From 2750ad8fcd90b9d591322c3b777497201474a88f Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Tue, 6 Aug 2024 17:31:31 +0200
Subject: [PATCH 01/14] improve , update bias interface

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 rinex-cli/src/positioning/cggtts/mod.rs    | 52 +++++++++++--------
 rinex-cli/src/positioning/cggtts/report.rs | 58 +++++++++++++++++++++-
 rinex-cli/src/positioning/ppp/mod.rs       | 42 ++++++++--------
 rinex-cli/src/positioning/ppp/report.rs    | 20 ++++----
 4 files changed, 122 insertions(+), 50 deletions(-)

diff --git a/rinex-cli/src/positioning/cggtts/mod.rs b/rinex-cli/src/positioning/cggtts/mod.rs
index 35198dd2..9f0409d8 100644
--- a/rinex-cli/src/positioning/cggtts/mod.rs
+++ b/rinex-cli/src/positioning/cggtts/mod.rs
@@ -14,8 +14,8 @@ use gnss::prelude::{Constellation, SV};
 use rinex::{carrier::Carrier, prelude::Observable};
 
 use gnss_rtk::prelude::{
-    BaseStation, Candidate, Duration, Epoch, IonosphereBias, Method, Observation,
-    OrbitalStateProvider, Solver, TroposphereBias,
+    BaseStation, Candidate, Duration, Epoch, IonoComponents, IonosphereBias, Method, Observation,
+    OrbitalStateProvider, Solver, TropoComponents, SPEED_OF_LIGHT_M_S,
 };
 
 use cggtts::{
@@ -128,17 +128,18 @@ pub fn resolve<'a, 'b, CK: ClockStateProvider, O: OrbitalStateProvider, B: BaseS
                 debug!("{} ({}) - tgd: {}", *t, *sv, tgd);
             }
 
-            let iono_bias = IonosphereBias {
-                kb_model: kb_model(nav_data, *t),
-                bd_model: bd_model(nav_data, *t),
-                ng_model: ng_model(nav_data, *t),
-                stec_meas: None, //TODO
+            let iono_components = if let Some(model) = kb_model(nav_data, *t) {
+                IonoComponents::KbModel(model)
+            } else if let Some(model) = bd_model(nav_data, *t) {
+                IonoComponents::BdModel(model)
+            } else if let Some(model) = ng_model(nav_data, *t) {
+                IonoComponents::NgModel(model)
+            } else {
+                // TODO STEC/IONEX
+                IonoComponents::Unknown
             };
 
-            let tropo_bias = TroposphereBias {
-                total: None,   //TODO
-                zwd_zdd: None, // TODO
-            };
+            let tropo_components = TropoComponents::Unknown; //TODO METEO
 
             // tries to form a candidate for each signal
             for (observable, data) in observations {
@@ -237,9 +238,17 @@ pub fn resolve<'a, 'b, CK: ClockStateProvider, O: OrbitalStateProvider, B: BaseS
                     }
                 }
 
-                let candidate = Candidate::new(*sv, *t, clock_corr, tgd, rtk_obs);
-
-                match solver.resolve(*t, &vec![candidate], &iono_bias, &tropo_bias) {
+                let candidate = Candidate::new(
+                    *sv,
+                    *t,
+                    clock_corr,
+                    tgd,
+                    rtk_obs,
+                    iono_components,
+                    tropo_components,
+                );
+
+                match solver.resolve(*t, &vec![candidate]) {
                     Ok((t, pvt_solution)) => {
                         let pvt_data = pvt_solution.sv.get(sv).unwrap(); // infaillible
 
@@ -253,13 +262,16 @@ pub fn resolve<'a, 'b, CK: ClockStateProvider, O: OrbitalStateProvider, B: BaseS
                          * TROPO : always present
                          *         convert to time delay (CGGTTS)
                          */
-                        let mdtr = match pvt_data.tropo_bias.value() {
-                            Some(tropo) => tropo / 299792458.0,
-                            None => 0.0_f64,
-                        };
+                        let mdtr = pvt_data.tropo_bias.unwrap_or_default() / SPEED_OF_LIGHT_M_S;
 
-                        let mdio = pvt_data.iono_bias.modeled;
-                        let msio = pvt_data.iono_bias.measured;
+                        let mdio = match pvt_data.iono_bias {
+                            Some(IonosphereBias::Modeled(bias)) => Some(bias),
+                            _ => None,
+                        };
+                        let msio = match pvt_data.iono_bias {
+                            Some(IonosphereBias::Measured(bias)) => Some(bias),
+                            _ => None,
+                        };
                         debug!(
                             "{:?} : new {}:{} solution (elev={:.2}°, azi={:.2}°, refsv={:.3E}, refsys={:.3E})",
                             t, sv, observable, elevation, azimuth, refsv, refsys
diff --git a/rinex-cli/src/positioning/cggtts/report.rs b/rinex-cli/src/positioning/cggtts/report.rs
index 5b7a05ba..363dfebb 100644
--- a/rinex-cli/src/positioning/cggtts/report.rs
+++ b/rinex-cli/src/positioning/cggtts/report.rs
@@ -202,8 +202,64 @@ impl ReportContent {
                 plot
             },
             ionod_plot: {
-                let plot =
+                let mut plot =
                     Plot::timedomain_plot("ionod_plot", "Ionospheric Delay", "Delay [s]", true);
+                for sv in summary.satellites.iter() {
+                    let x = solutions
+                        .iter()
+                        .filter_map(|trk| if trk.sv == *sv { Some(trk.epoch) } else { None })
+                        .collect::<Vec<_>>();
+                    let y = solutions
+                        .iter()
+                        .filter_map(|trk| {
+                            if trk.sv == *sv {
+                                Some(trk.data.mdio)
+                            } else {
+                                None
+                            }
+                        })
+                        .collect::<Vec<_>>();
+                    let trace = Plot::timedomain_chart(
+                        &format!("{}(mdio)", sv),
+                        Mode::Markers,
+                        MarkerSymbol::Cross,
+                        &x,
+                        y,
+                        true,
+                    );
+                    plot.add_trace(trace);
+
+                    let x = solutions
+                        .iter()
+                        .filter_map(|trk| {
+                            if trk.sv == *sv && trk.iono.is_some() {
+                                Some(trk.epoch)
+                            } else {
+                                None
+                            }
+                        })
+                        .collect::<Vec<_>>();
+                    let y = solutions
+                        .iter()
+                        .filter_map(|trk| {
+                            if trk.sv == *sv {
+                                let iono = trk.iono?;
+                                Some(iono.msio)
+                            } else {
+                                None
+                            }
+                        })
+                        .collect::<Vec<_>>();
+                    let trace = Plot::timedomain_chart(
+                        &format!("{}(mdio)", sv),
+                        Mode::Markers,
+                        MarkerSymbol::Cross,
+                        &x,
+                        y,
+                        true,
+                    );
+                    plot.add_trace(trace);
+                }
                 plot
             },
             tropod_plot: {
diff --git a/rinex-cli/src/positioning/ppp/mod.rs b/rinex-cli/src/positioning/ppp/mod.rs
index fa358e39..4d5cef76 100644
--- a/rinex-cli/src/positioning/ppp/mod.rs
+++ b/rinex-cli/src/positioning/ppp/mod.rs
@@ -21,8 +21,8 @@ pub use report::Report;
 pub mod post_process;
 
 use gnss_rtk::prelude::{
-    BaseStation, Candidate, Epoch, IonosphereBias, Observation, OrbitalStateProvider, PVTSolution,
-    Solver, TroposphereBias,
+    BaseStation, Candidate, Epoch, IonoComponents, Observation, OrbitalStateProvider, PVTSolution,
+    Solver, TropoComponents,
 };
 
 pub fn resolve<'a, 'b, CK: ClockStateProvider, O: OrbitalStateProvider, B: BaseStation>(
@@ -134,27 +134,29 @@ pub fn resolve<'a, 'b, CK: ClockStateProvider, O: OrbitalStateProvider, B: BaseS
                     }
                 }
             }
-            let candidate =
-                Candidate::new(*sv, *t, clock_corr, Default::default(), rtk_obs.clone());
+            let iono_components = if let Some(model) = kb_model(nav_data, *t) {
+                IonoComponents::KbModel(model)
+            } else if let Some(model) = ng_model(nav_data, *t) {
+                IonoComponents::NgModel(model)
+            } else if let Some(model) = bd_model(nav_data, *t) {
+                IonoComponents::BdModel(model)
+            } else {
+                //TODO STEC/IONEX
+                IonoComponents::Unknown
+            };
+            let candidate = Candidate::new(
+                *sv,
+                *t,
+                clock_corr,
+                Default::default(),
+                rtk_obs.clone(),
+                iono_components,
+                TropoComponents::Unknown, // TODO: meteo
+            );
             candidates.push(candidate);
         }
 
-        // grab possible tropo components
-        // let zwd_zdd = tropo_components(meteo_data, *t, rx_lat_ddeg);
-
-        let iono_bias = IonosphereBias {
-            kb_model: kb_model(nav_data, *t),
-            bd_model: bd_model(nav_data, *t),
-            ng_model: ng_model(nav_data, *t),
-            stec_meas: None, //TODO
-        };
-
-        let tropo_bias = TroposphereBias {
-            total: None,   //TODO
-            zwd_zdd: None, //TODO
-        };
-
-        match solver.resolve(*t, &candidates, &iono_bias, &tropo_bias) {
+        match solver.resolve(*t, &candidates) {
             Ok((t, pvt)) => {
                 debug!("{} : {:?}", t, pvt);
                 solutions.insert(t, pvt);
diff --git a/rinex-cli/src/positioning/ppp/report.rs b/rinex-cli/src/positioning/ppp/report.rs
index 6cc2beca..64049aac 100644
--- a/rinex-cli/src/positioning/ppp/report.rs
+++ b/rinex-cli/src/positioning/ppp/report.rs
@@ -415,7 +415,7 @@ impl ReportContent {
                     MarkerSymbol::Cross,
                     &epochs,
                     long,
-                    true,
+                    false,
                 );
                 plot.add_trace(trace);
                 plot
@@ -510,7 +510,8 @@ impl ReportContent {
                             if let Some(value) =
                                 sol.sv.iter().filter(|(s, _)| *s == sv).reduce(|k, _| k)
                             {
-                                value.1.tropo_bias.value()
+                                let bias = value.1.tropo_bias?;
+                                Some(bias)
                             } else {
                                 None
                             }
@@ -547,7 +548,8 @@ impl ReportContent {
                             if let Some(value) =
                                 sol.sv.iter().filter(|(s, _)| *s == sv).reduce(|k, _| k)
                             {
-                                value.1.iono_bias.value()
+                                let bias = value.1.iono_bias?;
+                                Some(bias)
                             } else {
                                 None
                             }
@@ -899,22 +901,22 @@ impl Render for ReportContent {
                         }
                         tr {
                             th class="is-info" {
-                                button aria-label="Error due to Ionospheric delay" data-balloon-pos="right" {
-                                    "Ionosphere"
+                                button aria-label="Error due to Tropospheric delay" data-balloon-pos="right" {
+                                    "Troposphere"
                                 }
                             }
                             td {
-                                (self.ionod_plot.render())
+                                (self.tropod_plot.render())
                             }
                         }
                         tr {
                             th class="is-info" {
-                                button aria-label="Error due to Tropospheric delay" data-balloon-pos="right" {
-                                    "Troposphere"
+                                button aria-label="Error due to Ionospheric delay" data-balloon-pos="right" {
+                                    "Ionosphere"
                                 }
                             }
                             td {
-                                (self.tropod_plot.render())
+                                (self.ionod_plot.render())
                             }
                         }
                     }

From a090d329f486d977bc0da8851680c84310111519 Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 10:46:22 +0200
Subject: [PATCH 02/14] Working on GEO & BDS examples

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 tutorials/BDS/esbjerg-brdc.sh |  6 +++---
 tutorials/GAL+SBAS/esbjerg.sh | 23 +++++++++++++++--------
 tutorials/GAL/mojdnk.sh       |  1 +
 tutorials/GEO/esbjerg.sh      |  4 ++--
 4 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/tutorials/BDS/esbjerg-brdc.sh b/tutorials/BDS/esbjerg-brdc.sh
index ad4701ba..b43ecafa 100755
--- a/tutorials/BDS/esbjerg-brdc.sh
+++ b/tutorials/BDS/esbjerg-brdc.sh
@@ -3,15 +3,14 @@ DATA_DIR=test_resources
 CONF=tutorials/config/survey/cpp_kf.json
 
 SYSTEM=BeiDou # All BeiDou
-#SIGNALS=C2I,C6I
-SIGNALS=C2I,C7I
+SIGNALS=C2I,C6I
 
 # Analysis + ppp solutions
 #  -q: silent (open only on last run)
 #  -f: force new synthesis
 #  -P: filter example
 ./target/release/rinex-cli \
-    -q -f \
+    -q -f -o "BRDC-BDS-B2i-B3" \
     -P $SYSTEM -P $SIGNALS \
     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
     --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \
@@ -19,6 +18,7 @@ SIGNALS=C2I,C7I
 
 # append cggtts solutions +open
 ./target/release/rinex-cli \
+    -o "BRDC-BDS-B2i-B3" \
     -P $SYSTEM -P $SIGNALS \
     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
     --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \
diff --git a/tutorials/GAL+SBAS/esbjerg.sh b/tutorials/GAL+SBAS/esbjerg.sh
index ca6f0c41..e4b19d49 100755
--- a/tutorials/GAL+SBAS/esbjerg.sh
+++ b/tutorials/GAL+SBAS/esbjerg.sh
@@ -1,21 +1,28 @@
 #!/bin/sh
-# Post processing:  
-#  +3 week surveying of this lab station
+# Surveying with Galileo and 1 GEO
+
+# In this example, we use signals E1+E5(PR), but that does not matter.
+# We use Galileo and 1 geostationnary vehicle.
+# By using 4 GEO vehicles are observed (see other analysis examples)
+# By using >S35 in the filter, we make sure that only one is kept.
+# This is BRDC nav ("real time") surveying augmented with one GEO.
+# Compare this one to esbjerg-ppp-x1 where we move to precise post processing, augmented with one GEO.
+# Comare also to esbjerg-brdc and esbjerg-precise (in this very folder) when use GEO and GAL in equal proportion
 
 DATA_DIR=test_resources
-# In this example, we use signals E1+E5(PR) for Galileo SV PRN>08 (example)
-#  and one EGNOS vehicle. You should compare these results to tutorial/GAL/esbcdnk-cpp.sh
-FILTER="Gal,GEO;>E08;C1C,C5Q" 
-CONF=tutorials/config/survey/cpp_kf.json # basic CPP+Kf
+FILTER="Gal,GEO;<E05;C1C,C5Q" 
+CONF=tutorials/config/survey/cpp_kf.json
 
 ./target/release/rinex-cli \
+    -f -o "GAL+SBAS-E1E5" \
     -P $FILTER \
     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
     --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \
-    --fp $DATA_DIR/SP3/GRG0MGXFIN_20201770000_01D_15M_ORB.SP3.gz \
-    --fp $DATA_DIR/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz \
     ppp -c $CONF
 
+exit 0
+    #--fp $DATA_DIR/SP3/GRG0MGXFIN_20201770000_01D_15M_ORB.SP3.gz \
+    #--fp $DATA_DIR/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz \
 ./target/release/rinex-cli \
     -P $FILTER \
     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
diff --git a/tutorials/GAL/mojdnk.sh b/tutorials/GAL/mojdnk.sh
index 34a3ebf2..0c15a922 100755
--- a/tutorials/GAL/mojdnk.sh
+++ b/tutorials/GAL/mojdnk.sh
@@ -14,6 +14,7 @@ DATA_DIR=test_resources
 FILTER="Gal;>E09;C1C,C5Q"
 # Skip 1st hour (example)
 TIMEFRAME=">2020-06-25T01:00:00 UTC"
+CONF=tutorials/config/survey/spp_lsq.json
 CONF=tutorials/config/survey/cpp_kf.json
 
 # Analysis + ppp solutions
diff --git a/tutorials/GEO/esbjerg.sh b/tutorials/GEO/esbjerg.sh
index aa9acbe6..adafa942 100755
--- a/tutorials/GEO/esbjerg.sh
+++ b/tutorials/GEO/esbjerg.sh
@@ -10,8 +10,8 @@ DATA_DIR=test_resources
 # Example:
 #   GPS <28 : any other is dropped
 #  L1/L5 PR only: not using L2, not PPP compatible
-FILTER="GEO"
-CONF=tutorials/config/survey/cpp_kf.json
+FILTER="GEO,GAL"
+CONF=tutorials/config/survey/spp_lsq.json
 
 # Analysis + ppp solutions (silent)
 #  -f: force new synthesis

From 1f65411490216b29c863f58a2d7bb4d4c5dac2b9 Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 10:48:02 +0200
Subject: [PATCH 03/14] Fix workspace / features

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 Cargo.toml                   |  4 ++-
 rinex-qc/Cargo.toml          |  4 +--
 rinex-qc/src/cfg.rs          | 11 +++---
 rinex-qc/src/report/mod.rs   | 66 ++++++++++++++++++++++++++++++++++++
 rinex-qc/src/report/orbit.rs | 62 +++++++++++++++++++++++++++++++--
 rinex/Cargo.toml             |  1 +
 rinex/src/meteo/sensor.rs    |  1 +
 sp3/Cargo.toml               |  1 +
 8 files changed, 139 insertions(+), 11 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 7cc428e1..e28fab03 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -13,4 +13,6 @@ members = [
     "ublox-rnx", 
 ]
 
-exclude = ["./test_resources"]
+exclude = [
+    "./test_resources",
+]
diff --git a/rinex-qc/Cargo.toml b/rinex-qc/Cargo.toml
index a0bf3692..700f49fa 100644
--- a/rinex-qc/Cargo.toml
+++ b/rinex-qc/Cargo.toml
@@ -36,8 +36,8 @@ thiserror = "1"
 strum = "0.26"
 itertools = "0.13.0"
 strum_macros = "0.26"
-anise = "0.4.2"
-serde = { version = "1.0", optional = true, default-features = false, features = ["derive"] }
+anise = { version = "0.4.2", features = ["embed_ephem"] }
+serde = { version = "1.0", default-features = false, features = ["derive"] }
 
 statrs = { version = "0.16", optional = true }
 
diff --git a/rinex-qc/src/cfg.rs b/rinex-qc/src/cfg.rs
index 5f5d7908..0f895a92 100644
--- a/rinex-qc/src/cfg.rs
+++ b/rinex-qc/src/cfg.rs
@@ -2,7 +2,6 @@ use maud::{html, Markup, Render};
 use rinex::prelude::*;
 use thiserror::Error;
 
-#[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
 /// Configuration Error
@@ -17,7 +16,7 @@ use std::str::FromStr;
 
 /// [QcReportType]
 #[derive(Default, Debug, Clone, PartialEq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[derive(Serialize, Deserialize)]
 pub enum QcReportType {
     /// In [Summary] mode, only the summary section
     /// of the report is to be generated. It is the lightest
@@ -51,13 +50,13 @@ impl Display for QcReportType {
 }
 
 #[derive(Debug, Clone, Default)]
-#[cfg_attr(feature = "serde", derive(Deserialize))]
+#[derive(Deserialize)]
 pub struct QcConfig {
-    #[cfg_attr(feature = "serde", serde(default))]
+    #[serde(default)]
     pub report: QcReportType,
-    #[cfg_attr(feature = "serde", serde(default))]
+    #[serde(default)]
     pub manual_reference: Option<GroundPosition>,
-    #[cfg_attr(feature = "serde", serde(default))]
+    #[serde(default)]
     /// When both SP3 and BRDC NAV are present,
     /// SP3 is prefered for skyplot project: set true here to
     /// also compute for BRDC NAV.
diff --git a/rinex-qc/src/report/mod.rs b/rinex-qc/src/report/mod.rs
index 069ee1df..3d97a7a3 100644
--- a/rinex-qc/src/report/mod.rs
+++ b/rinex-qc/src/report/mod.rs
@@ -211,6 +211,19 @@ impl QcReport {
                 }
                 items
             },
+            #[cfg(not(feature = "sp3"))]
+            orbit: {
+                if context.has_brdc_navigation() && !summary_only {
+                    Some(OrbitReport::new(
+                        context,
+                        ref_position,
+                        cfg.force_brdc_skyplot,
+                    ))
+                } else {
+                    None
+                }
+            },
+            #[cfg(feature = "sp3")]
             orbit: {
                 if (context.has_sp3() || context.has_brdc_navigation()) && !summary_only {
                     Some(OrbitReport::new(
@@ -230,6 +243,58 @@ impl QcReport {
         self.custom_chapters.push(chapter);
     }
     /// Generates a menu bar to nagivate [Self]
+    #[cfg(not(feature = "sp3"))]
+    fn menu_bar(&self) -> Markup {
+        html! {
+            aside class="menu" {
+                p class="menu-label" {
+                    (format!("RINEX-QC v{}", env!("CARGO_PKG_VERSION")))
+                }
+                ul class="menu-list" {
+                    li {
+                        a id="menu:summary" {
+                            span class="icon" {
+                                i class="fa fa-home" {}
+                            }
+                            "Summary"
+                        }
+                    }
+                    @for product in self.products.keys().sorted() {
+                        @if let Some(report) = self.products.get(&product) {
+                            li {
+                                (report.html_inline_menu_bar())
+                            }
+                        }
+                    }
+                    @for chapter in self.custom_chapters.iter() {
+                        li {
+                            (chapter.tab.render())
+                        }
+                    }
+                    p class="menu-label" {
+                        a href="https://github.com/georust/rinex/wiki" style="margin-left:29px" {
+                            "Documentation"
+                        }
+                    }
+                    p class="menu-label" {
+                        a href="https://github.com/georust/rinex/issues" style="margin-left:29px" {
+                            "Bug Report"
+                        }
+                    }
+                    p class="menu-label" {
+                        a href="https://github.com/georust/rinex" {
+                            span class="icon" {
+                                i class="fa-brands fa-github" {}
+                            }
+                            "Sources"
+                        }
+                    }
+                } // menu-list
+            }//menu
+        }
+    }
+    /// Generates a menu bar to nagivate [Self]
+    #[cfg(feature = "sp3")]
     fn menu_bar(&self) -> Markup {
         html! {
             aside class="menu" {
@@ -327,6 +392,7 @@ impl Render for QcReport {
                                             }
                                         }
                                     }
+                                    // TODO: it should be feasible to run without SP3 support
                                     @if let Some(orbit) = &self.orbit {
                                         div id="orbit" class="container is-main" style="display:none" {
                                             (orbit.render())
diff --git a/rinex-qc/src/report/orbit.rs b/rinex-qc/src/report/orbit.rs
index f3fa786b..7d006067 100644
--- a/rinex-qc/src/report/orbit.rs
+++ b/rinex-qc/src/report/orbit.rs
@@ -1,8 +1,7 @@
 use rinex::{
     navigation::Ephemeris,
-    prelude::{GroundPosition, Orbit, Rinex},
+    prelude::{GroundPosition, Orbit, Rinex, SV, Constellation, Epoch},
 };
-use sp3::prelude::{Constellation, Epoch, SP3, SV};
 use std::collections::{BTreeMap, HashMap};
 
 use qc_traits::processing::{Filter, Preprocessing};
@@ -12,12 +11,17 @@ use crate::{
     prelude::{html, Markup, Plot, QcContext, Render},
 };
 
+#[cfg(feature = "sp3")]
+use sp3::prelude::SP3;
+
+#[cfg(feature = "sp3")]
 struct BrdcSp3Report {
     x_err_plot: Plot,
     y_err_plot: Plot,
     z_err_plot: Plot,
 }
 
+#[cfg(feature = "sp3")]
 impl BrdcSp3Report {
     fn new(sp3: &SP3, brdc: &Rinex) -> Self {
         let mut errors = BTreeMap::<SV, Vec<(Epoch, f64, f64, f64)>>::new();
@@ -106,6 +110,7 @@ impl BrdcSp3Report {
     }
 }
 
+#[cfg(feature = "sp3")]
 impl Render for BrdcSp3Report {
     fn render(&self) -> Markup {
         html! {
@@ -146,6 +151,7 @@ pub struct OrbitReport {
     elev_plot: Plot,
     map_proj: Plot,
     // globe_proj: Plot,
+    #[cfg(feature = "sp3")]
     brdc_sp3_err: HashMap<Constellation, BrdcSp3Report>,
 }
 
@@ -153,8 +159,12 @@ impl OrbitReport {
     pub fn new(ctx: &QcContext, reference: Option<GroundPosition>, force_brdc_sky: bool) -> Self {
         let (x0, y0, z0) = reference.unwrap_or_default().to_ecef_wgs84();
         let (x0_km, y0_km, z0_km) = (x0 / 1000.0, y0 / 1000.0, z0 / 1000.0);
+
         // TODO: brdc needs a timeserie..
+        #[cfg(feature = "sp3")]
         let brdc_skyplot = ctx.has_brdc_navigation() && ctx.has_sp3() && force_brdc_sky;
+        #[cfg(not(feature = "sp3"))]
+        let brdc_skyplot = ctx.has_brdc_navigation();
 
         let max_sv_visible = if brdc_skyplot { 2 } else { 4 };
 
@@ -166,6 +176,7 @@ impl OrbitReport {
         let mut elev_brdc = BTreeMap::<SV, Vec<f64>>::new();
         let mut azim_brdc = BTreeMap::<SV, Vec<f64>>::new();
 
+        #[cfg(feature = "sp3")]
         if let Some(sp3) = ctx.sp3() {
             for (t, sv_sp3, pos_sp3) in sp3.sv_position() {
                 let (x_sp3_km, y_sp3_km, z_sp3_km) = (pos_sp3.0, pos_sp3.1, pos_sp3.2);
@@ -297,6 +308,7 @@ impl OrbitReport {
                     1,
                     true,
                 );
+                #[cfg(feature = "sp3")]
                 if let Some(sp3) = ctx.sp3() {
                     for (sv_index, sv) in sp3.sv().enumerate() {
                         let orbits = sp3
@@ -358,6 +370,7 @@ impl OrbitReport {
             //    );
             //    map_proj
             //},
+            #[cfg(feature = "sp3")]
             brdc_sp3_err: {
                 let mut reports = HashMap::<Constellation, BrdcSp3Report>::new();
                 if let Some(sp3) = ctx.sp3() {
@@ -395,6 +408,7 @@ impl OrbitReport {
     }
 }
 
+#[cfg(feature = "sp3")]
 impl Render for OrbitReport {
     fn render(&self) -> Markup {
         html! {
@@ -449,3 +463,47 @@ impl Render for OrbitReport {
         }
     }
 }
+
+#[cfg(not(feature = "sp3"))]
+impl Render for OrbitReport {
+    fn render(&self) -> Markup {
+        html! {
+            div class="table-container" {
+                table class="table is-bordered" {
+                    tr {
+                        th class="is-info" {
+                            "Map projection"
+                        }
+                        td {
+                            (self.map_proj.render())
+                        }
+                    }
+                    //tr {
+                    //    th class="is-info" {
+                    //        "Globe projection"
+                    //    }
+                    //    td {
+                    //        (self.globe_proj.render())
+                    //    }
+                    //}
+                    tr {
+                        th class="is-info" {
+                            "Sky plot"
+                        }
+                        td {
+                            (self.sky_plot.render())
+                        }
+                    }
+                    tr {
+                        th class="is-info" {
+                            "Elevation"
+                        }
+                        td {
+                            (self.elev_plot.render())
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
diff --git a/rinex/Cargo.toml b/rinex/Cargo.toml
index df86a3a0..2c326730 100644
--- a/rinex/Cargo.toml
+++ b/rinex/Cargo.toml
@@ -58,6 +58,7 @@ qc = [
 # Unlock Processing package.
 # Unlocks the preprocessing toolkit, Filtering methods and preprocessing algorithms.
 processing = [
+    "qc",
     "rinex-qc-traits/processing",
 ]
 
diff --git a/rinex/src/meteo/sensor.rs b/rinex/src/meteo/sensor.rs
index 6010266d..e153549f 100644
--- a/rinex/src/meteo/sensor.rs
+++ b/rinex/src/meteo/sensor.rs
@@ -26,6 +26,7 @@ pub struct Sensor {
     pub height: Option<f64>,
 }
 
+#[cfg(feature = "qc")]
 impl Render for Sensor {
     fn render(&self) -> Markup {
         html! {
diff --git a/sp3/Cargo.toml b/sp3/Cargo.toml
index 43cffcba..6a5070d0 100644
--- a/sp3/Cargo.toml
+++ b/sp3/Cargo.toml
@@ -22,6 +22,7 @@ qc = [
 
 # Unlock processing features
 processing = [
+    "qc",
     "rinex-qc-traits/processing",
 ]
 

From 1f4d4719e0ac312e567df62e5994971753a34f73 Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 10:48:13 +0200
Subject: [PATCH 04/14] Prepare for next release

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 rinex-cli/Cargo.toml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/rinex-cli/Cargo.toml b/rinex-cli/Cargo.toml
index 3b813d65..cba3edfa 100644
--- a/rinex-cli/Cargo.toml
+++ b/rinex-cli/Cargo.toml
@@ -35,18 +35,18 @@ serde = { version = "1.0", default-features = false, features = ["derive"] }
 kml = { version = "0.8", optional = true }
 gpx = { version = "0.10", optional = true }
 
-# plotly = "0.9"
+plotly = "0.9"
 # plotly = { path = "../../plotly-rs/plotly" }
-plotly = { git = "https://github.com/gwbres/plotly", branch = "scattergeo" }
+# plotly = { git = "https://github.com/gwbres/plotly", branch = "scattergeo" }
 
 anise = { version = "0.4.2", features = ["embed_ephem"] }
 hifitime = { version = "4.0.0-alpha", features = ["serde", "std"] }
 
 gnss-rs = { version = "2.2.1", features = ["serde"] }
 
-# gnss-rtk = { version = "0.5.0", features = ["serde"] }
-# gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
-gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
+gnss-rtk = { version = "0.6.0", features = ["serde"] }
+# gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
+# gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
 
 cggtts = { version = "4.1.5", features = ["serde", "scheduler"], optional = true }
 # cggtts = { path = "../../cggtts/cggtts", features = ["serde", "scheduler"], optional = true }

From a69d5894a21b542f0c83a676f1a93d6ebd0191ee Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 10:48:37 +0200
Subject: [PATCH 05/14] prepare for SBAS/GEO support

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 rinex-cli/src/positioning/eph.rs  | 38 +++++++-----
 rinex/src/lib.rs                  | 31 ++++++----
 rinex/src/navigation/ephemeris.rs | 96 ++++++++++++++++++++++---------
 3 files changed, 114 insertions(+), 51 deletions(-)

diff --git a/rinex-cli/src/positioning/eph.rs b/rinex-cli/src/positioning/eph.rs
index 672977f3..76adc90c 100644
--- a/rinex-cli/src/positioning/eph.rs
+++ b/rinex-cli/src/positioning/eph.rs
@@ -56,21 +56,33 @@ impl<'a> EphemerisSource<'a> {
             self.consume_one();
         }
     }
-    fn try_select(&self, t: Epoch, sv: SV) -> Option<(Epoch, Epoch, Ephemeris)> {
+    fn try_select(&self, t: Epoch, sv: SV) -> Option<(Epoch, Epoch, &Ephemeris)> {
         let buffer = self.buffer.get(&sv)?;
         let sv_ts = sv.constellation.timescale()?;
-        let (toc_i, toe_i, eph_i) = buffer
-            .iter()
-            .filter_map(|(toc_i, eph_i)| {
-                if eph_i.is_valid(sv, t) && t >= *toc_i {
-                    let toe_i = eph_i.toe(sv_ts)?;
-                    Some((*toc_i, toe_i, eph_i))
-                } else {
-                    None
-                }
-            })
-            .min_by_key(|(toc_i, _, _)| (t - *toc_i).abs())?;
-        Some((toc_i, toe_i, eph_i.clone()))
+        if sv.constellation.is_sbas() {
+            buffer
+                .iter()
+                .filter_map(|(toc_i, eph_i)| {
+                    if t >= *toc_i {
+                        Some((*toc_i, *toc_i, eph_i))
+                    } else {
+                        None
+                    }
+                })
+                .min_by_key(|(toc_i, _, _)| (t - *toc_i).abs())
+        } else {
+            buffer
+                .iter()
+                .filter_map(|(toc_i, eph_i)| {
+                    if eph_i.is_valid(sv, t) && t >= *toc_i {
+                        let toe_i = eph_i.toe(sv_ts)?;
+                        Some((*toc_i, toe_i, eph_i))
+                    } else {
+                        None
+                    }
+                })
+                .min_by_key(|(toc_i, _, _)| (t - *toc_i).abs())
+        }
     }
     pub fn select(&mut self, t: Epoch, sv: SV) -> Option<(Epoch, Epoch, Ephemeris)> {
         let mut attempt = 0;
diff --git a/rinex/src/lib.rs b/rinex/src/lib.rs
index 50b5a639..3e2d83bf 100644
--- a/rinex/src/lib.rs
+++ b/rinex/src/lib.rs
@@ -51,7 +51,6 @@ extern crate num_derive;
 extern crate lazy_static;
 
 pub mod reader;
-// use anise::almanac::Almanac;
 use reader::BufferedReader;
 
 pub mod writer;
@@ -2347,20 +2346,28 @@ impl Rinex {
     /// Note that ToE = ToC for GEO/SBAS vehicles, because this field does not exist.
     pub fn sv_ephemeris(&self, sv: SV, t: Epoch) -> Option<(Epoch, Epoch, &Ephemeris)> {
         let sv_ts = sv.constellation.timescale()?;
-        self.ephemeris()
-            .filter_map(|(t_i, (_, sv_i, eph_i))| {
-                if sv_i == sv {
-                    if eph_i.is_valid(sv, t) && t >= *t_i {
-                        let toe = eph_i.toe(sv_ts)?;
-                        Some((*t_i, toe, eph_i))
+        if sv.constellation.is_sbas() {
+            let (toc, (_, _, eph)) = self
+                .ephemeris()
+                .filter(|(t_i, (_, sv_i, eph_i))| sv == *sv_i)
+                .reduce(|k, _| k)?;
+            Some((*toc, *toc, eph))
+        } else {
+            self.ephemeris()
+                .filter_map(|(t_i, (_, sv_i, eph_i))| {
+                    if sv_i == sv {
+                        if eph_i.is_valid(sv, t) && t >= *t_i {
+                            let toe = eph_i.toe(sv_ts)?;
+                            Some((*t_i, toe, eph_i))
+                        } else {
+                            None
+                        }
                     } else {
                         None
                     }
-                } else {
-                    None
-                }
-            })
-            .min_by_key(|(toc_i, _, _)| (t - *toc_i).abs())
+                })
+                .min_by_key(|(toc_i, _, _)| (t - *toc_i).abs())
+        }
     }
     /// [SV] embedded clock offset (s), drift (s.s⁻¹) and drift rate (s.s⁻²) Iterator.
     /// ```
diff --git a/rinex/src/navigation/ephemeris.rs b/rinex/src/navigation/ephemeris.rs
index 73561d9b..77a5e682 100644
--- a/rinex/src/navigation/ephemeris.rs
+++ b/rinex/src/navigation/ephemeris.rs
@@ -2,10 +2,14 @@ use super::{orbits::closest_nav_standards, NavMsgType, OrbitItem};
 use crate::constants::Constants;
 use crate::{
     constants, epoch,
-    prelude::{Almanac, Constellation, Duration, Epoch, TimeScale, SV},
+    prelude::{Constellation, Duration, Epoch, TimeScale, SV},
     version::Version,
 };
 
+#[cfg(feature = "nav")]
+use crate::prelude::Almanac;
+
+#[cfg(feature = "nav")]
 use anise::{
     astro::AzElRange,
     constants::frames::EARTH_J2000,
@@ -25,6 +29,7 @@ use crate::epoch::{
 #[cfg(feature = "nav")]
 use nalgebra::{self as na, Matrix3, Rotation, Rotation3, Vector3, Vector4};
 
+
 /// Parsing errors
 #[derive(Debug, Error)]
 pub enum Error {
@@ -293,7 +298,9 @@ pub struct Kepler {
     pub m_0: f64,
     /// argument of perigee (semicircles)
     pub omega: f64,
-    /// time of issue of ephemeris
+    /// Time of issue of ephemeris.
+    /// NB GEO and GLO ephemerides do not have the notion of ToE, we set 0 here.
+    /// Any calculations that imply ToE for those is incorrect anyways.
     pub toe: f64,
 }
 
@@ -332,8 +339,13 @@ impl Ephemeris {
     }
     /// Retrieves orbit data field expressed as f64 value, if such field exists.
     pub fn get_orbit_f64(&self, field: &str) -> Option<f64> {
-        if let Some(v) = self.orbits.get(field) {
-            v.as_f64()
+        if let Some(value) = self.orbits.get(field) {
+            let value = value.as_f64()?;
+            if value != 0.0 {
+                Some(value)
+            } else {
+                None
+            }
         } else {
             None
         }
@@ -501,7 +513,8 @@ impl Ephemeris {
 
 #[cfg(feature = "nav")]
 impl Ephemeris {
-    /// Retrieves Orbit Keplerian parameters
+    /// Retrieves Orbit Keplerian parameters.
+    /// This only applies to MEO Ephemerides, not GEO and Glonass.
     pub fn kepler(&self) -> Option<Kepler> {
         Some(Kepler {
             a: self.get_orbit_f64("sqrta")?.powf(2.0),
@@ -563,22 +576,23 @@ impl Ephemeris {
         s.set_orbit_f64("omegaDot", perturbations.omega_dot);
         s
     }
-    /// Total seconds elapsed between `t` and ToE, expressed in GPS timescale.
-    fn t_k_gpst_s(&self, sv: SV, t: Epoch) -> Option<f64> {
-        let sv_ts = sv.timescale()?;
-        let toe_gpst = self.toe(sv_ts)?.to_time_scale(TimeScale::GPST);
-        let dt = t.to_time_scale(TimeScale::GPST) - toe_gpst;
+    /// Total seconds elapsed between `t` and ToE, expressed in appropriate timescale.
+    /// NB: this does not apply to GEO Ephemerides but only MEO.
+    fn t_k(&self, sv: SV, t: Epoch) -> Option<f64> {
+        let mut sv_ts = sv.timescale()?;
+        let toe = self.toe(sv_ts)?;
+        let dt = t.to_time_scale(sv_ts) - toe;
         Some(dt.to_seconds())
     }
-
-    /// Form ephemerisHelper
+    /// Form ephemerisHelper.
+    /// This does not apply to SBAS and Glonass.
     fn ephemeris_helper(&self, sv: SV, t_sv: Epoch, t: Epoch) -> Option<EphemerisHelper> {
         // const
         let gm_m3_s2 = Constants::gm(sv);
         let omega = Constants::omega(sv);
         let dtr_f = Constants::dtr_f(sv);
-        let t_k = self.t_k_gpst_s(sv, t)?;
 
+        let t_k = self.t_k(sv, t)?;
         if t_k < 0.0 {
             error!("t_k < 0.0: bad op");
             return None;
@@ -760,9 +774,18 @@ impl Ephemeris {
     /// Self must be correctly selected from navigation record.
     /// See [Bibliography::AsceAppendix3], [Bibliography::JLe19] and [Bibliography::BeiDouICD]
     pub fn kepler2position(&self, sv: SV, t_sv: Epoch, t: Epoch) -> Option<(f64, f64, f64)> {
-        let helper = self.ephemeris_helper(sv, t_sv, t)?;
-        let pos = helper.ecef_position();
-        Some((pos.x, pos.y, pos.z))
+        if sv.constellation.is_sbas() || sv.constellation == Constellation::Glonass {
+            let (pos_x_km, pos_y_km, pos_z_km) = (
+                self.get_orbit_f64("satPosX")?,
+                self.get_orbit_f64("satPosY")?,
+                self.get_orbit_f64("satPosZ")?,
+            );
+            Some((pos_x_km, pos_y_km, pos_z_km))
+        } else {
+            let helper = self.ephemeris_helper(sv, t_sv, t)?;
+            let pos = helper.ecef_position();
+            Some((pos.x, pos.y, pos.z))
+        }
     }
     /// Kepler ECEF [km] position and velocity [km/s] solver at desired instant "t" for given "sv"
     /// based off Self. Self must be correctly selected in navigation
@@ -774,12 +797,26 @@ impl Ephemeris {
         t_sv: Epoch,
         t: Epoch,
     ) -> Option<((f64, f64, f64), (f64, f64, f64))> {
-        let helper = self.ephemeris_helper(sv, t_sv, t)?;
-        let (pos, vel) = helper.position_velocity()?;
-        Some((
-            (pos.x / 1000.0, pos.y / 1000.0, pos.z / 1000.0),
-            (vel.x, vel.y, vel.z),
-        ))
+        if sv.constellation.is_sbas() || sv.constellation == Constellation::Glonass {
+            let (pos_x_km, pos_y_km, pos_z_km) = (
+                self.get_orbit_f64("satPosX")?,
+                self.get_orbit_f64("satPosY")?,
+                self.get_orbit_f64("satPosZ")?,
+            );
+            let (vel_x_km, vel_y_km, vel_z_km) = (
+                self.get_orbit_f64("velX")?,
+                self.get_orbit_f64("velY")?,
+                self.get_orbit_f64("velZ")?,
+            );
+            Some(((pos_x_km, pos_y_km, pos_z_km), (vel_x_km, vel_y_km, vel_z_km)))
+        } else {
+            let helper = self.ephemeris_helper(sv, t_sv, t)?;
+            let (pos, vel) = helper.position_velocity()?;
+            Some((
+                (pos.x, pos.y, pos.z),
+                (vel.x, vel.y, vel.z),
+            ))
+        } 
     }
     /// [AzElRange] calculation attempt, for following SV as observed at RX,
     /// both coordinates expressed as [km] in fixed body [Frame] centered on Earth.
@@ -797,7 +834,9 @@ impl Ephemeris {
             Orbit::from_position(rx_x_km, rx_y_km, rx_z_km, t, fixed_body_frame),
         )
     }
-    /// Returns True if Self is Valid at specified `t`
+    /// Returns True if Self is Valid at specified `t`.
+    /// NB: this only applies to MEO Ephemerides, not GEO Ephemerides,
+    /// which should always be considered "valid".
     pub fn is_valid(&self, sv: SV, t: Epoch) -> bool {
         if let Some(max_dt) = Self::max_dtoe(sv.constellation) {
             if let Some(sv_ts) = sv.constellation.timescale() {
@@ -816,7 +855,7 @@ impl Ephemeris {
             false
         }
     }
-    /// Returns Ephemeris validity duration for this Constellation
+    /// Ephemeris validity period for this [Constellation]
     pub fn max_dtoe(c: Constellation) -> Option<Duration> {
         match c {
             Constellation::GPS | Constellation::QZSS => Some(Duration::from_seconds(7200.0)),
@@ -826,8 +865,13 @@ impl Ephemeris {
             Constellation::Glonass => Some(Duration::from_seconds(1800.0)),
             c => {
                 if c.is_sbas() {
-                    // tolerate one publication per day
-                    Some(Duration::from_seconds(86.4E3))
+                    // Tolerate one publication per day.
+                    // Typical RINEX apps will load one set per 24 hr.
+                    // GEO Orbits are very special, with a single entry per day.
+                    // Therefore, in typical RINEX apps, we will have one entry for every day.
+                    // GEO Ephemerides cannot be handled like other Ephemerides anyway, they require
+                    // a complete different logic and calculations
+                    Some(Duration::from_days(1.0))
                 } else {
                     None
                 }

From 2dbe35bdc7f073bec151bdaf76c9adcd7a3762ee Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:15:35 +0200
Subject: [PATCH 06/14] Upgrade CI scripts

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 .github/workflows/rust.yml | 137 ++++++++++++++++++++++++++-----------
 1 file changed, 97 insertions(+), 40 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index aae02e68..5ecdeaf0 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -13,8 +13,8 @@ env:
   CARGO_TERM_COLOR: always
 
 jobs:
-  build:
-    name: Build
+  linter:
+    name: Linter 
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
@@ -23,52 +23,118 @@ jobs:
       with:
         toolchain: stable
         override: true
-    
-    - name: UBX2RNX dependencies 
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libudev-dev
-
-    - uses: actions-rs/cargo@v1
-      name: Cargo update
-      with:
-        command: update
-    
     - uses: actions-rs/cargo@v1
       name: Linter 
       with:
         command: fmt
         args: --all -- --check
-    
-    - uses: actions-rs/cargo@v1
-      name: Build (all features)
+
+  build:
+    name: Build 
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: Workspace default
+            folder: "."
+            opts: -r
+          - name: Workspace All-features
+            folder: "."
+            opts: --all-features
+          - name: RINEX Default
+            folder: rinex
+            opts: -r
+          - name: RINEX Observations
+            folder: rinex
+            opts: --features "obs"
+          - name: RINEX Navigation
+            folder: rinex
+            opts: --features "nav"
+          - name: RINEX QC
+            folder: rinex
+            opts: --features "qc"
+          - name: RINEX Meteo
+            folder: rinex
+            opts: --features "meteo"
+          - name: RINEX Clock
+            folder: rinex
+            opts: --features "clock"
+          - name: ANTEX
+            folder: rinex
+            opts: --features "antex"
+          - name: DORIS RINEX
+            folder: rinex
+            opts: --features "doris"
+          - name: RINEX Processing
+            folder: rinex
+            opts: --features "processing"
+          - name: RINEX Full
+            folder: rinex
+            opts: --features "full"
+          - name: RINEX All-features
+            folder: rinex
+            opts: --all-features
+          - name: SP3 default
+            folder: sp3
+            opts: -r
+          - name: SP3 QC
+            folder: sp3
+            opts: --features "qc"
+          - name: SP3 Processing
+            folder: sp3
+            opts: --features "processing"
+          - name: SP3 All-features
+            folder: sp3
+            opts: --all-features
+          - name: RINEX-QC Default
+            folder: rinex-qc
+            opts: -r
+          - name: RINEX-QC SP3
+            folder: rinex-qc
+            opts: --features "sp3"
+          - name: RINEX-QC All-features
+            folder: rinex-qc
+            opts: --all-features
+
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions-rs/toolchain@v1
+      name: Install Rust
       with:
-        command: build
-        args: --all-features --release
-    
-    - uses: actions-rs/cargo@v1
-      name: Test
+        toolchain: stable
+        override: true
+
+    - name: ${{ matrix.name }} 
       with:
-        command: test
-        args: --verbose
-    
+      run: |
+        cd ${{ matrix.folder }} && cargo clean && cargo build ${{ matrix.opts }}
+   
+  test:
+    name: Tests
+    runs-on: ubuntu-latest
+    steps:
     - uses: actions-rs/cargo@v1
       name: Test (all features)
       with:
         command: test
-        args: --verbose --all-features
+        args: --all-features
     
+  documentation:
+    name: Documentation
+    runs-on: ubuntu-latest
+    steps:
     - uses: actions-rs/toolchain@v1
       name: Install nightly
       with:
         toolchain: nightly
         override: true
-
     - name: Documentation
       run: |
         ./tools/builddoc.sh
   
   windows-build:
+    name: Windows
     runs-on: windows-latest
     steps:
     - uses: actions/checkout@v3
@@ -78,24 +144,20 @@ jobs:
         toolchain: stable
         override: true
         
-    - uses: actions-rs/cargo@v1
-      name: Cargo update
-      with:
-        command: update
-    
     - uses: actions-rs/cargo@v1
       name: Build (default) 
       with:
         command: build
-        args: --release --verbose
+        args: --release
 
     - uses: actions-rs/cargo@v1
       name: Build (all features)
       with: 
         command: build 
-        args: --all-features --release --verbose
+        args: --all-features --release
   
   macos-build:
+    name: MacOS
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v3
@@ -105,19 +167,14 @@ jobs:
         toolchain: stable
         override: true
     
-    - uses: actions-rs/cargo@v1
-      name: Cargo update
-      with:
-        command: update
-    
     - uses: actions-rs/cargo@v1
       name: Build (default) 
       with:
         command: build
-        args: --release --verbose
+        args: --release
 
     - uses: actions-rs/cargo@v1
       name: Build (all features)
       with: 
         command: build 
-        args: --all-features --release --verbose
+        args: --all-features --release

From af830c853d00286960dea1f24c0a7d0672aeccc8 Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:16:54 +0200
Subject: [PATCH 07/14] Upgrade ci scripts

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 .github/workflows/rust.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 5ecdeaf0..02891be5 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -106,7 +106,6 @@ jobs:
         override: true
 
     - name: ${{ matrix.name }} 
-      with:
       run: |
         cd ${{ matrix.folder }} && cargo clean && cargo build ${{ matrix.opts }}
    

From 8667101e61e0e6ec7bf9101a808091fb16808eff Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:20:59 +0200
Subject: [PATCH 08/14] Run Linter

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 rinex-qc/src/cfg.rs               |  6 ++----
 rinex-qc/src/report/orbit.rs      |  2 +-
 rinex/src/navigation/ephemeris.rs | 13 ++++++-------
 3 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/rinex-qc/src/cfg.rs b/rinex-qc/src/cfg.rs
index 0f895a92..c631741d 100644
--- a/rinex-qc/src/cfg.rs
+++ b/rinex-qc/src/cfg.rs
@@ -15,8 +15,7 @@ use std::fmt::Display;
 use std::str::FromStr;
 
 /// [QcReportType]
-#[derive(Default, Debug, Clone, PartialEq)]
-#[derive(Serialize, Deserialize)]
+#[derive(Default, Debug, Clone, PartialEq, Serialize, Deserialize)]
 pub enum QcReportType {
     /// In [Summary] mode, only the summary section
     /// of the report is to be generated. It is the lightest
@@ -49,8 +48,7 @@ impl Display for QcReportType {
     }
 }
 
-#[derive(Debug, Clone, Default)]
-#[derive(Deserialize)]
+#[derive(Debug, Clone, Default, Deserialize)]
 pub struct QcConfig {
     #[serde(default)]
     pub report: QcReportType,
diff --git a/rinex-qc/src/report/orbit.rs b/rinex-qc/src/report/orbit.rs
index 7d006067..0e814a90 100644
--- a/rinex-qc/src/report/orbit.rs
+++ b/rinex-qc/src/report/orbit.rs
@@ -1,6 +1,6 @@
 use rinex::{
     navigation::Ephemeris,
-    prelude::{GroundPosition, Orbit, Rinex, SV, Constellation, Epoch},
+    prelude::{Constellation, Epoch, GroundPosition, Orbit, Rinex, SV},
 };
 use std::collections::{BTreeMap, HashMap};
 
diff --git a/rinex/src/navigation/ephemeris.rs b/rinex/src/navigation/ephemeris.rs
index 77a5e682..5d4cb590 100644
--- a/rinex/src/navigation/ephemeris.rs
+++ b/rinex/src/navigation/ephemeris.rs
@@ -29,7 +29,6 @@ use crate::epoch::{
 #[cfg(feature = "nav")]
 use nalgebra::{self as na, Matrix3, Rotation, Rotation3, Vector3, Vector4};
 
-
 /// Parsing errors
 #[derive(Debug, Error)]
 pub enum Error {
@@ -808,15 +807,15 @@ impl Ephemeris {
                 self.get_orbit_f64("velY")?,
                 self.get_orbit_f64("velZ")?,
             );
-            Some(((pos_x_km, pos_y_km, pos_z_km), (vel_x_km, vel_y_km, vel_z_km)))
+            Some((
+                (pos_x_km, pos_y_km, pos_z_km),
+                (vel_x_km, vel_y_km, vel_z_km),
+            ))
         } else {
             let helper = self.ephemeris_helper(sv, t_sv, t)?;
             let (pos, vel) = helper.position_velocity()?;
-            Some((
-                (pos.x, pos.y, pos.z),
-                (vel.x, vel.y, vel.z),
-            ))
-        } 
+            Some(((pos.x, pos.y, pos.z), (vel.x, vel.y, vel.z)))
+        }
     }
     /// [AzElRange] calculation attempt, for following SV as observed at RX,
     /// both coordinates expressed as [km] in fixed body [Frame] centered on Earth.

From c52ec506532e8234b018715c5d130e9aa88b929c Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:27:08 +0200
Subject: [PATCH 09/14] Add cargo update

  * this would help in cases where we temporarily point to git servers

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 .github/workflows/rust.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 02891be5..209ee503 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -107,7 +107,7 @@ jobs:
 
     - name: ${{ matrix.name }} 
       run: |
-        cd ${{ matrix.folder }} && cargo clean && cargo build ${{ matrix.opts }}
+        cd ${{ matrix.folder }} && cargo clean && cargo update && cargo build ${{ matrix.opts }}
    
   test:
     name: Tests

From 09bb2314da2be0a1235ad347b27926b1b878119b Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:27:33 +0200
Subject: [PATCH 10/14] minor fixes

   * point to latest RTK
   * fix cli/qc dependencies

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 rinex-cli/Cargo.toml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rinex-cli/Cargo.toml b/rinex-cli/Cargo.toml
index cba3edfa..7e706ad3 100644
--- a/rinex-cli/Cargo.toml
+++ b/rinex-cli/Cargo.toml
@@ -44,9 +44,9 @@ hifitime = { version = "4.0.0-alpha", features = ["serde", "std"] }
 
 gnss-rs = { version = "2.2.1", features = ["serde"] }
 
-gnss-rtk = { version = "0.6.0", features = ["serde"] }
+# gnss-rtk = { version = "0.6.0", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
-# gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
+gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
 
 cggtts = { version = "4.1.5", features = ["serde", "scheduler"], optional = true }
 # cggtts = { path = "../../cggtts/cggtts", features = ["serde", "scheduler"], optional = true }
@@ -54,4 +54,4 @@ cggtts = { version = "4.1.5", features = ["serde", "scheduler"], optional = true
 
 rinex = { path = "../rinex", version = "=0.16.1", features = ["full"] }
 sp3 = { path = "../sp3", version = "=1.0.8", features = ["serde", "flate2"] }
-rinex-qc = { path = "../rinex-qc", version = "=0.1.14", features = ["serde", "sp3"] } 
+rinex-qc = { path = "../rinex-qc", version = "=0.1.14", features = ["sp3"] } 

From bc6e12f40e2135ef49e53f93773cee17ffb19d18 Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:32:33 +0200
Subject: [PATCH 11/14] fix ci scripts

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 .github/workflows/rust.yml | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 209ee503..48567ae3 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -33,7 +33,7 @@ jobs:
     name: Build 
     runs-on: ubuntu-latest
     strategy:
-      fail-fast: false
+      fail-fast: true
       matrix:
         include:
           - name: Workspace default
@@ -104,6 +104,10 @@ jobs:
       with:
         toolchain: stable
         override: true
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libudev-dev
 
     - name: ${{ matrix.name }} 
       run: |
@@ -113,6 +117,12 @@ jobs:
     name: Tests
     runs-on: ubuntu-latest
     steps:
+    - uses: actions/checkout@v3
+    - uses: actions-rs/toolchain@v1
+      name: Install Rust
+      with:
+        toolchain: stable
+        override: true
     - uses: actions-rs/cargo@v1
       name: Test (all features)
       with:
@@ -123,6 +133,7 @@ jobs:
     name: Documentation
     runs-on: ubuntu-latest
     steps:
+    - uses: actions/checkout@v3
     - uses: actions-rs/toolchain@v1
       name: Install nightly
       with:

From a102e96000b39dba4813202532bde6ce7c10265e Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:37:27 +0200
Subject: [PATCH 12/14] Install lib dependencies on Linux

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 .github/workflows/rust.yml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 48567ae3..ef74c226 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -123,6 +123,10 @@ jobs:
       with:
         toolchain: stable
         override: true
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libudev-dev
     - uses: actions-rs/cargo@v1
       name: Test (all features)
       with:
@@ -139,6 +143,10 @@ jobs:
       with:
         toolchain: nightly
         override: true
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libudev-dev
     - name: Documentation
       run: |
         ./tools/builddoc.sh

From ba75a0bab6cfc7001322779789f2063e8d5ed11c Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 11:54:39 +0200
Subject: [PATCH 13/14] Ephemeris.get() has been reworked to match RINEX specs

   * any null field means missing data

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 rinex/src/navigation/ephemeris.rs | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/rinex/src/navigation/ephemeris.rs b/rinex/src/navigation/ephemeris.rs
index 5d4cb590..94524e77 100644
--- a/rinex/src/navigation/ephemeris.rs
+++ b/rinex/src/navigation/ephemeris.rs
@@ -1066,10 +1066,7 @@ mod test {
             ephemeris.get_orbit_f64("bgdE5aE1"),
             Some(-1.303851604462e-08)
         );
-        assert_eq!(
-            ephemeris.get_orbit_f64("bgdE5bE1"),
-            Some(0.000000000000e+00)
-        );
+        assert!(ephemeris.get_orbit_f64("bgdE5bE1").is_none());
 
         assert_eq!(ephemeris.get_orbit_f64("t_tm"), Some(3.555400000000e+05));
     }
@@ -1127,7 +1124,7 @@ mod test {
             ephemeris.get_orbit_f64("svAccuracy"),
             Some(0.200000000000e+01)
         );
-        assert_eq!(ephemeris.get_orbit_f64("satH1"), Some(0.0));
+        assert!(ephemeris.get_orbit_f64("satH1").is_none());
         assert_eq!(
             ephemeris.get_orbit_f64("tgd1b1b3"),
             Some(-0.599999994133e-09)
@@ -1137,8 +1134,8 @@ mod test {
             Some(-0.900000000000e-08)
         );
 
+        assert!(ephemeris.get_orbit_f64("aodc").is_none());
         assert_eq!(ephemeris.get_orbit_f64("t_tm"), Some(0.432000000000e+06));
-        assert_eq!(ephemeris.get_orbit_f64("aodc"), Some(0.0));
     }
     #[test]
     fn glonass_orbit_v2() {

From da0d1c89f8eae6e07dc2611a1f3869ff05050dd4 Mon Sep 17 00:00:00 2001
From: "Guillaume W. Bres" <guillaume.bressaix@gmail.com>
Date: Wed, 7 Aug 2024 12:11:47 +0200
Subject: [PATCH 14/14] fix proposed tutorial

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>
---
 tutorials/GPS/esbjerg.sh | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/tutorials/GPS/esbjerg.sh b/tutorials/GPS/esbjerg.sh
index 864b11ca..dfaa699d 100755
--- a/tutorials/GPS/esbjerg.sh
+++ b/tutorials/GPS/esbjerg.sh
@@ -26,16 +26,15 @@ CONF=tutorials/config/survey/cpp_kf.json
     --fp $DATA_DIR/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz \
     ppp -c $CONF
 
-exit 0
 # cggtts solutions (+open).
 # Since we're using strict identical options,
 # the report is preserved and new solutions are appended.
 # The report is automatically opened.
-# ./target/release/rinex-cli \
-#     -P $FILTER \
-#     -o "GPS-L1L5" \
-#     --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
-#     --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \
-#     --fp $DATA_DIR/SP3/GRG0MGXFIN_20201770000_01D_15M_ORB.SP3.gz \
-#     --fp $DATA_DIR/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz \
-#     ppp --cggtts -c $CONF
+./target/release/rinex-cli \
+    -P $FILTER \
+    -o "GPS-L1L5" \
+    --fp $DATA_DIR/CRNX/V3/ESBC00DNK_R_20201770000_01D_30S_MO.crx.gz \
+    --fp $DATA_DIR/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz \
+    --fp $DATA_DIR/SP3/GRG0MGXFIN_20201770000_01D_15M_ORB.SP3.gz \
+    --fp $DATA_DIR/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz \
+    ppp --cggtts -c $CONF