(double *hyp);
 void dgnss_reset_iar(void);
 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
 void dgnss_update_ambiguity_state(ambiguity_state_t *s);
-void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution);
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
                   dgnss_baseline_t *solution,
diff --git a/src/dgnss_management.c b/src/dgnss_management.c
index f7f94a28..9016a456 100644
--- a/src/dgnss_management.c
+++ b/src/dgnss_management.c
@@ -396,7 +396,7 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
 }
 
 /* Interpret raim-related content of baseline function return code. */
-void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
+static void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
 {
   solution->raim_repair    = ret == 1;
   solution->raim_available = ret != 2;
diff --git a/src/pvt.c b/src/pvt.c
index 0bb90f8d..278f61cc 100644
--- a/src/pvt.c
+++ b/src/pvt.c
@@ -546,17 +546,21 @@ s8 calc_PVT(const u8 n_used,
 
   soln->raim_flag = 0;
 
-  if (code == 1) {
-    /* Initial solution failed, but repair was successful. */
-    soln->n_used--;
-    soln->raim_flag = (1 << 1) | 1; /* 11 */
-  } else if (code == 2) {
-    /* raim was unavailable */
-    soln->raim_flag = 0; /* 00 */
-  } else if (code == 0) {
-    soln->raim_flag = 1; /* 01 */
-  } else {
-    log_error("Invalid pvt_solve_raim return code: %d\n", code);
+  switch (code) {
+    case 1:
+      /* Initial solution failed, but repair was successful. */
+      soln->n_used--;
+      soln->raim_flag = (1 << 1) | 1; /* 11 */
+      break;
+    case 2:
+      /* raim was unavailable */
+      soln->raim_flag = 0; /* 00 */
+      break;
+    case 0:
+      soln->raim_flag = 1; /* 01 */
+      break;
+    default:
+      log_error("Invalid pvt_solve_raim return code: %d\n", code);
   }
 
   /* Compute various dilution of precision metrics. */
diff --git a/tests/check_pvt.c b/tests/check_pvt.c
index d3667772..21d8f89e 100644
--- a/tests/check_pvt.c
+++ b/tests/check_pvt.c
@@ -87,7 +87,7 @@ START_TEST(test_pvt_repair)
   fail_unless(code == 1,
     "Return code should be 1 (pvt repair). Saw: %d\n", code);
   fail_unless(soln.raim_flag == 3,
-    "raim_flag should be 11, saw: %d\n", soln.raim_flag);
+    "raim_flag should be 0b11, saw: %d\n", soln.raim_flag);
   fail_unless(soln.n_used == n_used - 1,
     "PVT solver failed to repair solution.");
 }

From d15cf6380aabaae79696fcf35c6ec10c4180281b Mon Sep 17 00:00:00 2001
From: Scott Kovach <dskovach@gmail.com>
Date: Wed, 4 Nov 2015 17:17:19 -0800
Subject: [PATCH 6/6] not static

---
 include/libswiftnav/dgnss_management.h | 1 +
 src/dgnss_management.c                 | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/include/libswiftnav/dgnss_management.h b/include/libswiftnav/dgnss_management.h
index dd471f63..4744e607 100644
--- a/include/libswiftnav/dgnss_management.h
+++ b/include/libswiftnav/dgnss_management.h
@@ -75,6 +75,7 @@ s8 dgnss_iar_get_single_hyp(double *hyp);
 void dgnss_reset_iar(void);
 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
 void dgnss_update_ambiguity_state(ambiguity_state_t *s);
+void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution);
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
                   dgnss_baseline_t *solution,
diff --git a/src/dgnss_management.c b/src/dgnss_management.c
index 9016a456..f7f94a28 100644
--- a/src/dgnss_management.c
+++ b/src/dgnss_management.c
@@ -396,7 +396,7 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
 }
 
 /* Interpret raim-related content of baseline function return code. */
-static void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
+void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
 {
   solution->raim_repair    = ret == 1;
   solution->raim_available = ret != 2;