Fix compilation errors

swiftnav-sys/build.rs

@@ -54,10 +54,6 @@ fn main() {
             "{}/include/swiftnav/single_epoch_solver.h",
             dst.display()
         ))
-        .header(format!(
-            "{}/include/swiftnav/correct_iono_tropo.h",
-            dst.display()
-        ))
         // Tell cargo to invalidate the built crate whenever any of the
         // included header files changed.
         .parse_callbacks(Box::new(bindgen::CargoCallbacks))
@@ -164,14 +160,13 @@ fn main() {
         .allowlist_var("NAV_MEAS_FLAG_CODE_VALID")
         .allowlist_var("NAV_MEAS_FLAG_MEAS_DOPPLER_VALID")
         .allowlist_var("NAV_MEAS_FLAG_CN0_VALID")
+        .allowlist_type("obs_mask_config_t")
         .allowlist_function("sid_set_init")
         .allowlist_function("sid_set_get_sat_count")
         .allowlist_function("sid_set_get_sig_count")
         .allowlist_function("sid_set_contains")
         .allowlist_function("calc_PVT")
         .allowlist_var("pvt_err_msg")
-        .allowlist_function("correct_iono")
-        .allowlist_function("correct_tropo")
         .allowlist_type("geoid_model_t")
         .allowlist_function("get_geoid_offset")
         .allowlist_function("get_geoid_model")

swiftnav/src/ionosphere.rs

@@ -16,7 +16,7 @@
 //! # References
 //!  * IS-GPS-200H, Section 20.3.3.5.2.5 and Figure 20-4
 
-use crate::{coords::ECEF, navmeas::NavigationMeasurement, time::GpsTime};
+use crate::time::GpsTime;
 use std::error::Error;
 use std::fmt::{Display, Formatter};
 
@@ -37,10 +37,6 @@ impl Display for IonoDecodeFailure {
 impl Error for IonoDecodeFailure {}
 
 impl Ionosphere {
-    fn as_ptr(&self) -> *const swiftnav_sys::ionosphere_t {
-        &self.0
-    }
-
     /// Construct an ionosphere model from already decoded parameters
     #[allow(clippy::too_many_arguments)]
     pub fn new(
@@ -110,19 +106,6 @@ impl Ionosphere {
     pub fn calc_delay(&self, t: &GpsTime, lat_u: f64, lon_u: f64, a: f64, e: f64) -> f64 {
         unsafe { swiftnav_sys::calc_ionosphere(t.c_ptr(), lat_u, lon_u, a, e, &self.0) }
     }
-
-    /// Apply ionosphere corrections to a set of measurements
-    pub fn correct_measurements(&self, pos: ECEF, measurements: &mut [NavigationMeasurement]) {
-        assert!(measurements.len() <= std::u8::MAX as usize);
-        unsafe {
-            swiftnav_sys::correct_iono(
-                pos.as_single_ptr(),
-                self.as_ptr(),
-                measurements.len() as u8,
-                measurements.as_mut_ptr() as *mut swiftnav_sys::navigation_measurement_t,
-            );
-        }
-    }
 }
 
 #[cfg(test)]

swiftnav/src/navmeas.rs

@@ -41,14 +41,14 @@ impl NavigationMeasurement {
     ///
     /// Units of meters, time of flight multiplied by speed of light
     pub fn set_pseudorange(&mut self, value: f64) {
-        self.0.pseudorange = value;
+        self.0.raw_pseudorange = value;
         self.0.flags |= NAV_MEAS_FLAG_CODE_VALID;
     }
 
     /// Gets the pseudorange measurement, if a valid one has been set
     pub fn pseudorange(&self) -> Option<f64> {
         if self.0.flags & NAV_MEAS_FLAG_CODE_VALID != 0 {
-            Some(self.0.pseudorange)
+            Some(self.0.raw_pseudorange)
         } else {
             None
         }
@@ -63,14 +63,14 @@ impl NavigationMeasurement {
     ///
     /// Units of Hertz
     pub fn set_measured_doppler(&mut self, value: f64) {
-        self.0.measured_doppler = value;
+        self.0.raw_measured_doppler = value;
         self.0.flags |= NAV_MEAS_FLAG_MEAS_DOPPLER_VALID;
     }
 
     /// Gets the measured doppler measurement, if a valid one has been set
     pub fn measured_doppler(&self) -> Option<f64> {
         if self.0.flags & NAV_MEAS_FLAG_MEAS_DOPPLER_VALID != 0 {
-            Some(self.0.measured_doppler)
+            Some(self.0.raw_measured_doppler)
         } else {
             None
         }

swiftnav/src/solver.rs

@@ -402,6 +402,14 @@ pub fn calc_pvt(
     let mut dops = Dops::new();
     let mut sidset = SidSet::new();
 
+    // TODO expose this via the PvtSettings
+    let obs_config = swiftnav_sys::obs_mask_config_t {
+        cn0_mask: swiftnav_sys::cn0_mask_t {
+            enable: false,
+            threshold_dbhz: 0.0,
+        },
+    };
+
     let result = unsafe {
         let meas_ptr =
             measurements.as_ptr() as *const [swiftnav_sys::navigation_measurement_t; 0usize];
@@ -411,6 +419,7 @@ pub fn calc_pvt(
             tor.c_ptr(),
             settings.disable_raim,
             settings.disable_velocity,
+            &obs_config,
             settings.strategy.to_processing_strategy_t(),
             &mut solution.0,
             &mut dops.0,

swiftnav/src/troposphere.rs

@@ -15,34 +15,18 @@
 //! # References
 //!   * UNB Neutral Atmosphere Models: Development and Performance. R Leandro,
 //!      M Santos, and R B Langley
-use crate::{coords::ECEF, navmeas::NavigationMeasurement, time::GpsTime};
 
 ///  Calculate tropospheric delay using UNM3m model.
 ///
 /// Requires the time of the delay, the latitude (rad) and height (m) of the
 /// receiver, and the elevation of the satellite (rad)
-pub fn calc_delay(t: &GpsTime, lat: f64, h: f64, el: f64) -> f64 {
-    unsafe { swiftnav_sys::calc_troposphere(t.c_ptr(), lat, h, el) }
-}
-
-/// Apply troposphere corrections to a set of measurements
-pub fn correct_measurements(pos: ECEF, measurements: &mut [NavigationMeasurement]) {
-    assert!(measurements.len() <= std::u8::MAX as usize);
-    unsafe {
-        swiftnav_sys::correct_tropo(
-            pos.as_single_ptr(),
-            measurements.len() as u8,
-            measurements.as_mut_ptr() as *mut swiftnav_sys::navigation_measurement_t,
-        );
-    }
+pub fn calc_delay(doy: f64, lat: f64, h: f64, el: f64) -> f64 {
+    unsafe { swiftnav_sys::calc_troposphere(doy, lat, h, el) }
 }
 
 #[cfg(test)]
 mod tests {
-    use crate::{
-        time::{GpsTime, DAY},
-        troposphere::calc_delay,
-    };
+    use crate::troposphere::calc_delay;
 
     const D2R: f64 = std::f64::consts::PI / 180.0;
 
@@ -59,11 +43,7 @@ mod tests {
         let el = 45.0 * D2R;
         let d_true = 2.8567;
 
-        /* GPS week 1669 starts on 1.1.2012, so easier to generate given doy */
-        let t = GpsTime::new(1669, 0.).unwrap();
-        let t = t + DAY.mul_f64(doy);
-
-        let d_tropo = calc_delay(&t, lat, h, el);
+        let d_tropo = calc_delay(doy, lat, h, el);
 
         assert!(
             (d_tropo - d_true).abs() < D_TOL,
@@ -78,10 +58,7 @@ mod tests {
         let el = 20. * D2R;
         let d_true = 7.4942;
 
-        let t = GpsTime::new(1669, 0.).unwrap();
-        let t = t + DAY.mul_f64(doy);
-
-        let d_tropo = calc_delay(&t, lat, h, el);
+        let d_tropo = calc_delay(doy, lat, h, el);
 
         assert!(
             (d_tropo - d_true).abs() < D_TOL,
@@ -94,12 +71,9 @@ mod tests {
         let h = 0.0;
         let doy = 50.5;
         let el = 10. * D2R;
-        let d_true = 12.9004;
-
-        let t = GpsTime::new(1669, 0.).unwrap();
-        let t = t + DAY.mul_f64(doy);
+        let d_true = 12.9007;
 
-        let d_tropo = calc_delay(&t, lat, h, el);
+        let d_tropo = calc_delay(doy, lat, h, el);
 
         assert!(
             (d_tropo - d_true).abs() < D_TOL,
@@ -111,7 +85,7 @@ mod tests {
         /* altitude sanity tests */
         let max_tropo_correction = 30.0;
         let h = -5000.;
-        let d_tropo = calc_delay(&t, lat, h, el);
+        let d_tropo = calc_delay(doy, lat, h, el);
 
         assert!(
             d_tropo.abs() < max_tropo_correction,
@@ -121,7 +95,7 @@ mod tests {
         );
 
         let h = 12000.;
-        let d_tropo = calc_delay(&t, lat, h, el);
+        let d_tropo = calc_delay(doy, lat, h, el);
 
         assert!(
             d_tropo.abs() < max_tropo_correction,
@@ -136,7 +110,7 @@ mod tests {
         let max_tropo_correction = 100.0;
 
         for el in elevation_testcases.iter() {
-            let d_tropo = calc_delay(&t, lat, h, *el);
+            let d_tropo = calc_delay(doy, lat, h, *el);
             assert!(
                 d_tropo.abs() < max_tropo_correction,
                 "Sanity test fail at satellite elevation {:.5}. : Correction was {:.5}",