- For u-blox F9P, combine GPS L2C(L)/L2C(M) codes to L2X and Galileo E1B/E1C to E1X and L7I/L7Q to L7X. Ported from Emlid version of RTKLIB. RTKLIB is unable to properly handle the mixed codes

- Update M8T config files
- Update code version from b33c to b33d

Author: rtklibexplorer

data/demo5_m8t_1hz.conf

@@ -22,8 +22,8 @@ pos2-arfilter      =on         # (0:off,1:on)
 pos2-arthres       =3
 pos2-arthres1      =0.1        # use 0.004 if data quality allows
 pos2-arthres2      =0
-pos2-arthres3      =1e-05
-pos2-arthres4      =0.0001
+pos2-arthres3      =1e-09
+pos2-arthres4      =1e-05
 pos2-arlockcnt     =0          # set higher if arfilter=off
 pos2-minfixsats    =4          # min sats to fix ambiguities
 pos2-minholdsats   =5          # min sats to hold ambiguities
@@ -40,13 +40,13 @@ pos2-aroutcnt      =20        # (samples) adjust for sample rate
 pos2-maxage        =30         # (s)
 pos2-syncsol       =off        # (0:off,1:on)
 pos2-slipthres     =0.05       # (m)
-pos2-rejionno      =1000       # (m)
+pos2-rejionno      =1          # (m)
 pos2-rejgdop       =30
 pos2-niter         =1
 pos2-baselen       =0          # (m)
 pos2-basesig       =0          # (m)
 
-out-solformat      =enu        # (0:llh,1:xyz,2:enu,3:nmea)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
 out-outhead        =on         # (0:off,1:on)
 out-outopt         =on         # (0:off,1:on)
 out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
@@ -96,7 +96,7 @@ ant2-antdeln       =0          # (m)
 ant2-antdelu       =0          # (m)
 ant2-maxaveep      =1
 ant2-initrst       =off        # (0:off,1:on)
-misc-timeinterp    =off        # (0:off,1:on)
+misc-timeinterp    =on        # (0:off,1:on)
 misc-sbasatsel     =0          # (0:all)
 misc-rnxopt1       =
 misc-rnxopt2       =
@@ -111,5 +111,5 @@ file-eopfile       =
 file-blqfile       =
 file-tempdir       =
 file-geexefile     =
-file-solstatfile   =2
-file-tracefile     =2
+file-solstatfile   =
+file-tracefile     =

data/demo5_m8t_5hz.conf

@@ -22,8 +22,8 @@ pos2-arfilter      =on         # (0:off,1:on)
 pos2-arthres       =3
 pos2-arthres1      =0.1        # use 0.004 if data quality allows
 pos2-arthres2      =0
-pos2-arthres3      =1e-05
-pos2-arthres4      =0.0001
+pos2-arthres3      =1e-09
+pos2-arthres4      =1e-05
 pos2-arlockcnt     =0          # set higher if arfilter=off
 pos2-minfixsats    =4          # min sats to fix ambiguities
 pos2-minholdsats   =5          # min sats to hold ambiguities
@@ -40,13 +40,13 @@ pos2-aroutcnt      =100        # (samples) adjust for sample rate
 pos2-maxage        =30         # (s)
 pos2-syncsol       =off        # (0:off,1:on)
 pos2-slipthres     =0.05       # (m)
-pos2-rejionno      =1000       # (m)
+pos2-rejionno      =1          # (m)
 pos2-rejgdop       =30
 pos2-niter         =1
 pos2-baselen       =0          # (m)
 pos2-basesig       =0          # (m)
 
-out-solformat      =enu        # (0:llh,1:xyz,2:enu,3:nmea)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
 out-outhead        =on         # (0:off,1:on)
 out-outopt         =on         # (0:off,1:on)
 out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
@@ -96,7 +96,7 @@ ant2-antdeln       =0          # (m)
 ant2-antdelu       =0          # (m)
 ant2-maxaveep      =1
 ant2-initrst       =off        # (0:off,1:on)
-misc-timeinterp    =off        # (0:off,1:on)
+misc-timeinterp    =on        # (0:off,1:on)
 misc-sbasatsel     =0          # (0:all)
 misc-rnxopt1       =
 misc-rnxopt2       =
@@ -111,5 +111,5 @@ file-eopfile       =
 file-blqfile       =
 file-tempdir       =
 file-geexefile     =
-file-solstatfile   =2
-file-tracefile     =2
+file-solstatfile   =
+file-tracefile     =

src/convrnx.c

@@ -794,7 +794,7 @@ static void set_obstype(int format, rnxopt_t *opt)
         {0}
     };
     static const unsigned char codes_other[NSATSYS][8]={ /* others inc u-blox */
-        {CODE_L1C,CODE_L2L,CODE_L2S},
+        {CODE_L1C,CODE_L2S},
         {CODE_L1C,CODE_L2C},
         {CODE_L1C,CODE_L1X,CODE_L7Q},
         {CODE_L1C},

src/rcv/ublox.c

@@ -167,22 +167,23 @@ static int ubx_sig(int sys, int sigid)
 {
     if (sys == SYS_GPS) {
         if (sigid == 0) return CODE_L1C; /* L1C/A */
-        if (sigid == 3) return CODE_L2L; /* L2C(L) */
-        if (sigid == 4) return CODE_L2S; /* L2C(M) */
+        if (sigid == 3) return CODE_L2X; /* L2C(L) */
+        if (sigid == 4) return CODE_L2X; /* L2C(M) */
     }
     else if (sys == SYS_GLO) {
         if (sigid == 0) return CODE_L1C; /* G1C/A (GLO L1 OF) */
         if (sigid == 2) return CODE_L2C; /* G2C/A (GLO L2 OF) */
     }
     else if (sys == SYS_GAL) {
-        if (sigid == 0) return CODE_L1C; /* E1C */
-        if (sigid == 1) return CODE_L1B; /* E1B */
-        if (sigid == 5) return CODE_L7I; /* E5bI */
-        if (sigid == 6) return CODE_L7Q; /* E5bQ */
+        if (sigid == 0) return CODE_L1X; /* E1C */
+        if (sigid == 1) return CODE_L1X; /* E1B */
+        if (sigid == 5) return CODE_L7X; /* E5bI */
+        if (sigid == 6) return CODE_L7X; /* E5bQ */
     }
     else if (sys == SYS_QZS) {
         if (sigid == 0) return CODE_L1C; /* L1C/A */
-        if (sigid == 5) return CODE_L2L; /* L2CL (not specified in [5]) */
+        if (sigid == 4) return CODE_L2X; /* L2CM */
+        if (sigid == 5) return CODE_L2X; /* L2CL (not specified in [5]) */
     }
     else if (sys == SYS_CMP) {
         if (sigid == 0) return CODE_L2I; /* B1I D1 (rinex 3.03) */
@@ -200,22 +201,19 @@ static int sig_idx(int sys, int code)
 {
     if (sys == SYS_GPS) {
         if (code==CODE_L1C) return 1;
-        if (code==CODE_L2L) return 2;
-        if (code==CODE_L2S) return 2;
+        if (code==CODE_L2X) return 2;
     }
     else if (sys == SYS_GLO) {
         if (code==CODE_L1C) return 1;
         if (code==CODE_L2C) return 2;
     }
     else if (sys == SYS_GAL) {
-        if (code==CODE_L1C) return 1;
-        if (code==CODE_L1B) return 1;
-        if (code==CODE_L7I) return 2; /* E5bI */
-        if (code==CODE_L7Q) return 2; /* E5bQ */
+        if (code==CODE_L1X) return 1;
+        if (code==CODE_L7X) return 2; /* E5bI, E5bQ */
     }
     else if (sys == SYS_QZS) {
         if (code==CODE_L1C) return 1;
-        if (code==CODE_L2L) return 2;
+        if (code==CODE_L2X) return 2;
     }
     else if (sys == SYS_CMP) {
         if (code==CODE_L1I||code==CODE_L2I) return 1;

src/rtklib.h

@@ -58,7 +58,7 @@ extern "C" {
 
 #define VER_RTKLIB  "demo5"             /* library version */
 
-#define PATCH_LEVEL "b33c"               /* patch level */
+#define PATCH_LEVEL "b33d"               /* patch level */
 
 #define COPYRIGHT_RTKLIB \
             "Copyright (C) 2007-2019 T.Takasu\nAll rights reserved."