changes to address review of #85

Author: betaBison

gnss_lib_py/algorithms/snapshot.py

@@ -91,18 +91,18 @@ def solve_wls(measurements, weight_type = None,
 
     states = np.array(states)
 
-    if np.isnan(states[:,1:]).all():
-        warnings.warn("No valid state estimate computed in WLS, "\
-                    + "returning None.", RuntimeWarning)
-        return None
-
     state_estimate = NavData()
     state_estimate["gps_millis"] = states[:,0]
     state_estimate["x_rx_m"] = states[:,1]
     state_estimate["y_rx_m"] = states[:,2]
     state_estimate["z_rx_m"] = states[:,3]
     state_estimate["b_rx_m"] = states[:,4]
 
+    if np.isnan(states[:,1:]).all():
+        warnings.warn("No valid state estimate computed in WLS, "\
+                    + "returning None.", RuntimeWarning)
+        return state_estimate
+
     lat,lon,alt = ecef_to_geodetic(state_estimate[["x_rx_m","y_rx_m",
                                    "z_rx_m"]].reshape(3,-1))
     state_estimate["lat_rx_deg"] = lat

gnss_lib_py/parsers/android.py

@@ -516,12 +516,13 @@ def solve_kaggle_baseline(navdata):
                "y_rx_m",
                "z_rx_m",
                ]
+    navdata.in_rows(columns)
     data_df = (navdata.pandas_df().drop_duplicates(subset='unix_millis')[columns]
                .reset_index(drop=True))
-    lat,lon,alt = ecef_to_geodetic(data_df[["x_rx_m",
-                                            "y_rx_m",
-                                            "z_rx_m",
-                                            ]].to_numpy().T)
+    lat,lon,alt = np.transpose(ecef_to_geodetic(data_df[["x_rx_m",
+                                                         "y_rx_m",
+                                                         "z_rx_m",
+                                                         ]].to_numpy()))
 
     state_estimate = NavData()
     state_estimate["gps_millis"] = unix_to_gps_millis(

tests/utils/test_coordinates.py

@@ -369,7 +369,7 @@ def test_android_ecef_to_el_az(navdata):
         Instance of AndroidDerived for testing.
 
     """
-    
+
     for _, _, navdata_subset in navdata.loop_time("gps_millis"):
 
         pos_sv_m = navdata_subset[["x_sv_m","y_sv_m","z_sv_m"]].T
@@ -418,15 +418,9 @@ def test_add_el_az(navdata):
     """
 
     receiver_state = navdata.copy(rows=["gps_millis",
-                                        "WlsPositionXEcefMeters",
-                                        "WlsPositionYEcefMeters",
-                                        "WlsPositionZEcefMeters"])
-    row_map = {
-               "WlsPositionXEcefMeters" : "x_rx_m",
-               "WlsPositionYEcefMeters" : "y_rx_m",
-               "WlsPositionZEcefMeters" : "z_rx_m",
-                }
-    receiver_state.rename(row_map,inplace=True)
+                                        "x_rx_m",
+                                        "y_rx_m",
+                                        "z_rx_m"])
     data_el_az = add_el_az(navdata, receiver_state)
     np.testing.assert_array_almost_equal(data_el_az["el_sv_deg"],
                                          navdata["el_sv_deg"])