add raim_flag to gnss_solution, return raim flag in dgnss_baseline

include/libswiftnav/dgnss_management.h

@@ -39,6 +39,19 @@ typedef struct {
   ambiguities_t float_ambs;
 } ambiguity_state_t;
 
+typedef struct {
+  /* Baseline estimate */
+  double b[3];
+  /* Number of sdiffs used in the soluton. */
+  u8 num_used;
+  /* bool: fixed or float filter derived */
+  bool fixed_mode;
+  /* bool: raim available for least squares baseline estimate */
+  bool raim_available;
+  /* bool: raim used to repair baseline */
+  bool raim_repair;
+} dgnss_baseline_t;
+
 extern dgnss_settings_t dgnss_settings;
 
 void dgnss_set_settings(double phase_var_test, double code_var_test,
@@ -62,9 +75,10 @@ s8 dgnss_iar_get_single_hyp(double *hyp);
 void dgnss_reset_iar(void);
 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
 void dgnss_update_ambiguity_state(ambiguity_state_t *s);
+void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution);
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
-                  u8 *num_used, double b[3],
+                  dgnss_baseline_t *solution,
                   bool disable_raim, double raim_threshold);
 void measure_amb_kf_b(u8 num_sdiffs, sdiff_t *sdiffs,
                       const double receiver_ecef[3], double *b);

include/libswiftnav/pvt.h

@@ -77,6 +77,10 @@ typedef struct __attribute__((packed)) {
   u8 valid;
   /* Number of channels used in the soluton. */
   u8 n_used;
+  /* bit 0: raim available?
+   * bit 1: raim repair used?
+   */
+  u8 raim_flag;
 } gnss_solution;
 
 s8 calc_PVT(const u8 n_used,

src/dgnss_management.c

@@ -395,6 +395,14 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
   }
 }
 
+/* Interpret raim-related content of baseline function return code. */
+void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
+{
+  solution->raim_repair    = ret == 1;
+  solution->raim_available = ret != 2;
+  solution->fixed_mode = fixed;
+}
+
 /** Finds the baseline using low latency sdiffs.
  * The low latency sdiffs are not guaranteed to match up with either the
  * amb_test's or the float sdiffs, and thus care must be taken to transform them
@@ -405,42 +413,51 @@ void dgnss_update_ambiguity_state(ambiguity_state_t *s)
  * \param ref_ecef    The referece position for the baseline.
  *                    (TODO is this the local or remote receiver position?)
  * \param s           Current ambiguity test state.
- * \param num_used    Output number of sdiffs actually used in the baseline
- *                    estimate.
- * \param b           Output baseline.
+ * \param solution    struct containing output baseline, num sdiffs used,
+ *                    fixed mode, raim availability, whether raim was used.
  * \param disable_raim Flag to turn off raim checks/repair.
  * \param raim_threshold raim check threshold
- * \return  1 if we are using an IAR resolved baseline.
- *          2 if we are using a float baseline.
- *         -1 if we can't give a baseline.
+ * \return 0: solution ok
+ *         negative value: baseline error code
  */
 s8 dgnss_baseline(u8 num_sdiffs, const sdiff_t *sdiffs,
                   const double ref_ecef[3], const ambiguity_state_t *s,
-                  u8 *num_used, double b[3],
+                  dgnss_baseline_t *solution,
                   bool disable_raim, double raim_threshold)
 {
-  s8 ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->fixed_ambs, num_used, b,
-                    disable_raim, raim_threshold);
+  s8 ret;
+
+  /* Try IAR resolved baseline */
+  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->fixed_ambs,
+                 &solution->num_used, solution->b,
+                 disable_raim, raim_threshold);
   if (ret >= 0) {
-    if (ret == 1) /* TODO: Export this rather than just printing */
+    if (ret == 1)
       log_warn("dgnss_baseline: Fixed baseline RAIM repair");
     log_debug("fixed solution");
     DEBUG_EXIT();
-    return 1;
+    fill_property_flags(ret, true, solution);
+    return 0;
   }
+
   /* We weren't able to get an IAR resolved baseline, check if we can get a
    * float baseline. */
-  if ((ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->float_ambs, num_used, b,
-                      disable_raim, raim_threshold))
-        >= 0) {
-    if (ret == 1) /* TODO: Export this rather than just printing */
+  ret = baseline(num_sdiffs, sdiffs, ref_ecef, &s->float_ambs,
+                 &solution->num_used, solution->b,
+                 disable_raim, raim_threshold);
+  if (ret >= 0) {
+    if (ret == 1)
       log_warn("dgnss_baseline: Float baseline RAIM repair");
     log_debug("float solution");
     DEBUG_EXIT();
-    return 2;
+    fill_property_flags(ret, false, solution);
+    return 0;
   }
   log_debug("no baseline solution");
   DEBUG_EXIT();
+
+  /* Must be negative! */
+  assert(ret < 0);
   return ret;
 }
 

src/pvt.c

@@ -536,17 +536,31 @@ s8 calc_PVT(const u8 n_used,
   soln->n_used = n_used; // Keep track of number of working channels
 
   u8 removed_prn = -1;
-  s8 raim_flag = pvt_solve_raim(rx_state, n_used, nav_meas, disable_raim,
-                                H, &removed_prn, 0);
+  s8 code = pvt_solve_raim(rx_state, n_used, nav_meas, disable_raim,
+                           H, &removed_prn, 0);
 
-  if (raim_flag < 0) {
+  if (code < 0) {
     /* Didn't converge or least squares integrity check failed. */
-    return raim_flag - 3;
+    return code - 3;
   }
 
-  /* Initial solution failed, but repair was successful. */
-  if (raim_flag == 1) {
-    soln->n_used--;
+  soln->raim_flag = 0;
+
+  switch (code) {
+    case 1:
+      /* Initial solution failed, but repair was successful. */
+      soln->n_used--;
+      soln->raim_flag = (1 << 1) | 1; /* 11 */
+      break;
+    case 2:
+      /* raim was unavailable */
+      soln->raim_flag = 0; /* 00 */
+      break;
+    case 0:
+      soln->raim_flag = 1; /* 01 */
+      break;
+    default:
+      log_error("Invalid pvt_solve_raim return code: %d\n", code);
   }
 
   /* Compute various dilution of precision metrics. */
@@ -597,6 +611,6 @@ s8 calc_PVT(const u8 n_used,
 
   soln->valid = 1;
 
-  return raim_flag;
+  return code;
 }
 

tests/check_dgnss_management.c

@@ -5,6 +5,7 @@
 #include "check_utils.h"
 #include "dgnss_management.h"
 #include "ambiguity_test.h"
+#include "printing_utils.h"
 #include "amb_kf.h"
 #include "printing_utils.h"
 
@@ -205,39 +206,38 @@ START_TEST(test_dgnss_baseline_1)
     }
   };
 
-  double b[3];
-  u8 num_used;
+  dgnss_baseline_t solution;
 
   /* Float only */
   s.fixed_ambs.n = 0;
-  s8 valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
+  s8 valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &solution,
     false, DEFAULT_RAIM_THRESHOLD);
-  fail_unless(valid == 2);
-  fail_unless(num_used == 5);
-  fail_unless(within_epsilon(b[0], -0.742242));
-  fail_unless(within_epsilon(b[1], -0.492905));
-  fail_unless(within_epsilon(b[2], -0.0533294));
+  /* baseline_flag(initial solution ok, float mode) */
+  fail_unless(valid == 0);
+  fail_unless(solution.fixed_mode == 0);
+  fail_unless(solution.num_used == 5);
+  double expected1[] = {-0.742242, -0.492905, -0.0533294};
+  fail_unless(arr_within_epsilon(3, solution.b, expected1));
 
   /* Fixed and float */
   s.fixed_ambs.n = 4;
-  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
+  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &solution,
     false, DEFAULT_RAIM_THRESHOLD);
-  fail_unless(valid == 1);
-  fail_unless(num_used == 5);
-  fail_unless(within_epsilon(b[0], -0.417486));
-  fail_unless(within_epsilon(b[1], -0.358386));
-  fail_unless(within_epsilon(b[2],  0.271427));
+  /* baseline_flag(initial solution ok, fixed mode) */
+  fail_unless(valid == 0);
+  fail_unless(solution.fixed_mode == 1);
+  fail_unless(solution.num_used == 5);
+  double expected2[] = {-0.417486, -0.358386, 0.271427};
+  fail_unless(arr_within_epsilon(3, solution.b, expected2));
 
   /* No solution possible */
   s.fixed_ambs.n = 0;
   s.float_ambs.n = 0;
-  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &num_used, b,
+  valid = dgnss_baseline(num_sdiffs, sdiffs, ref_ecef, &s, &solution,
     false, DEFAULT_RAIM_THRESHOLD);
   fail_unless(valid == -1);
-  fail_unless(num_used == 5);
-  fail_unless(within_epsilon(b[0], -0.417486));
-  fail_unless(within_epsilon(b[1], -0.358386));
-  fail_unless(within_epsilon(b[2],  0.271427));
+  fail_unless(solution.num_used == 5);
+  fail_unless(arr_within_epsilon(3, solution.b, expected2));
 }
 END_TEST
 

tests/check_pvt.c

@@ -86,6 +86,8 @@ START_TEST(test_pvt_repair)
   s8 code = calc_PVT(n_used, nms, false, &soln, &dops);
   fail_unless(code == 1,
     "Return code should be 1 (pvt repair). Saw: %d\n", code);
+  fail_unless(soln.raim_flag == 3,
+    "raim_flag should be 0b11, saw: %d\n", soln.raim_flag);
   fail_unless(soln.n_used == n_used - 1,
     "PVT solver failed to repair solution.");
 }
@@ -104,6 +106,8 @@ START_TEST(test_disable_pvt_raim)
   s8 code = calc_PVT(n_used, nms, true, &soln, &dops);
   fail_unless(code == 2,
     "Return code should be 2 (raim not used). Saw: %d\n", code);
+  fail_unless(soln.raim_flag == 0,
+    "raim_flag should be 00, saw: %d\n", soln.raim_flag);
   fail_unless(soln.valid == 1,
     "Solution should be valid!");
 }