gps_pvt 0.10.0 → 0.10.2

data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb

@@ -875,10 +875,10 @@ __RINEX_CLK_TEXT__
       expect(pvt.vdop).to be_within(1E-2).of(1.87)
       expect(pvt.tdop).to be_within(1E-2).of(1.08)
       expect(pvt.velocity.to_a).to eq([:e, :n, :u].collect{|k| pvt.velocity.send(k)})
-      expect(pvt.velocity.north).to be_within(1E-2).of(-0.86) # north
-      expect(pvt.velocity.east) .to be_within(1E-2).of(-1.10) # east
-      expect(pvt.velocity.down) .to be_within(1E-2).of(-0.22) # down
-      expect(pvt.receiver_error_rate).to be_within(1E-2).of(-1061.86)
+      expect(pvt.velocity.north).to be_within(1E-2).of(-0.68) # north
+      expect(pvt.velocity.east) .to be_within(1E-2).of(-0.90) # east
+      expect(pvt.velocity.down) .to be_within(1E-2).of(0.26) # down
+      expect(pvt.receiver_error_rate).to be_within(1E-2).of(-1062.14)
       expect(pvt.G.rows).to eq(6)
       expect(pvt.W.rows).to eq(6)
       expect(pvt.delta_r.rows).to eq(6)
@@ -942,9 +942,9 @@ __RINEX_CLK_TEXT__
         expect(t_arv).to be_a_kind_of(GPS::Time)
         expect(usr_pos).to be_a_kind_of(Coordinate::XYZ)
         expect(usr_vel).to be_a_kind_of(Coordinate::XYZ)
-        weight, range_c, range_r, rate_rel_neg, *los_neg = rel_prop
-        weight = 1
-        [weight, range_c, range_r, rate_rel_neg] + los_neg
+        weight_range, range_c, range_r, weight_rate, rate_rel_neg, *los_neg = rel_prop
+        weight_range = 1
+        [weight_range, range_c, range_r, weight_rate, rate_rel_neg] + los_neg
       }
       solver.hooks[:update_position_solution] = proc{|mat_G, mat_W, mat_delta_r, temp_pvt|
         expect(temp_pvt).to be_a_kind_of(GPS::PVT)

data/lib/gps_pvt/asn1/asn1.rb

@@ -1,3 +1,5 @@
+require 'set'
+
 module GPS_PVT
 end
 
@@ -261,10 +263,10 @@ resolve_tree = proc{|root|
     res
   }
   
-  # This proc is useless because assumed automatic tagging 
-  # does not require to re-order based on manual tags or class numbers
+  # This proc is used to re-order for non-automatic tagging transformation
   # @see https://stackoverflow.com/a/31450137
   get_universal_class_number = proc{|type|
+    # TODO where is CHOICE class number definition?
     next get_universal_class_number.call(type[1][:root][0][:type]) if type[0] == :CHOICE
     { # @see Table.1 unless any comment
       :BOOLEAN => 1,
@@ -274,6 +276,9 @@ resolve_tree = proc{|root|
       :NULL => 5,
       :ENUMERATED => 10,
       :SEQUENCE => 16,
+      :SEQUENCE_OF => 16,
+      :SET => 17,
+      :SET_OF => 17,
       :NumericString => 18, # @see Table.6
       :PrintableString => 19, # @see Table.6
       :IA5String => 22, # @see Table.6
@@ -281,6 +286,23 @@ resolve_tree = proc{|root|
       :UTCTime => 23, # @see 43.3
     }[type[0]]
   }
+
+  reorder_children = proc{|type_opts|
+    # reordering when automatic tagging transformation is not selected
+    tags = Set[]
+    [type_opts[:root], type_opts[:extension]].compact.each{|items|
+      items.collect!{|v|
+        tag = v[:type][1][:tag]
+        tag_class_num = case tag
+        when Array; [{"APPLICATION" => 1, "PRIVATE" => 3}[tag[0]], tag[1]]
+        when Integer; [2, tag] # (Context-specific) 
+        else; [0, get_universal_class_number.call(v[:type])] # UNIVERSAL
+        end
+        raise unless tags.add?(tag_class_num) # Identical tag is already existed!
+        [v, tag_class_num]
+      }.sort!{|a, b| a[1] <=> b[1]}.collect!{|v| v[0]}
+    }
+  }
   
   prepare_coding = proc{|tree|
     next tree.each{|k, v|
@@ -313,7 +335,8 @@ resolve_tree = proc{|root|
       }
     when :BIT_STRING, :OCTET_STRING
       opts[:size_range] = find_range.call(opts, :size)
-    when :SEQUENCE
+    when :SEQUENCE, :SET
+      reorder_children.call(opts) if (opts[:automatic_tagging] == false) # only for SET
       (opts[:root] + (opts[:extension] || [])).each.with_index{|v, i|
         v[:name] = v[:name] ? v[:name].to_sym : i
         v[:type][1][:typename] ||= v[:name] if v[:name].kind_of?(Symbol) && v[:type] # for debugger
@@ -325,11 +348,11 @@ resolve_tree = proc{|root|
           v2[:name]
         } if v[:group]
       }
-    when :SEQUENCE_OF
+    when :SEQUENCE_OF, :SET_OF
       opts[:size_range] = find_range.call(opts, :size)
       prepare_coding.call(opts)
     when :CHOICE
-      # Skip reordering based on automatic tagging assumption
+      reorder_children.call(opts) if (opts[:automatic_tagging] == false)
       opts[:extension] = opts[:extension].collect{|v|
         v[:group] || [v] # 22. Note says "Version brackets have no effect"
       }.flatten(1) if opts[:extension]
@@ -372,7 +395,7 @@ generate_skeleton = proc{|tree, data|
     when :BIT_STRING, :OCTET_STRING
       data || ({:BIT_STRING => [0], :OCTET_STRING => [0xFF]}[type] \
           * (opts[:size_range][:root].first rescue 0))
-    when :SEQUENCE
+    when :SEQUENCE, :SET
       data ||= {}
       Hash[*((opts[:root] + (opts[:extension] || [])).collect{|v|
         if v[:group] then
@@ -386,7 +409,7 @@ generate_skeleton = proc{|tree, data|
           end
         end
       }.compact.flatten(2))]
-    when :SEQUENCE_OF
+    when :SEQUENCE_OF, :SET_OF
       next data.collect{|v| generate_skeleton.call(opts, v)} if data
       v = Marshal::dump(generate_skeleton.call(opts))
       (opts[:size_range][:root].first rescue 0).times.collect{
@@ -488,7 +511,7 @@ encode = proc{|tree, data|
         end
       end
       res += data.collect{|v| "%0#{bits}b"%[v]}.join
-    when :SEQUENCE
+    when :SEQUENCE, :SET
       opt_def_flags, root_encoded = opts[:root].collect{|v| # 18.2
         has_elm = data.include?(v[:name])
         elm = data[v[:name]]
@@ -532,7 +555,7 @@ encode = proc{|tree, data|
       end
 
       "#{ext_bit}#{opt_def_flags.join}#{root_encoded.join}#{ext_encoded}"
-    when :SEQUENCE_OF
+    when :SEQUENCE_OF, :SET_OF
       ext_bit, len_enc = case (cat = opts[:size_range].belong_to(data.size))
       when :additional
         # 19.4 -> 10.9.4.2(semi_constrained_whole_number)
@@ -691,7 +714,7 @@ decode = proc{|tree, str|
         end
       end
       str.slice!(0, bits * len).scan(/.{#{bits}}/).collect{|chunk| chunk.to_i(2)}
-    when :SEQUENCE
+    when :SEQUENCE, :SET
       has_extension = (opts[:extension] && (str.slice!(0) == '1'))
       data = Hash[*(
         opts[:root].collect{|v| [v[:name], v[:default]] if v[:default]}.compact.flatten(1)
@@ -709,7 +732,7 @@ decode = proc{|tree, str|
             v[:group] ? decoded.to_a : [[v[:name], decoded]]
           }.compact.flatten(2))]) if has_extension
       data
-    when :SEQUENCE_OF
+    when :SEQUENCE_OF, :SET_OF
       len_dec = if opts[:size_range][:additional] && (str.slice!(0) == '1') then
         # 19.4 -> 10.9.4.2(semi_constrained_whole_number)
         :length_otherwise

data/lib/gps_pvt/asn1/asn1.y

@@ -46,10 +46,10 @@ rule
   DefinitiveNameAndNumberForm : identifier LCBRACE DefinitiveNumberForm RCBRACE
   
   TagDefault :
-      EXPLICIT TAGS {raise} # not supported
-      | IMPLICIT TAGS {raise} # not supported
-      | AUTOMATIC TAGS
-      | {raise} # not supported
+      EXPLICIT TAGS {@tags = val[0]}
+      | IMPLICIT TAGS {@tags = val[0]}
+      | AUTOMATIC TAGS {@tags = val[0]} # 12.3
+      | {@tags = :EXPLICIT} # 12.2
   
   ExtensionDefault :
       EXTENSIBILITY IMPLIED
@@ -179,8 +179,8 @@ rule
       #| RelativeOIDType
       | SequenceType
       | SequenceOfType
-      #| SetType
-      #| SetOfType
+      | SetType
+      | SetOfType
       | TaggedType
       | UTCTime # 43. Universal time
 
@@ -199,32 +199,34 @@ rule
       | ObjectClassFieldValue
 
   BuiltinValue : # 16.9
-      BitStringValue
-      | BooleanValue
-      | CharacterStringValue
-      | ChoiceValue
+      BitStringValue # String, Array, Hash (possible returned value, same below)
+      | BooleanValue # true/false
+      | CharacterStringValue # String, Array, Hash
+      | ChoiceValue # Hash
       #| EmbeddedPDVValue
-      | EnumeratedValue
+      | EnumeratedValue # String
       #| ExternalValue
       #| InstanceOfValue
-      | IntegerValue
-      | NullValue
-      | ObjectIdentifierValue
-      | OctetStringValue
-      | RealValue
+      | IntegerValue # Number, String
+      | NullValue # nil
+      | ObjectIdentifierValue # Array
+      | OctetStringValue # String, Hash
+      | RealValue # Number, Hash(M * B^E), String([PLUS|MINUS]_INFINITY)
       #| RelativeOIDValue
-      | SequenceValue
-      | SequenceOfValue
-      #| SetValue
-      #| SetOfValue
+      | SequenceValue # Hash
+      | SequenceOfValue # Array, Hash
+      | SetValue # Hash
+      | SetOfValue # Array, Hash
       #| TaggedValue
 
   #ReferencedValue : DefinedValue | ValueFromObject # 16.11
   #ReferencedValue : identifier
   
+  NamedValue : identifier Value {result = {val[0] => val[1]}} # 16.13
+  
   # 17. Notation for the boolean type
   BooleanType : BOOLEAN
-  BooleanValue : TRUE | FALSE
+  BooleanValue : TRUE {result = true} | FALSE {result = false}
   
   # 18. Notation for the integer type
   IntegerType :
@@ -240,7 +242,7 @@ rule
       number
       | MINUS number {result = -val[1]}
       
-  IntegerValue :
+  IntegerValue : # returning Number or String
       SignedNumber
       | identifier
 
@@ -299,13 +301,13 @@ rule
   # 20. Notation for the real type
   RealType : REAL
   
-  RealValue :
+  RealValue : # returning Number, Hash (M * B^E) or String ([PLUS|MINUS]_INFINITY)
       NumericRealValue
       | SpecialRealValue
   NumericRealValue :
       realnumber 
-      | MINUS realnumber
-      | SequenceValue
+      | MINUS realnumber {result = -val[1]}
+      | SequenceValue # 20.3 in M * B^E format
   SpecialRealValue : PLUS_INFINITY | MINUS_INFINITY
   
   # 21. Notation for the bitstring
@@ -319,22 +321,22 @@ rule
       identifier LCBRACE number RCBRACE {result = {val[0] => val[2]}}
       | identifier LCBRACE DefinedValue RCBRACE {result = {val[0] => val[2]}}
   
-  BitStringValue :
+  BitStringValue : # returning String, Array or Hash
       bstring
       | hstring
-      | LBRACE IdentifierList RBRACE
-      | LBRACE RBRACE
-      | CONTAINING Value
+      | LBRACE IdentifierList RBRACE {result = val[1]}
+      | LBRACE RBRACE {result = []}
+      | CONTAINING Value {result = {:containing => val[1]}}
   IdentifierList :
-      identifier
-      | IdentifierList COMMA identifier
+      identifier {result = [val[0]]}
+      | IdentifierList COMMA identifier  {result << val[2]}
   
   # 22. Notation for the octetstring type
   OctetStringType : OCTET STRING {result = {:type => :OCTET_STRING}}
-  OctetStringValue :
+  OctetStringValue : # returning String or Hash
       bstring
       | hstring
-      | CONTAINING Value
+      | CONTAINING Value {result = {:containing => val[1]}}
   
   # 23. Notation for the null type
   NullType : NULL
@@ -409,12 +411,12 @@ rule
       | NamedType DEFAULT Value {result = val[0].merge({:default => val[2]})}
       | COMPONENTS OF Type {result = val[2]; raise} /* TODO 24.4 says only root components of SEQUENCE are included */
   
-  SequenceValue :
-      LBRACE ComponentValueList RBRACE
-      | LBRACE RBRACE
+  SequenceValue : # returning Hash
+      LBRACE ComponentValueList RBRACE {result = val[1]}
+      | LBRACE RBRACE {result = {}}
   ComponentValueList :
-      NamedValue
-      | ComponentValueList COMMA NamedValue
+      NamedValue {result = val[0]}
+      | ComponentValueList COMMA NamedValue {result = val[0].merge(val[2])}
 
   # 25 Notation for sequence-of types
   SequenceOfType :
@@ -423,19 +425,50 @@ rule
       }
   SequenceOfType_t : Type | NamedType
   
-  SequenceOfValue :
-      LBRACE ValueList RBRACE 
-      | LBRACE NamedValueList RBRACE
-      | LBRACE RBRACE
+  SequenceOfValue : # returning Array or Hash
+      LBRACE ValueList RBRACE {result = val[1]}
+      | LBRACE NamedValueList RBRACE {result = val[1]}
+      | LBRACE RBRACE {result = {}}
   ValueList :
-      Value 
-      | ValueList COMMA Value
+      Value {result = [val[0]]}
+      | ValueList COMMA Value {result << val[2]}
   NamedValueList :
-      NamedValue
-      | NamedValueList COMMA NamedValue
+      NamedValue {result = val[0]}
+      | NamedValueList COMMA NamedValue {result = val[0].merge(val[2])}
+
+  # 26. Notation for set types
+  SetType :
+      /*SET LBRACE RBRACE
+      | SET LBRACE ExtensionAndException OptionalExtensionMarker RBRACE
+      |*/ SET LBRACE ComponentTypeLists RBRACE {
+        # 26.3
+        val[2].merge!({:automatic_tagging => false}) \
+            if (@tags != :AUTOMATIC) \
+              || (val[2][:root] + (val[2][:extension] || [])).any?{|v|
+                v[:type][1][:tag] rescue false
+              }
+        result = {:type => [val[0], val[2]]}
+      }
+
+  SetValue : SequenceValue # returning Hash
+
+  # 27. Notation for set-of types
+  SetOfType :
+      SET OF SetOfType_t {
+        result = {:type => ["#{val[0]}_#{val[1]}".to_sym, val[2]]}
+      }
+  SetOfType_t : Type | NamedType
+  
+  SetOfValue : SequenceOfValue # returning Array or Hash
 
   # 28. Notation for choice types
   ChoiceType : CHOICE LBRACE AlternativeTypeLists RBRACE {
+    # 28.2
+    val[2].merge!({:automatic_tagging => false}) \
+        if (@tags != :AUTOMATIC) \
+          || (val[2][:root] + (val[2][:extension] || [])).any?{|v|
+            v[:type][1][:tag] rescue false
+          }
     result = {:type => [val[0], val[2]]}
   }
   /*
@@ -472,14 +505,30 @@ rule
       NamedType {result = [val[0]]}
       | AlternativeTypeList COMMA NamedType {result << val[2]}
   
-  ChoiceValue : identifier COLON Value
+  ChoiceValue : # returning Hash
+      identifier COLON Value {result = {val[0] => val[2]}}
   
   # 30. Notation for tagged types
-  TaggedType :
+  /*TaggedType :
       Tag Type
       | Tag IMPLICIT Type
-      | Tag EXPLICIT Type
-  Tag : LBRACKET Class ClassNumber RBRACKET
+      | Tag EXPLICIT Type*/
+  TaggedType :
+      Tag TaggingConstruction Type {
+        result = val[2] # => {} having :type or :typeref keys
+        result[:type] = [result[:type]].flatten(1)
+        (result[:type][1] ||= {}).merge!({:tag => val[0]})
+        # TODO 30.6 c) to check whether Type is an untagged CHOICE after extraction of ReferencedType 
+        result[:type][1].merge!({:tag_cnstr => val[1]}) if val[1]
+      }
+  TaggingConstruction :
+      IMPLICIT {result = nil}
+      | EXPLICIT # 30.6 a)
+      | {result = :EXPLICIT if @tags == :EXPLICIT} # 30.6 b)
+  Tag : 
+      LBRACKET Class ClassNumber RBRACKET
+          {result = val[1] ? val[1..2] : val[2]}
+          # if class specified, array is returned; otherwise, integer.
   ClassNumber :
       number
       | DefinedValue
@@ -494,12 +543,12 @@ rule
   # 31. Notation for the object identifier type
   ObjectIdentifierType : OBJECT IDENTIFIER
   
-  ObjectIdentifierValue :
-      LBRACE ObjIdComponentsList RBRACE
-      | LBRACKET DefinedValue ObjIdComponentsList RBRACKET
+  ObjectIdentifierValue : # returning Array
+      LBRACE ObjIdComponentsList RBRACE {result = val[1]}
+      | LBRACKET DefinedValue ObjIdComponentsList RBRACKET {result = [val[1]] + val[2]}
   ObjIdComponentsList :
-      ObjIdComponents
-      | ObjIdComponentsList ObjIdComponents
+      ObjIdComponents {result = [val[0]]}
+      | ObjIdComponentsList ObjIdComponents {result << val[1]}
   ObjIdComponents :
       NameForm
       | NumberForm
@@ -509,13 +558,13 @@ rule
   NumberForm :
       number
       | DefinedValue
-  NameAndNumberForm : identifier LCBRACE NumberForm RCBRACE
+  NameAndNumberForm : identifier LCBRACE NumberForm RCBRACE {result = val.values_at(0, 2)}
   
   # 36. Notation for character string types
   CharacterStringType :
       RestrictedCharacterStringType
       | UnrestrictedCharacterStringType
-  CharacterStringValue :
+  CharacterStringValue : # returning String, Array or Hash
       RestrictedCharacterStringValue
       | UnrestrictedCharacterStringValue
   
@@ -535,26 +584,26 @@ rule
       | VideotexString*/
       | VisibleString
       
-  RestrictedCharacterStringValue :
+  RestrictedCharacterStringValue : # returning String or Array
       cstring
       | CharacterStringList
       | Quadruple
       | Tuple
-  CharacterStringList : LBRACE CharSyms RBRACE
+  CharacterStringList : LBRACE CharSyms RBRACE {result = val[1]}
   CharSyms :
-      CharsDefn
-      | CharSyms COMMA CharsDefn
+      CharsDefn {result = [val[0]]}
+      | CharSyms COMMA CharsDefn {result << val[2]}
   CharsDefn :
       cstring
       | Quadruple
       | Tuple
       | DefinedValue
-  Quadruple : LBRACE Group COMMA Plane COMMA Row COMMA Cell RBRACE
+  Quadruple : LBRACE Group COMMA Plane COMMA Row COMMA Cell RBRACE {result = val.values_at(1, 3, 5, 7)}
   Group : number
   Plane : number
   Row : number
   Cell : number
-  Tuple : LBRACE TableColumn COMMA TableRow RBRACE
+  Tuple : LBRACE TableColumn COMMA TableRow RBRACE {result = val.values_at(1, 3)}
   TableColumn : number
   TableRow : number
   

data/lib/gps_pvt/receiver/extension.rb

@@ -60,79 +60,6 @@ end
 
 module GPS
 
-# These ephemeris helper functions will be removed
-# when native functions are available in GPS.i
-class Ephemeris
-  URA_TABLE = [
-      2.40, 3.40, 4.85, 6.85, 9.65, 13.65, 24.00, 48.00,
-      96.00, 192.00, 384.00, 768.00, 1536.00, 3072.00, 6144.00]
-  def URA_index=(idx)
-    send(:URA=, (idx >= URA_TABLE.size) ? (URA_TABLE[-1] * 2) : (idx < 0 ? -1 : URA_TABLE[idx]))
-  end
-  def URA_index
-    ura = send(:URA)
-    (ura < 0) ? -1 : URA_TABLE.find_index{|v| ura <= v}
-  end
-  proc{
-    orig = instance_method(:fit_interval=)
-    define_method(:fit_interval=){|args|
-      args = case args
-      when Array
-        flag, iodc, sys = args
-        hr = case (sys ||= :GPS)
-        when :GPS, :gps
-          (flag == 0) ? 4 : case iodc 
-          when 240..247; 8
-          when 248..255, 496; 14
-          when 497..503; 26
-          when 504..510; 50
-          when 511, 752..756; 74
-          when 757..763; 98
-          when 764..767, 1088..1010; 122
-          when 1011..1020; 146
-          else; 6
-          end
-        when :QZSS, :qzss
-          raise unless flag == 0 # TODO how to treat fit_interval > 2 hrs
-          2
-        else; raise
-        end
-        hr * 60 * 60
-      else
-        args
-      end
-      orig.bind(self).call(args)
-    }
-  }.call
-end
-class Ephemeris_SBAS
-  URA_TABLE = [ # Table 2-3 in DO-229E
-      2.0, 2.8, 4.0, 5.7, 8.0, 11.3, 16.0, 32.0,
-      64.0, 128.0, 256.0, 512.0, 1024.0, 2048.0, 4096.0]
-  def URA_index=(idx)
-    send(:URA=, (idx >= URA_TABLE.size) ? (URA_TABLE[-1] * 2) : (idx < 0 ? -1 : URA_TABLE[idx]))
-  end
-  def URA_index
-    ura = send(:URA)
-    (ura < 0) ? -1 : URA_TABLE.find_index{|v| ura <= v}
-  end
-end
-class Ephemeris_GLONASS
-  F_T_TABLE = [ # Table 4.4 in ICD 5.1
-      1, 2, 2.5, 4, 5, 7, 10, 12, 14, 16, 32, 64, 128, 256, 512, 1024]
-  def F_T_index=(idx)
-    send(:F_T=, (idx >= F_T_TABLE.size) ? (F_T_TABLE[-1] * 2) : (idx < 0 ? -1 : F_T_TABLE[idx]))
-  end
-  def F_T_index
-    f_t = send(:F_T)
-    (f_t < 0) ? -1 : F_T_TABLE.find_index{|v| f_t <= v}
-  end
-  def NA
-    # based on TimeProperties::date2raw
-    self.day_of_year + [1, 367, 732, 1097][(self.year - 1996) % 4]
-  end
-end
-
 [
   Ionospheric_UTC_Parameters,
   Ephemeris, Ephemeris_SBAS, Ephemeris_GLONASS,

data/lib/gps_pvt/receiver.rb

@@ -38,20 +38,21 @@ class Receiver
         ] + (pvt.rel_ENU.to_a rescue [nil] * 3)
       } 
     ]] + [proc{
-      labels = [:g, :p, :h, :v, :t].collect{|k| "#{k}dop".to_sym}
+      labels = [:g, :p, :h, :v, :t].collect{|k| "#{k}dop".to_sym} \
+          + [:h, :v, :t].collect{|k| "#{k}sigma".to_sym}
       [
         labels,
         proc{|pvt|
-          next [nil] * 5 unless pvt.position_solved?
+          next [nil] * 8 unless pvt.position_solved?
           labels.collect{|k| pvt.send(k)}
         }
       ]
     }.call] + [[
-      [:v_north, :v_east, :v_down, :receiver_clock_error_dot_ms],
+      [:v_north, :v_east, :v_down, :receiver_clock_error_dot_ms, :vel_sigma],
       proc{|pvt|
         next [nil] * 4 unless pvt.velocity_solved?
         [:north, :east, :down].collect{|k| pvt.velocity.send(k)} \
-            + [pvt.receiver_error_rate] 
+            + [pvt.receiver_error_rate, pvt.vel_sigma] 
       }
     ]] + [
       [:used_satellites, proc{|pvt| pvt.used_satellites}],

data/lib/gps_pvt/rtcm3.rb

@@ -132,7 +132,7 @@ class RTCM3
         103 => 1,
         104 => 1,
         105 => 1,
-        106 => [2, proc{|v| [0, 30, 45, 60][v] * 60}], # [s]
+        106 => 2,
         107 => [12, proc{|v|
           hh, mm, ss = [v >> 7, (v & 0x7E) >> 1, (v & 0x1) > 0 ? 30 : 0]
           hh * 3600 + mm * 60 + ss # [sec]
@@ -314,7 +314,7 @@ class RTCM3
       def params
         # TODO WN is truncated to 0-1023
         res = Hash[*(KEY2IDX.collect{|k, i| [k, self[i][0]]}.flatten(1))]
-        res[:fit_interval] = [self[29][0], res[:iodc]]
+        res[:fit_interval] = (self[29][0] != 0)
         res
       end
     end
@@ -334,7 +334,7 @@ class RTCM3
         # TODO insufficient: :n => ?(String4); extra: :P3
         # TODO generate time with t_b, N_T, NA, N_4
         # TODO GPS.i is required to modify to generate EPhemeris_with_GPS_Time
-        k_i =  {:svid => 1, :freq_ch => 2, :P1 => 5, :t_k => 6, :B_n => 7, :P2 => 8, :t_b => 9,
+        k_i =  {:svid => 1, :freq_ch => 2, :P1_index => 5, :t_k => 6, :B_n => 7, :P2 => 8, :t_b => 9,
             :xn_dot => 10, :xn => 11, :xn_ddot => 12,
             :yn_dot => 13, :yn => 14, :yn_ddot => 15,
             :zn_dot => 16, :zn => 17, :zn_ddot => 18,
@@ -362,7 +362,7 @@ class RTCM3
       def params
         # TODO PRN = svid + 192, WN is truncated to 0-1023
         res = Hash[*(KEY2IDX.collect{|k, i| [k, self[i][0]]}.flatten(1))]
-        res[:fit_interval] = [self[29][0], res[:iodc], :QZSS]
+        res[:fit_interval] = (self[29][0] != 0)
         res
       end
     end

data/lib/gps_pvt/supl.rb

@@ -353,7 +353,7 @@ class SUPL_Client
           eph.WN -= 1
         end
         eph.iode = eph.iodc & 0xFF
-        eph.fit_interval = [eph_src[:ephemFitFlag], eph.iodc]
+        eph.fit_interval = (eph_src[:ephemFitFlag] != 0)
         eph
       }
     }
@@ -403,7 +403,7 @@ class SUPL_Client
     :zn => [:Z, Rational(1000, 1 << 11)], :zn_dot => [:Zdot, Rational(1000, 1 << 20)], :zn_ddot => [:Zdotdot, Rational(1000, 1 << 30)],
     :tau_n => [:Tau, Rational(1, 1 << 30)],
     :gamma_n => [:Gamma, Rational(1, 1 << 40)],
-    :M => :M, :P1 => [:P1, proc{|v| [0, 30, 45, 60][v] * 60}], :P2 => :P2, :E_n => :En,
+    :M => :M, :P1_index => :P1, :P2 => :P2, :E_n => :En,
   }.collect{|dst_k, (src_k, sf)|
     ["#{dst_k}=".to_sym, ["glo#{src_k}".to_sym, sf || 1]]
   }.flatten(1))]
@@ -480,7 +480,7 @@ class SUPL_Client
         elsif delta_sec < -GPS::Time::Seconds_week / 2 then
           eph.WN -= 1
         end
-        eph.fit_interval = [eph_src[:navFitFlag], eph.iodc, sys]
+        eph.fit_interval = (eph_src[:navFitFlag] != 0)
         eph
       }
     }