def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
rxm_raw = messages['RXM_RAW']
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
rtcm = RTCMv2.generateRTCM2_Message1(satinfo)
if len(rtcm) != 0:
print("generated type 1")
rtcmfile.write(rtcm)
if not opts.nortcm:
dev2.write(rtcm)
rtcm = RTCMv2.generateRTCM2_Message3(satinfo)
if len(rtcm) != 0:
print("generated type 3")
rtcmfile.write(rtcm)
if not opts.nortcm:
dev2.write(rtcm)
errset = {}
for svid in satinfo.rtcm_bits.error_history:
errset[svid] = satinfo.rtcm_bits.error_history[svid][-1]
save_satlog(rxm_raw.iTOW, errset)
return pos
def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
rxm_raw = messages['RXM_RAW']
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
rtcm = RTCMv2.generateRTCM2_Message1(satinfo)
if len(rtcm) != 0:
print("generated type 1")
rtcmfile.write(rtcm)
if not opts.nortcm:
dev2.write(rtcm)
rtcm = RTCMv2.generateRTCM2_Message3(satinfo)
if len(rtcm) != 0:
print("generated type 3")
rtcmfile.write(rtcm)
if not opts.nortcm:
dev2.write(rtcm)
errset = {}
for svid in satinfo.rtcm_bits.error_history:
errset[svid] = satinfo.rtcm_bits.error_history[svid][-1]
save_satlog(rxm_raw.iTOW, errset)
return pos
def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
rxm_raw = messages['RXM_RAW']
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
rtcm = RTCMv2.generateRTCM2_Message1(satinfo, maxsats=10)
if len(rtcm) != 0:
#print(rtcm)
rtcmfile.write(rtcm)
port.sendto(rtcm[:-2], (opts.udp_addr, opts.udp_port))
rtcm = RTCMv2.generateRTCM2_Message3(satinfo)
if len(rtcm) != 0:
print(rtcm)
rtcmfile.write(rtcm)
port.sendto(rtcm[:-2], (opts.udp_addr, opts.udp_port))
errset = {}
for svid in satinfo.rtcm_bits.error_history:
errset[svid] = satinfo.rtcm_bits.error_history[svid][-1]
save_satlog(rxm_raw.iTOW, errset)
print(satinfo.receiver_position)
return pos
def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
rxm_raw = messages['RXM_RAW']
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
rtcm = RTCMv2.generateRTCM2_Message1(satinfo, maxsats=10)
if len(rtcm) != 0:
#print(rtcm)
rtcmfile.write(rtcm)
port.sendto(rtcm[:-2], (opts.udp_addr, opts.udp_port))
rtcm = RTCMv2.generateRTCM2_Message3(satinfo)
if len(rtcm) != 0:
print(rtcm)
rtcmfile.write(rtcm)
port.sendto(rtcm[:-2], (opts.udp_addr, opts.udp_port))
errset = {}
for svid in satinfo.rtcm_bits.error_history:
errset[svid] = satinfo.rtcm_bits.error_history[svid][-1]
save_satlog(rxm_raw.iTOW, errset)
print(satinfo.receiver_position)
return pos
def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
# get get position the receiver calculated. We use this to check the calculations
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
if opts.plot:
plotter.plotPosition(pos, 0)
plotter.plotPosition(satinfo.average_position, 1)
import RTCMv2
rtcm = RTCMv2.generateRTCM2_Message1(satinfo)
rtcmfile.write(rtcm)
rtcm = RTCMv2.generateRTCM2_Message3(satinfo)
if len(rtcm) > 0:
rtcmfile.write(rtcm)
if 'NAV_POSECEF' in messages:
posecef = messages['NAV_POSECEF']
ourpos = util.PosVector(posecef.ecefX*0.01, posecef.ecefY*0.01, posecef.ecefZ*0.01)
posdiff = pos.distance(ourpos)
print("posdiff=%f pos=%s avg=%s %s" % (posdiff, pos.ToLLH(), satinfo.average_position.ToLLH(), time.ctime(satinfo.raw.gps_time)))
else:
print("pos=%s" % (pos.ToLLH()))
return pos
def position_estimate(messages, satinfo):
'''process raw messages to calculate position
'''
rxm_raw = messages['RXM_RAW']
pos = positionEstimate.positionEstimate(satinfo)
if pos is None:
# not enough information for a fix
return
rtcm = RTCMv2.generateRTCM2_Message1(satinfo)
if len(rtcm) != 0:
print("generated type 1")
rtcmfile.write(rtcm)
if not opts.nortcm:
dev2.write(rtcm)
rtcm = RTCMv2.generateRTCM2_Message3(satinfo)
if len(rtcm) != 0:
print("generated type 3")
rtcmfile.write(rtcm)
if not opts.nortcm:
dev2.write(rtcm)
return pos
