Sept update2 #503
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Sept update2 #503
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Rather than the signal frequency index which is still used in the observation structure to keep that compact. When there are many signals the set of signals can change and when the priorities are recomputed the frequency index can change so the frequency index is not a reliable key for this state. This is not an issue with just one signal, or perhaps two, but with more than NFREQ signals there were subtle issues as the priories changed and the state was mixed up. There are a good few structures with just one array of data for each signal and these have been expanded from being NFREQ+NEXOBS to MAXCODE so that the signal code can be used as the index. This is a little wasteful of memory but simple.
Support determining the reported lock time from the lock time indicators. Calculate the time since the last observation (per signal). Use these to also check for a possible loss of lock. A slip might now be reported on an outage. Special case for receivers (Septentrio) that send a lock time indicator of zero on a half cycle ambiguity. Consider these as an outage deferring the decision to flag a slip until the signal returns. For a short period of half cycle ambiguity that recovers, a slip report might now be avoided. The functions for converting the lock time indicator to a time also support returning the time increment to the next indicator value. This was not found to be needed. Fix the observation flushing after a sync, which had been guarded by the max obs overflow check so that once the max obs limit was reached it was stuck.
The frequency index returned by code2idx() is not unique and conflicts need to be resolved. There were different implementations across the code, RINEX, RTCM, and the raw receiver decoders. Add a common exported function to implement this resolution. sigindex(..., opt) allocates an frequency index given a signal code, returning the allocated signal index on success of -1 on failure. Conflicts are resolved using the signal priorities that can be modified by the options in the opt argument, moving an existing allocation if necessary. sigindex(..., NULL) uses the same search algorithm as sigindex() but does not allocate a new entry or check the consistency of code priorities. Without the signal priorities, with the opt argument NULL, the allocation ordering could not be determined, so this case is used for this non-allocating variant. Apply this resolution per satellite as the set of signals can vary between satellites. Update the RINEX, RTCM3, Unicore and Novatel format decoders to use this new common function.
* add bounds checked raw accessor functions * update measepoch and meas3ranges, to use the common sigindex function, and rework the slip loss handling. * add Galileo CNAV raw decoding stub. * add BeiDou B-CNAV1, B-CNAV2, B-CNAV3 raw decoding stubs. * add QZSS L6 raw nav decoding stub. * use a time tolerance when comparing time differences to zero.
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Revised, using the second attempt at sigindex, removed the complexity of two passes. Probably a few other updates as a result of retesting, plus some more comments in the code in relation to the loss of lock detection which seems to be a particularly challenging area for this decoder with it's highly compressed lock time representation. Also added raw nav decoder stubs for some more signals seen explored with PocketSDR, it decodes the SBF to the nav bits at least, but does not yet decode the nav data for these signals.