Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into ssr

src/algorithms/libs/CMakeLists.txt

@@ -29,7 +29,6 @@ set(GNSS_SPLIBS_SOURCES
     gnss_sdr_create_directory.cc
     geofunctions.cc
     item_type_helpers.cc
-    trackingcmd.cc
     pass_through.cc
     short_x2_to_cshort.cc
     gnss_sdr_string_literals.cc

src/algorithms/libs/trackingcmd.cc

@@ -1,23 +0,0 @@
-/*!
- * \file trackingcmd.cc
- * \brief Class that stores information to update the GNSS signal tracking estimations
- * \author Javier Arribas, 2021. jarribas(at)cttc.es
- *
- *
- * -----------------------------------------------------------------------------
- *
- * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
- * This file is part of GNSS-SDR.
- *
- * Copyright (C) 2010-2020  (see AUTHORS file for a list of contributors)
- * SPDX-License-Identifier: GPL-3.0-or-later
- *
- * -----------------------------------------------------------------------------
- */
-
-#include "trackingcmd.h"
-
-TrackingCmd::TrackingCmd()
-{
-    // TODO Auto-generated constructor stub
-}

src/algorithms/libs/trackingcmd.h

@@ -15,22 +15,29 @@
  * -----------------------------------------------------------------------------
  */
 
-#ifndef SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_
+#ifndef GNSS_SDR_TRACKINGCMD_H_
-#define SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_
+#define GNSS_SDR_TRACKINGCMD_H_
 
 #include <cstdint>
 
+/** \addtogroup Algorithms_Library
+ * \{ */
+/** \addtogroup Algorithm_libs algorithms_libs
+ * \{ */
+
 class TrackingCmd
 {
 public:
     TrackingCmd();
 
-    bool enable_carrier_nco_cmd;
+    bool enable_carrier_nco_cmd = false;
-    bool enable_code_nco_cmd;
+    bool enable_code_nco_cmd = false;
-    double code_freq_chips;
+    double code_freq_chips = 0.0;
-    double carrier_freq_hz;
+    double carrier_freq_hz = 0.0;
-    double carrier_freq_rate_hz_s;
+    double carrier_freq_rate_hz_s = 0.0;
-    uint64_t sample_counter;
+    uint64_t sample_counter = 0UL;
 };
 
-#endif /* SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_ */
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_TRACKINGCMD_H_

src/algorithms/signal_source/libs/gnss_sdr_timestamp.h

@@ -64,7 +64,7 @@ private:
     bool read_next_timetag();
     std::string d_timefile;
     std::fstream d_timefilestream;
-    GnssTime next_timetag;
+    GnssTime next_timetag{};
     double d_clock_offset_ms;
     double d_integer_ms_offset;
     double d_fraction_ms_offset;

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc

@@ -84,7 +84,8 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
                       d_print_cnav_page(true),
                       d_enable_navdata_monitor(conf.enable_navdata_monitor),
                       d_dump_crc_stats(conf.dump_crc_stats),
-                      d_enable_reed_solomon_inav(false)
+                      d_enable_reed_solomon_inav(false),
+                      d_valid_timetag(false)
 {
     // prevent telemetry symbols accumulation in output buffers
     this->set_max_noutput_items(1);

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h

@@ -102,7 +102,7 @@ private:
     Galileo_Fnav_Message d_fnav_nav;
 
     Nav_Message_Packet d_nav_msg_packet;
-    GnssTime d_current_timetag;
+    GnssTime d_current_timetag{};
 
     std::unique_ptr<Tlm_CRC_Stats> d_Tlm_CRC_Stats;
 

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h

@@ -167,7 +167,7 @@ private:
 
     // uint64_t d_sample_counter;
     uint64_t d_acq_sample_stamp;
-    GnssTime d_last_timetag;
+    GnssTime d_last_timetag{};
     uint64_t d_last_timetag_samplecounter;
     bool d_timetag_waiting;
 

src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc

@@ -499,6 +499,11 @@ kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_)
     d_current_prn_length_samples = static_cast<int32_t>(d_trk_parameters.vector_length);
     d_current_correlation_time_s = 0.0;
 
+    d_carr_phase_error_disc_hz = 0.0;
+    d_code_error_disc_chips = 0.0;
+    d_code_error_kf_chips = 0.0;
+    d_code_freq_kf_chips_s = 0.0;
+
     // CN0 estimation and lock detector buffers
     d_cn0_estimation_counter = 0;
     d_Prompt_buffer.reserve(d_trk_parameters.cn0_samples);

src/algorithms/tracking/libs/kf_conf.cc

@@ -24,61 +24,61 @@
 #include <glog/logging.h>
 
 
-Kf_Conf::Kf_Conf()
+Kf_Conf::Kf_Conf() : item_type("gr_complex"),
+                     dump_filename("./Kf_dump.dat"),
+                     fs_in(2000000.0),
+                     carrier_lock_th(FLAGS_carrier_lock_th),
+                     expected_cn0_dbhz(42.0),
+                     code_disc_sd_chips(0.01),
+                     carrier_disc_sd_rads(0.1),
+                     code_phase_sd_chips(0.001),
+                     code_rate_sd_chips_s(0.001),
+                     carrier_phase_sd_rad(0.001),
+                     carrier_freq_sd_hz(0.1),
+                     carrier_freq_rate_sd_hz_s(1),
+                     narrow_code_phase_sd_chips(0.001),
+                     narrow_code_rate_sd_chips_s(0.001),
+                     narrow_carrier_phase_sd_rad(0.001),
+                     narrow_carrier_freq_sd_hz(0.1),
+                     narrow_carrier_freq_rate_sd_hz_s(1),
+                     init_code_phase_sd_chips(1),
+                     init_code_rate_sd_chips_s(100),
+                     init_carrier_phase_sd_rad(10),
+                     init_carrier_freq_sd_hz(1000),
+                     init_carrier_freq_rate_sd_hz_s(1000),
+                     early_late_space_chips(0.25),
+                     very_early_late_space_chips(0.5),
+                     early_late_space_narrow_chips(0.15),
+                     very_early_late_space_narrow_chips(0.5),
+                     slope(1.0),
+                     spc(0.5),
+                     y_intercept(1.0),
+                     cn0_smoother_alpha(0.002),
+                     carrier_lock_test_smoother_alpha(0.002),
+                     pull_in_time_s(10),
+                     bit_synchronization_time_limit_s(70),
+                     vector_length(0U),
+                     smoother_length(10),
+                     extend_correlation_symbols(1),
+                     cn0_samples(FLAGS_cn0_samples),
+                     cn0_smoother_samples(200),
+                     carrier_lock_test_smoother_samples(25),
+                     cn0_min(FLAGS_cn0_min),
+                     max_code_lock_fail(FLAGS_max_lock_fail),
+                     max_carrier_lock_fail(FLAGS_max_carrier_lock_fail),
+                     system('G'),
+                     track_pilot(true),
+                     enable_doppler_correction(false),
+                     carrier_aiding(true),
+                     high_dyn(false),
+                     dump(false),
+                     dump_mat(true),
+                     enable_dynamic_measurement_covariance(false),
+                     use_estimated_cn0(false)
 {
-    /*KF tracking configuration */
-    high_dyn = false;
-    smoother_length = 10;
-    fs_in = 2000000.0;
-    vector_length = 0U;
-    dump = false;
-    dump_mat = true;
-    dump_filename = std::string("./Kf_dump.dat");
-
-    pull_in_time_s = 10;
-    bit_synchronization_time_limit_s = pull_in_time_s + 60;
-    early_late_space_chips = 0.25;
-    very_early_late_space_chips = 0.5;
-    early_late_space_narrow_chips = 0.15;
-    very_early_late_space_narrow_chips = 0.5;
-    slope = 1.0;
-    spc = 0.5;
-    y_intercept = 1.0;
-    carrier_aiding = true;
-    extend_correlation_symbols = 1;
-    cn0_samples = FLAGS_cn0_samples;
-    cn0_smoother_samples = 200;
-    cn0_smoother_alpha = 0.002;
-    carrier_lock_test_smoother_alpha = 0.002;
-    carrier_lock_test_smoother_samples = 25;
-    cn0_min = FLAGS_cn0_min;
-    max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
-    max_code_lock_fail = FLAGS_max_lock_fail;
-    carrier_lock_th = FLAGS_carrier_lock_th;
-    track_pilot = true;
-    enable_doppler_correction = false;
-    system = 'G';
     signal[0] = '1';
     signal[1] = 'C';
     signal[2] = '\0';
-    item_type = "gr_complex";
-
-    expected_cn0_dbhz = 0;
-    // System covariances (Q)
-    code_phase_sd_chips = 0;
-    code_rate_sd_chips_s = 0;
-    carrier_phase_sd_rad = 0;
-    carrier_freq_sd_hz = 0;
-    carrier_freq_rate_sd_hz_s = 0;
-    // initial Kalman covariance matrix (P)
-    init_code_phase_sd_chips = 0;
-    init_code_rate_sd_chips_s = 0;
-    init_carrier_phase_sd_rad = 0;
-    init_carrier_freq_sd_hz = 0;
-    init_carrier_freq_rate_sd_hz_s = 0;
-
-    enable_dynamic_measurement_covariance = false;
-    use_estimated_cn0 = false;
 }
 
 
@@ -129,36 +129,35 @@ void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
     // Kalman filter covariances
 
     // Measurement covariances (R)
-    expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", 42.0);
+    expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", expected_cn0_dbhz);
 
-    code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", 0.01);
+    code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", code_disc_sd_chips);
-    carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", 0.1);
+    carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", carrier_disc_sd_rads);
 
-    enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", false);
+    enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", enable_dynamic_measurement_covariance);
-    use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", false);
+    use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", use_estimated_cn0);
 
     // System covariances (Q)
-    code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", 0.001);
+    code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", code_phase_sd_chips);
-    code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", 0.001);
+    code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", code_rate_sd_chips_s);
 
-    carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", 0.001);
+    carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", carrier_phase_sd_rad);
-    carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", 0.1);
+    carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", carrier_freq_sd_hz);
-    carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", 1);
+    carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", carrier_freq_rate_sd_hz_s);
 
     // System covariances (narrow) (Q)
-    narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", 0.001);
+    narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", narrow_code_phase_sd_chips);
-    narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", 0.001);
+    narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", narrow_code_rate_sd_chips_s);
-
-    narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", 0.001);
-    narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", 0.1);
-    narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", 1);
 
+    narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", narrow_carrier_phase_sd_rad);
+    narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", narrow_carrier_freq_sd_hz);
+    narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", narrow_carrier_freq_rate_sd_hz_s);
 
     // initial Kalman covariance matrix (P)
-    init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", 1);
+    init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", init_code_phase_sd_chips);
-    init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", 100);
+    init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", init_code_rate_sd_chips_s);
 
-    init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", 10);
+    init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", init_carrier_phase_sd_rad);
-    init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", 1000);
+    init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", init_carrier_freq_sd_hz);
-    init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", 1000);
+    init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", init_carrier_freq_rate_sd_hz_s);
 }

src/algorithms/tracking/libs/kf_conf.h

@@ -36,34 +36,6 @@ public:
     std::string dump_filename;
     double fs_in;
     double carrier_lock_th;
-    float early_late_space_chips;
-    float very_early_late_space_chips;
-    float early_late_space_narrow_chips;
-    float very_early_late_space_narrow_chips;
-    float slope;
-    float spc;
-    float y_intercept;
-    float cn0_smoother_alpha;
-    float carrier_lock_test_smoother_alpha;
-    uint32_t pull_in_time_s;
-    uint32_t bit_synchronization_time_limit_s;
-    uint32_t vector_length;
-    uint32_t smoother_length;
-    int32_t extend_correlation_symbols;
-    int32_t cn0_samples;
-    int32_t cn0_smoother_samples;
-    int32_t carrier_lock_test_smoother_samples;
-    int32_t cn0_min;
-    int32_t max_code_lock_fail;
-    int32_t max_carrier_lock_fail;
-    char signal[3]{};
-    char system;
-    bool track_pilot;
-    bool enable_doppler_correction;
-    bool carrier_aiding;
-    bool high_dyn;
-    bool dump;
-    bool dump_mat;
 
     // KF statistics
     // states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
@@ -97,6 +69,35 @@ public:
     double init_carrier_freq_sd_hz;
     double init_carrier_freq_rate_sd_hz_s;
 
+    float early_late_space_chips;
+    float very_early_late_space_chips;
+    float early_late_space_narrow_chips;
+    float very_early_late_space_narrow_chips;
+    float slope;
+    float spc;
+    float y_intercept;
+    float cn0_smoother_alpha;
+    float carrier_lock_test_smoother_alpha;
+    uint32_t pull_in_time_s;
+    uint32_t bit_synchronization_time_limit_s;
+    uint32_t vector_length;
+    uint32_t smoother_length;
+    int32_t extend_correlation_symbols;
+    int32_t cn0_samples;
+    int32_t cn0_smoother_samples;
+    int32_t carrier_lock_test_smoother_samples;
+    int32_t cn0_min;
+    int32_t max_code_lock_fail;
+    int32_t max_carrier_lock_fail;
+    char signal[3]{};
+    char system;
+    bool track_pilot;
+    bool enable_doppler_correction;
+    bool carrier_aiding;
+    bool high_dyn;
+    bool dump;
+    bool dump_mat;
+
     bool enable_dynamic_measurement_covariance;
     bool use_estimated_cn0;
 };