From c117cd84674edd253dab599d59ba028fed108b4d Mon Sep 17 00:00:00 2001
From: Adam Shapiro <adam@pointonenav.com>
Date: Tue, 3 Dec 2024 10:00:45 -0500
Subject: [PATCH] Removed baseline distance from RawGNSSAttitudeOutput.

This is just the norm of the ENU vector contained in the message, so it's
redundant.
---
 python/fusion_engine_client/analysis/analyzer.py  |  5 +++--
 .../fusion_engine_client/messages/measurements.py | 15 ++++-----------
 .../fusion_engine/messages/measurements.h         | 10 ----------
 3 files changed, 7 insertions(+), 23 deletions(-)

diff --git a/python/fusion_engine_client/analysis/analyzer.py b/python/fusion_engine_client/analysis/analyzer.py
index ac0cbc7c..0d084c75 100755
--- a/python/fusion_engine_client/analysis/analyzer.py
+++ b/python/fusion_engine_client/analysis/analyzer.py
@@ -2046,6 +2046,7 @@ def plot_gnss_attitude_measurements(self):
             raw_heading_time = raw_heading_data.p1_time - float(self.t0)
             raw_heading_deg = np.degrees(np.arctan2(raw_heading_data.relative_position_enu_m[1, :],
                                                     raw_heading_data.relative_position_enu_m[0, :]))
+            raw_baseline_distance_m = np.linalg.norm(raw_heading_data.relative_position_enu_m, axis=0)
 
             # Compute heading uncertainty envelop.
             denom = raw_heading_data.relative_position_enu_m[0]**2 + raw_heading_data.relative_position_enu_m[1]**2
@@ -2058,7 +2059,7 @@ def plot_gnss_attitude_measurements(self):
             )
 
             envelope = np.arctan(
-                (2 * heading_std / raw_heading_data.baseline_distance_m)
+                (2 * heading_std / raw_baseline_distance_m)
             )
             envelope *= 180. / np.pi
             fig.add_trace(
@@ -2147,7 +2148,7 @@ def plot_gnss_attitude_measurements(self):
             fig.add_trace(
                 go.Scatter(
                     x=raw_heading_time,
-                    y=raw_heading_data.baseline_distance_m,
+                    y=raw_baseline_distance_m,
                     customdata=raw_heading_data.p1_time,
                     marker={'size': 2, "color": "red"},
                     hovertemplate='<b>Time</b>: %{x:.3f} sec (%{customdata:.3f} sec)'
diff --git a/python/fusion_engine_client/messages/measurements.py b/python/fusion_engine_client/messages/measurements.py
index f95c9dae..6708f1bb 100644
--- a/python/fusion_engine_client/messages/measurements.py
+++ b/python/fusion_engine_client/messages/measurements.py
@@ -1297,7 +1297,7 @@ class RawGNSSAttitudeOutput(MessagePayload):
     MESSAGE_TYPE = MessageType.RAW_GNSS_ATTITUDE_OUTPUT
     MESSAGE_VERSION = 0
 
-    _STRUCT = struct.Struct('<B3xL3f3fff')
+    _STRUCT = struct.Struct('<B3xL3f3f')
 
     def __init__(self):
         ## Measurement timestamps, if available. See @ref measurement_messages.
@@ -1370,9 +1370,7 @@ def unpack(self, buffer: bytes, offset: int = 0, message_version: int = MessageP
          self.relative_position_enu_m[2],
          self.position_std_enu_m[0],
          self.position_std_enu_m[1],
-         self.position_std_enu_m[2],
-         self.baseline_distance_m,
-         self.baseline_distance_std_m) = self._STRUCT.unpack_from(buffer, offset)
+         self.position_std_enu_m[2]) = self._STRUCT.unpack_from(buffer, offset)
         offset += self._STRUCT.size
 
         self.solution_type = SolutionType(solution_type_int)
@@ -1383,8 +1381,7 @@ def __repr__(self):
         result = super().__repr__()[:-1]
         enu_str = '(%.2f, %.2f, %.3f)' % tuple(self.relative_position_enu_m)
         heading_deg = self.get_heading_deg()
-        result += f', solution_type={self.solution_type}, enu={enu_str} m, heading={heading_deg:.1f} deg, ' \
-                  f'baseline={self.baseline_distance_m} m]'
+        result += f', solution_type={self.solution_type}, enu={enu_str} m, heading={heading_deg:.1f} deg]'
         return result
 
     def __str__(self):
@@ -1393,9 +1390,7 @@ def __str__(self):
   Solution Type: {self.solution_type}
   Relative position (ENU) (m): {self.relative_position_enu_m[0]:.2f}, {self.relative_position_enu_m[1]:.2f}, {self.relative_position_enu_m[2]:.2f}
   Position std (ENU) (m): {self.position_std_enu_m[0]:.2f}, {self.position_std_enu_m[1]:.2f}, {self.position_std_enu_m[2]:.2f}
-  Heading (deg): {self.get_heading_deg():.2f}
-  Baseline distance (m): {self.baseline_distance_m:.2f}
-  Baseline std (m): {self.baseline_distance_std_m:.2f}"""
+  Heading (deg): {self.get_heading_deg():.2f}"""
 
     @classmethod
     def calcsize(cls) -> int:
@@ -1408,8 +1403,6 @@ def to_numpy(cls, messages: Sequence['RawGNSSAttitudeOutput']):
             'flags': np.array([int(m.flags) for m in messages], dtype=np.uint32),
             'relative_position_enu_m': np.array([m.relative_position_enu_m for m in messages]).T,
             'position_std_enu_m': np.array([m.position_std_enu_m for m in messages]).T,
-            'baseline_distance_m': np.array([float(m.baseline_distance_m) for m in messages]),
-            'baseline_distance_std_m': np.array([float(m.baseline_distance_std_m) for m in messages]),
         }
         result.update(MeasurementDetails.to_numpy([m.details for m in messages]))
         return result
diff --git a/src/point_one/fusion_engine/messages/measurements.h b/src/point_one/fusion_engine/messages/measurements.h
index 5076cfef..d25ad09a 100644
--- a/src/point_one/fusion_engine/messages/measurements.h
+++ b/src/point_one/fusion_engine/messages/measurements.h
@@ -1265,16 +1265,6 @@ struct P1_ALIGNAS(4) RawGNSSAttitudeOutput : public MessagePayload {
    * resolved with respect to the local ENU tangent plane: east, north, up.
    */
   float position_std_enu_m[3] = {NAN, NAN, NAN};
-
-  /**
-   * The estimated distance between primary and secondary antennas (in meters).
-   */
-  float baseline_distance_m = NAN;
-
-  /**
-   * The standard deviation of the baseline distance estimate (in meters).
-   */
-  float baseline_distance_std_m = NAN;
 };
 
 ////////////////////////////////////////////////////////////////////////////////