] # Globals required to build v2 messages corr_set = {} statid = 0 #initially only support 1 reference station eph = {} prs = {} week = 0 itow = 0 ref_pos = None correct_rxclk = True rtcm = RTCMv2.RTCMBits() rtcm.type1_send_time = 0 rtcm.type3_send_time = 0 logfile = time.strftime('satlog-%y%m%d-%H%M.txt') class DynamicEph: pass satlog = None def save_satlog(t, errset): global satlog
# GPS to use a highly dynamic model dev1.set_preferred_dynamic_model(opts.dynmodel1) dev2.set_preferred_dynamic_model(opts.dynmodel2) if dev3 is not None: dev3.set_preferred_dynamic_model(opts.dynmodel3) dev2.set_preferred_dgps_timeout(60) # enable PPP on the ground side if we can dev1.set_preferred_usePPP(opts.usePPP) dev2.set_preferred_usePPP(False) if dev3 is not None: dev3.set_preferred_usePPP(False) rtcmfile = open('rtcm2.dat', mode='wb') rtcm_gen = RTCMv2.RTCMBits() itow = 0 week = 0 rx1_pos = util.PosVector(0, 0, 0) rx2_pos = util.PosVector(0, 0, 0) rx3_pos = util.PosVector(0, 0, 0) svid_seen = {} svid_iode = {} def svinfo_to_rtcm(svinfo): resid = {} for i in range(msg.numCh):