Skip to content

Commit

Permalink
use double in rangecmp
Browse files Browse the repository at this point in the history
  • Loading branch information
Jonathan McDermid committed Nov 12, 2024
1 parent 6d38116 commit 1e3f8f4
Show file tree
Hide file tree
Showing 2 changed files with 24 additions and 24 deletions.
4 changes: 2 additions & 2 deletions include/novatel_edie/decoders/oem/rangecmp/range_decompressor.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -104,9 +104,9 @@ class RangeDecompressor
ammmMyReferenceBlocks[static_cast<uint32_t>(MEASUREMENT_SOURCE::MAX)];

static double GetSignalWavelength(const ChannelTrackingStatus& stChannelStatus_, int16_t sGLONASSFrequency_);
float GetRangeCmp2LockTime(const MetaDataStruct& stMetaData_, uint32_t uiLockTimeBits_, ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_,
double GetRangeCmp2LockTime(const MetaDataStruct& stMetaData_, uint32_t uiLockTimeBits_, ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_,
ChannelTrackingStatus::SIGNAL_TYPE eSignal_, uint16_t usPRN_);
float GetRangeCmp4LockTime(const MetaDataStruct& stMetaData_, uint8_t ucLockTimeBits_, ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_,
double GetRangeCmp4LockTime(const MetaDataStruct& stMetaData_, uint8_t ucLockTimeBits_, ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_,
ChannelTrackingStatus::SIGNAL_TYPE eSignal_, uint32_t uiPRN_);
template <bool bSecondary>
void DecompressReferenceBlock(unsigned char** ppucData_, uint32_t& uiBytesLeft_, uint32_t& uiBitOffset_,
Expand Down
44 changes: 22 additions & 22 deletions src/decoders/oem/src/rangecmp/range_decompressor.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -263,11 +263,11 @@ template uint64_t RangeDecompressor::ExtractBitfield<uint64_t>(unsigned char**,
//! observation, and may not be a true representation of the time the
//! observation has actually been locked.
//------------------------------------------------------------------------------
float RangeDecompressor::GetRangeCmp2LockTime(const MetaDataStruct& stMetaData_, uint32_t uiLockTimeBits_,
ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_, ChannelTrackingStatus::SIGNAL_TYPE eSignal_,
uint16_t usPRN_)
double RangeDecompressor::GetRangeCmp2LockTime(const MetaDataStruct& stMetaData_, uint32_t uiLockTimeBits_,
ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_, ChannelTrackingStatus::SIGNAL_TYPE eSignal_,
uint16_t usPRN_)
{
float fLocktimeMilliseconds = uiLockTimeBits_;
double fLocktimeMilliseconds = uiLockTimeBits_;

RangeCmp2LockTimeInfo& stLocktimeInfo =
ammmMyRangeCmp2LockTimes[static_cast<uint32_t>(stMetaData_.eMeasurementSource)][eSystem_][eSignal_][static_cast<uint32_t>(usPRN_)];
Expand Down Expand Up @@ -347,20 +347,20 @@ float RangeDecompressor::GetRangeCmp2LockTime(const MetaDataStruct& stMetaData_,
//! +-------------------------------------------------------------------->
//! Header time (t)
//------------------------------------------------------------------------------
float RangeDecompressor::GetRangeCmp4LockTime(const MetaDataStruct& stMetaData_, uint8_t ucLockTimeBits_,
ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_, ChannelTrackingStatus::SIGNAL_TYPE eSignal_,
uint32_t uiPRN_)
double RangeDecompressor::GetRangeCmp4LockTime(const MetaDataStruct& stMetaData_, uint8_t ucLockTimeBits_,
ChannelTrackingStatus::SATELLITE_SYSTEM eSystem_, ChannelTrackingStatus::SIGNAL_TYPE eSignal_,
uint32_t uiPRN_)
{
//-----------------------------------------------------------------------
//! List of pre-defined floats used as translations for RANGECMP4 lock
//! List of pre-defined doubles used as translations for RANGECMP4 lock
//! time values defined in the RANGECMP4 documentation:
//! https://docs.novatel.com/OEM7/Content/Logs/RANGECMP4.htm?Highlight=Range#Lock
//! NOTE: These values are the lower bound of the range representations.
//! For more information on decompressing locktime bitfields, see the
//! comment block above RangeDecompressor::DetermineRangeCmp4ObservationLocktime().
//-----------------------------------------------------------------------
constexpr std::array<float, 16> lockTime = {0.0F, 16.0F, 32.0F, 64.0F, 128.0F, 256.0F, 512.0F, 1024.0F,
2048.0F, 4096.0F, 8192.0F, 16384.0F, 32768.0F, 65536.0F, 131072.0F, 262144.0F};
constexpr std::array<double, 16> lockTime = {0.0, 16.0, 32.0, 64.0, 128.0, 256.0, 512.0, 1024.0,
2048.0, 4096.0, 8192.0, 16384.0, 32768.0, 65536.0, 131072.0, 262144.0};

// Store the locktime if it is different than the once we have currently.
RangeCmp4LocktimeInfo& stLocktimeInfo =
Expand Down Expand Up @@ -495,23 +495,23 @@ void RangeDecompressor::PopulateNextRangeData(RangeData& stRangeData_, const Ran
char cGLONASSFrequencyNumber_)
{
//-----------------------------------------------------------------------
//! List of pre-defined floats used as translations for RANGECMP4 PSR
//! List of pre-defined doubles used as translations for RANGECMP4 PSR
//! standard deviation values defined in the RANGECMP4 documentation:
//! https://docs.novatel.com/OEM7/Content/Logs/RANGECMP4.htm?Highlight=Range#Pseudora
//-----------------------------------------------------------------------
constexpr std::array<float, 16> stdDevPsrScaling = {0.020F, 0.030F, 0.045F, 0.066F, 0.099F, 0.148F, 0.220F, 0.329F,
0.491F, 0.732F, 1.092F, 1.629F, 2.430F, 3.625F, 5.409F, 5.409F};
constexpr std::array<double, 16> stdDevPsrScaling = {0.020, 0.030, 0.045, 0.066, 0.099, 0.148, 0.220, 0.329,
0.491, 0.732, 1.092, 1.629, 2.430, 3.625, 5.409, 5.409};

//-----------------------------------------------------------------------
//! List of pre-defined floats used as translations for RANGECMP4 ADR
//! List of pre-defined doubles used as translations for RANGECMP4 ADR
//! standard deviation values defined in the RANGECMP4 documentation:
//! https://docs.novatel.com/OEM7/Content/Logs/RANGECMP4.htm?Highlight=Range#ADR
//! Note: LSD have been removed to reduce rouning errors in the range log.
//! ADR STD is only 3 decimal places and could round up causing values
//! to be greater than values in the table.
//-----------------------------------------------------------------------
constexpr std::array<float, 16> stdDevAdrScaling = {0.003F, 0.005F, 0.007F, 0.009F, 0.012F, 0.016F, 0.022F, 0.029F,
0.039F, 0.052F, 0.070F, 0.093F, 0.124F, 0.166F, 0.222F, 0.222F};
constexpr std::array<double, 16> stdDevAdrScaling = {0.003, 0.005, 0.007, 0.009, 0.012, 0.016, 0.022, 0.029,
0.039, 0.052, 0.070, 0.093, 0.124, 0.166, 0.222, 0.222};

double dSignalWavelength = GetSignalWavelength(stChannelStatus_, cGLONASSFrequencyNumber_ - GLONASS_FREQUENCY_NUMBER_OFFSET);

Expand Down Expand Up @@ -565,8 +565,8 @@ void RangeDecompressor::RangeCmpToRange(const RangeCmp& stRangeCmpMessage_, Rang
//! in the RANGECMP documentation:
//! https://docs.novatel.com/OEM7/Content/Logs/RANGECMP.htm?Highlight=rangecmp#StdDevPSRValues
//-----------------------------------------------------------------------
constexpr std::array<float, 16> stdDevPsrScaling = {0.050F, 0.075F, 0.113F, 0.169F, 0.253F, 0.380F, 0.570F, 0.854F,
1.281F, 2.375F, 4.750F, 9.500F, 19.000F, 38.000F, 76.000F, 152.000F};
constexpr std::array<double, 16> stdDevPsrScaling = {0.050, 0.075, 0.113, 0.169, 0.253, 0.380, 0.570, 0.854,
1.281, 2.375, 4.750, 9.500, 19.000, 38.000, 76.000, 152.000};

stRangeMessage_.uiNumberOfObservations = stRangeCmpMessage_.uiNumberOfObservations;

Expand Down Expand Up @@ -611,16 +611,16 @@ void RangeDecompressor::RangeCmp2ToRange(const RangeCmp2& stRangeCmp2Message_, R
//! in the RANGECMP2 documentation:
//! https://docs.novatel.com/OEM7/Content/Logs/RANGECMP2.htm?Highlight=RANGECMP2#StdDevPSRScaling
//-----------------------------------------------------------------------
constexpr std::array<float, 16> stdDevPsrScaling = {0.020F, 0.030F, 0.045F, 0.066F, 0.099F, 0.148F, 0.220F, 0.329F,
0.491F, 0.732F, 1.092F, 1.629F, 2.430F, 3.625F, 5.409F, 5.409F};
constexpr std::array<double, 16> stdDevPsrScaling = {0.020, 0.030, 0.045, 0.066, 0.099, 0.148, 0.220, 0.329,
0.491, 0.732, 1.092, 1.629, 2.430, 3.625, 5.409, 5.409};

//-----------------------------------------------------------------------
//! Table used to expand the scaled Accumulated Doppler Range STDs. This
//! is defined in the RANGECMP2 documentation:
//! https://docs.novatel.com/OEM7/Content/Logs/RANGECMP2.htm?Highlight=RANGECMP2#StdDevADRScaling
//-----------------------------------------------------------------------
constexpr std::array<float, 16> stdDevAdrScaling = {0.00391F, 0.00521F, 0.00696F, 0.00929F, 0.01239F, 0.01654F, 0.02208F, 0.02947F,
0.03933F, 0.05249F, 0.07006F, 0.09350F, 0.12480F, 0.16656F, 0.22230F, 0.22230F};
constexpr std::array<double, 16> stdDevAdrScaling = {0.00391, 0.00521, 0.00696, 0.00929, 0.01239, 0.01654, 0.02208, 0.02947,
0.03933, 0.05249, 0.07006, 0.09350, 0.12480, 0.16656, 0.22230, 0.22230};

stRangeMessage_.uiNumberOfObservations = 0;
uint32_t uiRangeDataBytesDecompressed = 0;
Expand Down

0 comments on commit 1e3f8f4

Please sign in to comment.