Index: trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm_new.cpp =================================================================== --- trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm_new.cpp (revision 11045) +++ trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm_new.cpp (revision 11046) @@ -11,4 +11,5 @@ #include #include +#include #ifndef sparc #include @@ -502,4 +503,5 @@ unsigned int satPositions[64], numSatPositions; unsigned int freqPositions[ANT_MAXFREQUENCIES], numFreqPositions; + uint64_t satMask; STARTDATA @@ -522,13 +524,17 @@ } E_SATELLITE_SET_INDICATOR(a->SatelliteSetIndicator[s]) - E_SATELLITE_MASK(a->SatelliteMask[s]) - - /* same MSB-first mask convention as D_SATELLITE_MASK/GetSSR */ + + /* same MSB-first mask convention as D_SATELLITE_MASK/GetSSR; bits + beyond the satellites supported for this system are cleared, since + no Sat[] data exists for them and the mask must match the blocks */ numSatPositions = 0; + satMask = 0; for (k = 0; k < 64 && satoffset[s] + k < satoffset[s + 1]; ++k) { if ((a->SatelliteMask[s] >> (63 - k)) & 1ULL) { satPositions[numSatPositions++] = satoffset[s] + k; - } - } + satMask |= 1ULL << (63 - k); + } + } + E_SATELLITE_MASK(satMask) numSatBlocks = a->SatelliteSetIndicator[s] ? (numSatPositions ? 1 : 0) : numSatPositions; @@ -557,7 +563,15 @@ } if (a->NadirAngleDependentCorrectionIndicator[s]) { + /* DF+021: NaN (invalid) and values outside the range of + int(3 + DF+015) are sent as the invalid value -2^(n-1) */ + unsigned int nb = 3 + a->NadirAngleDependentCorrectionRangeExtension[s]; + double lim = ldexp(1.0, nb - 1); for (deg = 0; deg <= a->maximumOffNadirAngle[s] && deg < ANT_MAXNADIRDEGREES; ++deg) { - E_NADIR_ANGLE_DEPENDENT_CORRECTION(satBlock.Freq[f].NadirAngleCorrection[deg], - a->NadirAngleDependentCorrectionRangeExtension[s]) + double val = satBlock.Freq[f].NadirAngleCorrection[deg]; + double mm = std::isnan(val) ? -lim : floor(val * 1000.0 + 0.5); + if (mm <= -lim || mm >= lim) { + mm = -lim; + } + ADDBITS(nb, (int64_t)mm) } } @@ -1218,8 +1232,12 @@ /* DF394 satellite mask: MSB (bit 63) = satellite 1 within this system, - same convention as the MSM satellite mask that shares this field. */ - for (k = 0; k < 64 && satoffset[s] + k < satoffset[s + 1]; ++k) { + same convention as the MSM satellite mask that shares this field. + All 64 bits count: a satellite beyond the number supported for this + system still has its own block on the wire (DF+016 unset), which + must be read to stay aligned - it is marked UINT_MAX and discarded. */ + for (k = 0; k < 64; ++k) { if ((a->SatelliteMask[s] >> (63 - k)) & 1ULL) - satPositions[numSatPositions++] = satoffset[s] + k; + satPositions[numSatPositions++] = + (satoffset[s] + k < satoffset[s + 1]) ? satoffset[s] + k : UINT_MAX; } numSatBlocks = a->SatelliteSetIndicator[s] ? (numSatPositions ? 1 : 0) : numSatPositions; @@ -1241,5 +1259,6 @@ fprintf(stderr, " sat block (shared, PRNs"); for (k = 0; k < numSatPositions; ++k) - fprintf(stderr, " %d", satPositions[k] - satoffset[s] + 1); + if (satPositions[k] != UINT_MAX) + fprintf(stderr, " %d", satPositions[k] - satoffset[s] + 1); fprintf(stderr, ") freqSetInd %d freqMask %02x\n", satBlock.FrequencySetIndicator, satBlock.GnssFrequencyMask); @@ -1247,5 +1266,5 @@ else { fprintf(stderr, " sat block PRN %d freqSetInd %d freqMask %02x\n", - satPositions[satBlockIdx] - satoffset[s] + 1, + satPositions[satBlockIdx] != UINT_MAX ? (int)(satPositions[satBlockIdx] - satoffset[s] + 1) : -1, satBlock.FrequencySetIndicator, satBlock.GnssFrequencyMask); } @@ -1267,7 +1286,13 @@ D_NADIR_CORRECTION(satBlock.Freq[f].NadirCorrection) if (a->NadirAngleDependentCorrectionIndicator[s]) { - for (deg = 0; deg <= a->maximumOffNadirAngle[s] && deg < ANT_MAXNADIRDEGREES; ++deg) - D_NADIR_ANGLE_DEPENDENT_CORRECTION(satBlock.Freq[f].NadirAngleCorrection[deg], - a->NadirAngleDependentCorrectionRangeExtension[s]) + /* DF+021: int(3 + DF+015) in mm; the minimum value -2^(n-1) + means "invalid" and is stored as NaN */ + unsigned int nb = 3 + a->NadirAngleDependentCorrectionRangeExtension[s]; + for (deg = 0; deg <= a->maximumOffNadirAngle[s] && deg < ANT_MAXNADIRDEGREES; ++deg) { + double raw; + GETSSRFLOATSIGN(raw, nb, 1.0) + satBlock.Freq[f].NadirAngleCorrection[deg] = + (raw == -ldexp(1.0, nb - 1)) ? NAN : raw / 1000.0; + } } #ifdef BNC_DEBUG_SSR @@ -1288,7 +1313,8 @@ if (a->SatelliteSetIndicator[s]) { for (k = 0; k < numSatPositions; ++k) - a->Sat[satPositions[k]] = satBlock; - } - else { + if (satPositions[k] != UINT_MAX) + a->Sat[satPositions[k]] = satBlock; + } + else if (satPositions[satBlockIdx] != UINT_MAX) { a->Sat[satPositions[satBlockIdx]] = satBlock; } @@ -1296,5 +1322,5 @@ } else { - /* COBOFS_SATANT / COBOFS_REGIONO: message numbers are + /* COBOFS_REGIONO: message numbers are recognized (see setCorType()) but decoding is not implemented yet */ return GCOBR_UNKNOWNTYPE; @@ -1522,7 +1548,9 @@ if (freqIndex == 0) return "C2"; // B1 if (freqIndex == 1) return "C6"; // B3 - if (freqIndex == 2) return "C7"; // B2 - if (freqIndex == 3) return "C5"; // B2a - if (freqIndex == 4) return "C7"; // B2b (same t_frequency::type as B2) + if (freqIndex == 2) return "C7"; // B2 (BDS-2) + if (freqIndex == 3) return "C5"; // B2a + if (freqIndex == 4) return "C7b"; // B2b (BDS-3) - same carrier and t_frequency::type as B2, + // own label so that PPP can select by satellite generation + // (see t_pppSatObs::cmpModel()) if (freqIndex == 5) return "C1"; // B1C break;