Todo List

Member calc_loop_gains (float bw, float zeta, float k, float loop_freq, float *pgain, float *igain)

This math is all wrong, these slides show the analysis we want: http://www.compdsp.com/presentations/Jacobsen/abineau_dpll_analysis.pdf

Member calc_navigation_measurement_ (u8 n_channels, channel_measurement_t *meas[], navigation_measurement_t *nav_meas[], double nav_time, ephemeris_t *ephemerides[])

Handle GPS time properly here, e.g. week rollover

Member comp_tl_update (comp_tl_state_t *s, correlation_t cs[3])

Write proper documentation with math and diagram.

Member GPS_WEEK_CYCLE

Detect and handle rollover more gracefully.

Member make_propagated_sdiffs (u8 n_local, navigation_measurement_t *m_local, u8 n_remote, navigation_measurement_t *m_remote, double *remote_dists, double remote_pos_ecef[3], ephemeris_t *es, gps_time_t t, sdiff_t *sds)

Integrate this with single_diff via a higher order function.