PR comments

Author: kovach

include/libswiftnav/dgnss_management.h

@@ -45,11 +45,11 @@ typedef struct {
   /* Number of sdiffs used in the soluton. */
   u8 num_used;
   /* bool: fixed or float filter derived */
-  u8 fixed_mode;
+  bool fixed_mode;
   /* bool: raim available for least squares baseline estimate */
-  u8 raim_available;
+  bool raim_available;
   /* bool: raim used to repair baseline */
-  u8 raim_repair;
+  bool raim_repair;
 } dgnss_baseline_t;
 
 extern dgnss_settings_t dgnss_settings;
@@ -75,7 +75,6 @@ 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,
                   dgnss_baseline_t *solution,

src/dgnss_management.c

@@ -396,7 +396,7 @@ 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)
+static void fill_property_flags(s8 ret, bool fixed, dgnss_baseline_t *solution)
 {
   solution->raim_repair    = ret == 1;
   solution->raim_available = ret != 2;

src/pvt.c

@@ -546,15 +546,23 @@ s8 calc_PVT(const u8 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;
+  }
   if (code == 1) {
-    /* Initial solution failed, but repair was successful. */
-    soln->n_used--;
-    soln->raim_flag = (1 << 1) | 1; /* 11 */
   } else if (code == 2) {
-    /* raim was unavailable */
-    soln->raim_flag = 0; /* 00 */
   } else if (code == 0) {
-    soln->raim_flag = 1; /* 01 */
   } else {
     log_error("Invalid pvt_solve_raim return code: %d\n", code);
   }

tests/check_pvt.c

@@ -87,7 +87,7 @@ START_TEST(test_pvt_repair)
   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 11, saw: %d\n", soln.raim_flag);
+    "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.");
 }