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measurementReport first #150

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merged 3 commits into from
Aug 24, 2023
Merged

measurementReport first #150

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7f128bf
measurementReport first
haraschax Aug 23, 2023
31458b1
experiment
haraschax Aug 23, 2023
8df3081
Seems to work
haraschax Aug 23, 2023
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23 changes: 13 additions & 10 deletions laika/raw_gnss.py
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Original file line number Diff line number Diff line change
Expand Up @@ -200,20 +200,23 @@ def gps_time_from_qcom_report(gnss_msg):
return report_time

def get_measurements_from_qcom_reports(reports):
new_meas_dr = []
new_meas = []
new_meas_finespeed = []
for gnss_msg in reports:
if gnss_msg.which() == 'drMeasurementReport':
new_meas.extend(read_raw_qcom(gnss_msg.drMeasurementReport))
new_meas_dr.extend(read_raw_qcom(gnss_msg.drMeasurementReport))
else:
new_meas_finespeed.extend(read_raw_qcom(gnss_msg.measurementReport))
sat_dict = {meas.prn: meas for meas in new_meas}
for meas in new_meas_finespeed:
if meas.prn in sat_dict:
sat_dict[meas.prn].observables['D1C'] = meas.observables['D1C']
sat_dict[meas.prn].observables_std['D1C'] = meas.observables_std['D1C']
new_meas = list(sat_dict.values())
return new_meas
new_meas.extend(read_raw_qcom(gnss_msg.measurementReport))
sat_dict_dr = {meas.prn: meas for meas in new_meas_dr}
out_meas = []
for meas in new_meas:
if meas.prn in sat_dict_dr:
# Sometimes DR measurements are complete garbage, in those cases non-DR measurements are still sane, so cross-check
if abs(meas.observables['C1C'] - sat_dict_dr[meas.prn].observables['C1C']) < 1000:
meas.observables['C1C'] = sat_dict_dr[meas.prn].observables['C1C']
meas.observables_std['C1C'] = sat_dict_dr[meas.prn].observables_std['C1C']
out_meas.append(meas)
return out_meas

def read_raw_qcom(report):
dr = 'DrMeasurementReport' in str(report.schema)
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