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rtkpos manage_amb_LAMBDA() gps2 always false? #241

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ourairquality opened this issue Apr 15, 2024 · 0 comments
Open

rtkpos manage_amb_LAMBDA() gps2 always false? #241

ourairquality opened this issue Apr 15, 2024 · 0 comments

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@ourairquality
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Noting an issue for this as it might not be working as intended, but it is not clear to me what was intended.

manage_amb_LAMBDA() re-runs AR in the case that rtk->sol.ratio<rtk->sol.thres and then sets gps2 if rtk->sol.ratio>=rtk->sol.thres which will always be false in this path, so gps2 will always be false which might not be intended?

rtkpos.c

   /* if fix-and-hold gloarmode enabled, re-run AR with final gps/glo settings if differ from above */
    if ((rtk->opt.navsys&SYS_GLO) && rtk->opt.glomodear==GLO_ARMODE_FIXHOLD && rtk->sol.ratio<rtk->sol.thres) {
        glo2=sbas2=0;
        /* turn off gpsmode if not enabled and got good fix (used for debug and eval only) */
        gps2=rtk->opt.gpsmodear==0&&rtk->sol.ratio>=rtk->sol.thres?0:1;

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