Merge latest changes from main branch

CMakeLists.txt

@@ -11,6 +11,7 @@ message("RTKLIB version: ${VERSION}-${PATCH_LEVEL}")
 
 project(rtklib LANGUAGES C CXX VERSION 2.4.3)
 
+include(GNUInstallDirs)
 include(CTest)
 
 option(IERS_MODEL "Use Earth models from IERS" OFF)

app/consapp/rnx2rtkp/rnx2rtkp.c

@@ -75,7 +75,7 @@ static const char *help[]={
 " -x level  debug trace level (0:off) [0]",
 " --rover list rover names for processing, separated by a space",
 " --base list  base names for processing, separated by a space",
-" --version display release version",
+" --version display release version"
 };
 /* show message --------------------------------------------------------------*/
 extern int showmsg(const char *format, ...)
@@ -193,7 +193,7 @@ int main(int argc, char **argv)
         else if (n<MAXFILE) infile[n++]=argv[i];
     }
     if (!prcopt.navsys) {
-        prcopt.navsys=SYS_GPS|SYS_GLO;
+        prcopt.navsys=SYS_GPS|SYS_GLO|SYS_GAL|SYS_CMP;
     }
     if (n<=0) {
         showmsg("error : no input file");

app/consapp/rtkrcv/rtkrcv.c

@@ -152,7 +152,7 @@ static const char *helptxt[]={
     "observ [-n] [cycle]   : show observation data",
     "navidata [cycle]      : show navigation data",
     "stream [cycle]        : show stream status",
-    "ssr [cycle]           : show ssr corrections",
+    "ssr [-c] [-p] [cycle] : show ssr corrections",
     "error                 : show error/warning messages",
     "option [opt]          : show option(s)",
     "set opt [val]         : set option",
@@ -724,8 +724,14 @@ static void prstatus(vt_t *vt)
     rtksvrunlock(&svr);
 
     for (i=n=0;i<MAXSAT;i++) {
-        if (rtk->opt.mode==PMODE_SINGLE&&!rtk->ssat[i].vs) continue;
-        if (rtk->opt.mode!=PMODE_SINGLE&&!rtk->ssat[i].vsat[0]) continue;
+        if (rtk->opt.mode == PMODE_SINGLE) {
+          if (!rtk->ssat[i].vs) continue;
+        } else {
+          int any = 0;
+          for (int fi = 0; fi < NFREQ; fi++)
+            if (rtk->ssat[i].vsat[fi]) { any = 1; break; }
+          if (!any) continue;
+        }
         azel[  n*2]=rtk->ssat[i].azel[0];
         azel[1+n*2]=rtk->ssat[i].azel[1];
         n++;
@@ -842,7 +848,7 @@ static void prsatellite(vt_t *vt, int nf)
     *rtk=svr.rtk;
     rtksvrunlock(&svr);
     if (nf<=0||nf>NFREQ) nf=NFREQ;
-    vt_printf(vt,"\n%s%3s %2s %5s %4s",ESC_BOLD,"SAT","C1","Az","El");
+    vt_printf(vt,"\n%s%3s %2s %5s %4s",ESC_BOLD,"SAT","V","Az","El");
     for (j=0;j<nf;j++) vt_printf(vt," L%d"    ,frq[j]);
     for (j=0;j<nf;j++) vt_printf(vt,"  Fix%d" ,frq[j]);
     for (j=0;j<nf;j++) vt_printf(vt,"  P%dRes",frq[j]);
@@ -855,7 +861,14 @@ static void prsatellite(vt_t *vt, int nf)
     for (i=0;i<MAXSAT;i++) {
         if (rtk->ssat[i].azel[1]<=0.0) continue;
         satno2id(i+1,id);
-        vt_printf(vt,"%3s %2s",id,rtk->ssat[i].vs?"OK":"-");
+        int vsat = 0;
+        if (rtk->opt.mode == PMODE_SINGLE) {
+          vsat = rtk->ssat[i].vs;
+        } else {
+          for (int fi = 0; fi < NFREQ; fi++)
+            if (rtk->ssat[i].vsat[fi]) { vsat = 1; break; }
+        }
+        vt_printf(vt,"%3s %2s",id,vsat?"OK":"-");
         az=rtk->ssat[i].azel[0]*R2D; if (az<0.0) az+=360.0;
         el=rtk->ssat[i].azel[1]*R2D;
         vt_printf(vt," %5.1f %4.1f",az,el);
@@ -924,7 +937,7 @@ static void prnavidata(vt_t *vt)
     double ion[8],utc[8];
     gtime_t time;
     char id[8],s1[64],s2[64],s3[64];
-    int i,valid,prn;
+    int i,valid;
 
     trace(4,"prnavidata:\n");
 
@@ -940,8 +953,8 @@ static void prnavidata(vt_t *vt)
               ESC_BOLD,"SAT","S","IOD","IOC","FRQ","A/A","SVH","Toe","Toc",
               "Ttr/Tof","L2C","L2P",ESC_RESET);
     for (i=0;i<MAXSAT;i++) {
-        int sys = satsys(i+1,&prn);
-        if (!(sys&(SYS_GPS|SYS_GAL|SYS_QZS|SYS_CMP))||
+        int sys = satsys(i + 1, NULL);
+        if ((sys & (SYS_GPS | SYS_GAL | SYS_QZS | SYS_CMP) & prcopt.navsys) == 0 ||
             eph[i].sat!=i+1) continue;
         // Mask QZS LEX health.
         valid=eph[i].toe.time!=0&&fabs(timediff(time,eph[i].toe))<=MAXDTOE &&
@@ -955,7 +968,8 @@ static void prnavidata(vt_t *vt)
                 eph[i].svh,s1,s2,s3,eph[i].code,eph[i].flag);
     }
     for (i=0;i<MAXSAT;i++) {
-        if (!(satsys(i+1,&prn)&SYS_GLO)||geph[prn-1].sat!=i+1) continue;
+        int prn, sys = satsys(i + 1, &prn);
+        if ((sys & SYS_GLO & prcopt.navsys) == 0 || geph[prn - 1].sat != i + 1) continue;
         valid=geph[prn-1].toe.time!=0&&fabs(timediff(time,geph[prn-1].toe))<=MAXDTOE_GLO &&
             (geph[prn-1].svh & 9) == 0 && (geph[prn-1].svh & 6) != 4;
         satno2id(i+1,id);
@@ -1024,7 +1038,7 @@ static void prstream(vt_t *vt)
     }
 }
 /* print ssr correction ------------------------------------------------------*/
-static void prssr(vt_t *vt)
+static void prssr(vt_t *vt, int cbias, int pbias)
 {
     static char buff[128*MAXSAT];
     gtime_t time;
@@ -1040,21 +1054,40 @@ static void prssr(vt_t *vt)
     rtksvrunlock(&svr);
 
     p+=sprintf(p,"\n%s%3s %3s %3s %3s %3s %19s %6s %6s %6s %6s %6s %6s %8s "
-               "%6s %6s %6s%s\n",
+               "%6s %6s %6s%s%s%s\n",
                ESC_BOLD,"SAT","S","UDI","IOD","URA","T0","D0-A","D0-C","D0-R",
-               "D1-A","D1-C","D1-R","C0","C1","C2","C-HR",ESC_RESET);
+               "D1-A","D1-C","D1-R","C0","C1","C2","C-HR",
+               cbias ? "  CBIAS" : "", pbias ? "  PBIAS" : "", ESC_RESET);
     for (i=0;i<MAXSAT;i++) {
         if (!ssr[i].t0[0].time) continue;
+        if ((satsys(i + 1, NULL) & prcopt.navsys) == 0) continue;
         satno2id(i+1,id);
         valid=fabs(timediff(time,ssr[i].t0[0]))<=1800.0;
         time2str(ssr[i].t0[0],tstr,0);
+        // udi[2] refd
+
         p+=sprintf(p,"%3s %3s %3.0f %3d %3d %19s %6.3f %6.3f %6.3f %6.3f %6.3f "
-                   "%6.3f %8.3f %6.3f %6.4f %6.3f\n",
+                   "%6.3f %8.3f %6.3f %6.4f %6.3f ",
                    id,valid?"OK":"-",ssr[i].udi[0],ssr[i].iode,ssr[i].ura,tstr,
                    ssr[i].deph[0],ssr[i].deph[1],ssr[i].deph[2],
                    ssr[i].ddeph[0]*1E3,ssr[i].ddeph[1]*1E3,ssr[i].ddeph[2]*1E3,
                    ssr[i].dclk[0],ssr[i].dclk[1]*1E3,ssr[i].dclk[2]*1E3,
                    ssr[i].hrclk);
+
+        if (cbias) {
+          for (int k = 1; k < MAXCODE; k++) {
+            if (ssr[i].cbias[k - 1] == 0.0) continue;
+            p += sprintf(p, " %s: %7.3lf", code2obs(k), ssr[i].cbias[k - 1]);
+          }
+          if (pbias) p += sprintf(p, " /");
+        }
+        if (pbias) {
+          for (int k = 1; k < MAXCODE; k++) {
+            if (ssr[i].pbias[k - 1] == 0.0) continue;
+            p += sprintf(p, " %s: %6.3lf", code2obs(k), ssr[i].pbias[k - 1]);
+          }
+        }
+        p += sprintf(p, "\n");
     }
     vt_puts(vt,buff);
 }
@@ -1202,15 +1235,25 @@ static void cmd_stream(char **args, int narg, vt_t *vt)
 /* ssr command ---------------------------------------------------------------*/
 static void cmd_ssr(char **args, int narg, vt_t *vt)
 {
-    int cycle=0;
-
     trace(3,"cmd_ssr:\n");
 
-    if (narg>1) cycle=(int)(atof(args[1])*1000.0);
-
+    int cycle = 0;
+    int cbias = 0, pbias = 0;
+    for (int i = 1; i < narg; i++) {
+      if (strcmp(args[i], "-c") == 0) {
+        cbias = 1;
+        continue;
+      }
+      if (strcmp(args[i], "-p") == 0) {
+        pbias = 1;
+        continue;
+      }
+      cycle = (int)(atof(args[i]) * 1000.0);
+    }
+
     while (!vt_chkbrk(vt)) {
         if (cycle>0) vt_printf(vt,ESC_CLEAR);
-        prssr(vt);
+        prssr(vt, cbias, pbias);
         if (cycle>0) sleepms(cycle); else return;
     }
     vt_printf(vt,"\n");
@@ -1746,6 +1789,11 @@ static void deamonise(void)
 *     stream [cycle]
 *       Show stream status. Use option cycle for cyclic display.
 *
+*     ssr [-c] [-p] [cycle]
+*       Show the RTCM SSR state, with option -c to include code biases and
+*       with option -p to include phase biases. Use option cycle for cyclic
+*       display.
+*
 *     error
 *       Show error/warning messages. To stop messages, send break (ctr-C).
 *

app/qtapp/rtklaunch_qt/CMakeLists.txt

@@ -26,7 +26,7 @@ set_target_properties(rtklaunch_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS rtklaunch_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES rtklaunch_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/rtklaunch.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/rtknavi_qt/CMakeLists.txt

@@ -81,7 +81,7 @@ set_target_properties(rtknavi_qt PROPERTIES
     WIN32_EXECUTABLE ON
     MACOSX_BUNDLE ON
 )
-install(TARGETS rtkget_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
+install(TARGETS rtknavi_qt RUNTIME DESTINATION bin BUNDLE DESTINATION bin)
 if (UNIX)
    install(FILES rtknavi_qt.desktop DESTINATION ${XDG_APPS_INSTALL_DIR})
    install(FILES ../icon/rtknavi.png DESTINATION ${XDG_APPS_PIXMAPS_DIR})

app/qtapp/rtknavi_qt/mondlg.cpp

@@ -464,8 +464,14 @@ void MonitorDialog::showRtk()
     rtksvrunlock(rtksvr); // unlock
 
     for (j = k = 0; j < MAXSAT; j++) {
-        if (rtk->opt.mode == PMODE_SINGLE && !rtk->ssat[j].vs) continue;
-        if (rtk->opt.mode != PMODE_SINGLE && !rtk->ssat[j].vsat[0]) continue;
+        if (rtk->opt.mode == PMODE_SINGLE) {
+          if (!rtk->ssat[j].vs) continue;
+        } else {
+          int any = 0;
+          for (int fi = 0; fi < NFREQ; fi++)
+            if (rtk->ssat[j].vsat[fi]) { any = 1; break; }
+          if (!any) continue;
+        }
         azel[k * 2] = rtk->ssat[j].azel[0];
         azel[k * 2 + 1] = rtk->ssat[j].azel[1];
 		k++;
@@ -792,8 +798,13 @@ void MonitorDialog::showSat()
     rtksvrunlock(rtksvr);
 
     for (i = 0; i < MAXSAT; i++) {
-        ssat = rtk->ssat + i;
-        vsat[i] = ssat->vs;
+        if (rtk->opt.mode == PMODE_SINGLE) {
+          vsat[i] = rtk->ssat[i].vs;
+        } else {
+          vsat[i] = 0;
+          for (int fi = 0; fi < NFREQ; fi++)
+            if (rtk->ssat[i].vsat[fi]) { vsat[i] = 1; break; }
+        }
     }
 
     for (i = 0, nsat = 0; i < MAXSAT; i++) {
@@ -821,7 +832,7 @@ void MonitorDialog::showSat()
         if (ui->cBSelectSatellites->currentIndex() == 1 && !vsat[i]) continue;
         satno2id(i + 1, id);
         ui->tWConsole->item(n, j++)->setText(id);
-        ui->tWConsole->item(n, j++)->setText(ssat->vs ? tr("OK") : tr("-"));
+        ui->tWConsole->item(n, j++)->setText(vsat[i] ? tr("OK") : tr("-"));
         az = ssat->azel[0] * R2D; if (az < 0.0) az += 360.0;
         el = ssat->azel[1] * R2D;
         ui->tWConsole->item(n, j++)->setText(QString::number(az, 'f', 1));
@@ -1065,7 +1076,7 @@ void MonitorDialog::setObservations()
 //---------------------------------------------------------------------------
 void MonitorDialog::showObservations()
 {
-    char tstr[40], id[8], *code;
+    char tstr[40], id[8];
     int i, k, n = 0, nex = ui->cBSelectObservation->currentIndex() ? NEXOBS : 0;
     int sys = sys_tbl[ui->cBSelectNavigationSystems->currentIndex()];
     int std = ui->cBSelectObservation->currentIndex();
@@ -1107,7 +1118,7 @@ void MonitorDialog::showObservations()
         ui->tWConsole->item(i, j++)->setText(id);
         ui->tWConsole->item(i, j++)->setText(QString("(%1)").arg(obs[i].rcv));
         for (k = 0; k < NFREQ + nex; k++) {
-            code = code2obs(obs[i].code[k]);
+            const char *code = code2obs(obs[i].code[k]);
             if (*code) ui->tWConsole->item(i, j++)->setText(code);
             else ui->tWConsole->item(i, j++)->setText("-");
         }
@@ -2063,7 +2074,7 @@ void MonitorDialog::setRtcmSsr()
     header	<< tr("SAT") << tr("Status") << tr("UDI (s)") << tr("UDHR (s)") << tr("IOD") << tr("URA") << tr("Datum") << tr("T0")
             << tr("D0-A (m)") << tr("D0-C (m)") << tr("D0-R (m)") << tr("D1-A (mm/s)") << tr("D1-C (mm/s)") << tr("D1-R (mm/s)")
             << tr("C0 (m)") << tr("C1 (mm/s)") << tr("C2 (mm/s²)") << tr("C-HR (m)") << tr("Code Bias (m)") << tr("Phase Bias (m)");
-    int i, width[] = { 46, 60, 70, 90, 30, 25, 70, 115, 90, 90, 90, 120, 120, 120, 90, 120, 120, 120, 200, 200 };
+    int i, width[] = { 46, 60, 70, 90, 30, 25, 70, 115, 90, 90, 90, 120, 120, 120, 90, 120, 120, 120, 400, 400 };
 
     ui->tWConsole->setColumnCount(20);
     ui->tWConsole->setRowCount(0);