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rtksvr update_antpos: check base and rover positions before adopting #852

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rtksvr update_antpos: check base and rover positions before adopting #852

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7 changes: 3 additions & 4 deletions src/rtksvr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -262,16 +262,15 @@ static void update_antpos(rtksvr_t *svr, int index) {
} else {
sta = &svr->raw[index].sta;
}
if (index == 1 && svr->rtk.opt.refpos == POSOPT_RTCM) {
if (index == 1 && svr->rtk.opt.refpos == POSOPT_RTCM && norm(sta->pos, 3) > RE_WGS84 / 2) {
// Update base station position.
for (int i = 0; i < 3; i++) svr->rtk.rb[i] = sta->pos[i];
tracet(2, "updated antenna index=%d position to %.4f %.4f %.4f\n", index, svr->rtk.rb[0], svr->rtk.rb[1], svr->rtk.rb[2]);
}
if (index == 0 && svr->rtk.opt.rovpos == POSOPT_RTCM &&
(svr->rtk.opt.mode == PMODE_FIXED || svr->rtk.opt.mode == PMODE_PPP_FIXED)) {
if (index == 0 && svr->rtk.opt.rovpos == POSOPT_RTCM && norm(sta->pos, 3) > RE_WGS84 / 2) {
// Update rover fixed position.
for (int i = 0; i < 3; i++) svr->rtk.opt.ru[i] = sta->pos[i];
tracet(2, "updated antenna index=%d position to %.4f %.4f %.4f\n", index, svr->rtk.rb[0], svr->rtk.rb[1], svr->rtk.rb[2]);
tracet(2, "updated antenna index=%d default position to %.4f %.4f %.4f\n", index, svr->rtk.opt.ru[0], svr->rtk.opt.ru[1], svr->rtk.opt.ru[2]);
}

// Antenna type and delta. These are updated independently of the antenna
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