From 110d393da86d27cf6ba30cc0b3f166b20914d303 Mon Sep 17 00:00:00 2001 From: oaq Date: Fri, 15 May 2026 10:07:58 +1000 Subject: [PATCH] rtkpos: default the rover position --- src/rtkpos.c | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/rtkpos.c b/src/rtkpos.c index ac9611a4a..cb91162df 100644 --- a/src/rtkpos.c +++ b/src/rtkpos.c @@ -2358,6 +2358,16 @@ extern int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav) opt->mode!=PMODE_MOVEB) { for (i=0;i<6;i++) rtk->rb[i]=i<3?opt->rb[i]:0.0; } + + // Default the rover position. + if (norm(rtk->sol.rr, 3) <= RE_WGS84 / 2) { + if (norm(rtk->opt.ru, 3) > RE_WGS84 / 2) { + for (int i = 0; i < 3; i++) rtk->sol.rr[i] = rtk->opt.ru[i]; + } else if (norm(rtk->rb, 3) > RE_WGS84 / 2) { + for (int i = 0; i < 3; i++) rtk->sol.rr[i] = rtk->rb[i]; + } + } + /* count rover/base station observations */ for (nu=0;nu