Revert PR #855 that defaults rover position because the default rover or base position may be completely inaccurate in two common situations, one where the positions are not used for the current solution and are leftover from a previous solution or where they are unused and set to LLH 0,0,0. In both cases, the filter fails to converge due to continuous outliers.

Author: rtklibexplorer

src/rtkpos.c

@@ -2359,15 +2359,6 @@ extern int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
         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   <n&&obs[nu   ].rcv==1;nu++) ;
     for (nr=0;nu+nr<n&&obs[nu+nr].rcv==2;nr++) ;