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fix: gate PVT satellites on decoding completeness #51

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Merged
giove-a merged 1 commit into from
Jul 7, 2026
Merged

fix: gate PVT satellites on decoding completeness #51

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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ Dates = "1"
Dictionaries = "0.4"
DocStringExtensions = "0.6, 0.7, 0.8, 0.9"
Downloads = "1"
GNSSDecoder = "3.6"
GNSSDecoder = "3.7"
GNSSSignals = "3.3"
Geodesy = "0.5, 1.0"
LinearAlgebra = "1"
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7 changes: 6 additions & 1 deletion src/PositionVelocityTime.jl
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Expand Up @@ -552,7 +552,12 @@ function calc_pvt(
)
length(states) < 4 &&
throw(ArgumentError("You'll need at least 4 satellites to calculate PVT"))
healthy_indices = findall(x -> is_sat_healthy(x.decoder), states)
# Keep a satellite only if its full nav-data set is decoded and it reports healthy.
# Checking completeness first guarantees the health bit has been decoded.
healthy_indices = findall(
x -> is_decoding_completed_for_positioning(x.decoder) && is_sat_healthy(x.decoder),
states,
)
length(healthy_indices) < 4 && return prev_pvt
healthy_states = view(states, healthy_indices)
num_sats = length(healthy_states)
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