Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into release_0010

.clang-format

@@ -51,9 +51,9 @@ IncludeBlocks: Merge
 IncludeCategories:
   - Regex:           '^.*.h"'
     Priority:        1
-  - Regex:           '^.*(boost|gflags|glog|gtest|gnuradio|volk|gnsssdr)/'
+  - Regex:           '^.*(boost|gflags|glog|gnsssdr|gpstk|gtest|gnuradio|pmt|uhd|volk)/'
     Priority:        2
-  - Regex:           '^.*(armadillo|matio)'
+  - Regex:           '^.*(armadillo|matio|pugixml)'
     Priority:        2
   - Regex:           '.*'
     Priority:        3

.clang-tidy

@@ -1,3 +1,3 @@
 ---
-Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,readability-named-parameter,readability-string-compare'
+Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-named-parameter,readability-string-compare'
 HeaderFilterRegex: '.*'

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h

@@ -131,6 +131,9 @@ public:
 
     void set_state(int state __attribute__((unused))) override{};
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
+
 private:
     ConfigurationInterface* configuration_;
     galileo_pcps_8ms_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -50,7 +50,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    Acq_Conf acq_parameters;
     configuration_ = configuration;
     std::string default_item_type = "gr_complex";
     std::string default_dump_filename = "./acquisition.mat";
@@ -61,41 +60,67 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
 
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
-    acq_parameters.fs_in = fs_in_;
+    acq_parameters_.fs_in = fs_in_;
-    acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
     if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
-    acq_parameters.doppler_max = doppler_max_;
+    acq_parameters_.doppler_max = doppler_max_;
-    acq_parameters.ms_per_code = 4;
+    acq_parameters_.ms_per_code = 4;
-    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
-    acq_parameters.sampled_ms = sampled_ms_;
+    acq_parameters_.sampled_ms = sampled_ms_;
-    if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
+    if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
         {
             LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 4. Setting it to 4";
-            acq_parameters.sampled_ms = acq_parameters.ms_per_code;
+            acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
         }
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
-    acq_parameters.bit_transition_flag = bit_transition_flag_;
+    acq_parameters_.bit_transition_flag = bit_transition_flag_;
     use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true);  //will be false in future versions
-    acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
+    acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
     acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false);  //will be true in future versions
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
-    acq_parameters.max_dwells = max_dwells_;
+    acq_parameters_.max_dwells = max_dwells_;
     dump_ = configuration_->property(role + ".dump", false);
-    acq_parameters.dump = dump_;
+    acq_parameters_.dump = dump_;
-    acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
+    acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
     blocking_ = configuration_->property(role + ".blocking", true);
-    acq_parameters.blocking = blocking_;
+    acq_parameters_.blocking = blocking_;
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
-    acq_parameters.dump_filename = dump_filename_;
+    acq_parameters_.dump_filename = dump_filename_;
-    //--- Find number of samples per spreading code (4 ms)  -----------------
-    code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
 
-    float samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+    acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
-    acq_parameters.samples_per_ms = samples_per_ms;
+    if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
-    acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
+        {
-    vector_length_ = sampled_ms_ * samples_per_ms;
+            LOG(WARNING) << "Galileo E1 acqisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
+            acq_parameters_.use_automatic_resampler = false;
+        }
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            if (acq_parameters_.fs_in > Galileo_E1_OPT_ACQ_FS_HZ)
+                {
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E1_OPT_ACQ_FS_HZ);
+                    uint32_t decimation = acq_parameters_.fs_in / Galileo_E1_OPT_ACQ_FS_HZ;
+                    while (acq_parameters_.fs_in % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    acq_parameters_.resampler_ratio = decimation;
+                    acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
+                }
+            //--- Find number of samples per spreading code (4 ms)  -----------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+        }
+    else
+        {
+            //--- Find number of samples per spreading code (4 ms)  -----------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+        }
 
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
+    vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms;
     if (bit_transition_flag_)
         {
             vector_length_ *= 2;
@@ -111,12 +136,12 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
         {
             item_size_ = sizeof(gr_complex);
         }
-    acq_parameters.it_size = item_size_;
+    acq_parameters_.it_size = item_size_;
-    acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
+    acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
-    acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
+    acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
-    acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
+    acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
-    acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
+    acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
-    acquisition_ = pcps_make_acquisition(acq_parameters);
+    acquisition_ = pcps_make_acquisition(acq_parameters_);
     DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
 
     if (item_type_ == "cbyte")
@@ -227,13 +252,29 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
         {
             //set local signal generator to Galileo E1 pilot component (1C)
             char pilot_signal[3] = "1C";
-            galileo_e1_code_gen_complex_sampled(code, pilot_signal,
+            if (acq_parameters_.use_automatic_resampler)
-                cboc, gnss_synchro_->PRN, fs_in_, 0, false);
+                {
+                    galileo_e1_code_gen_complex_sampled(code, pilot_signal,
+                        cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
+                }
+            else
+                {
+                    galileo_e1_code_gen_complex_sampled(code, pilot_signal,
+                        cboc, gnss_synchro_->PRN, fs_in_, 0, false);
+                }
         }
     else
         {
-            galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
+            if (acq_parameters_.use_automatic_resampler)
-                cboc, gnss_synchro_->PRN, fs_in_, 0, false);
+                {
+                    galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
+                        cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
+                }
+            else
+                {
+                    galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
+                        cboc, gnss_synchro_->PRN, fs_in_, 0, false);
+                }
         }
 
 
@@ -352,3 +393,8 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
 {
     return acquisition_;
 }
+
+void GalileoE1PcpsAmbiguousAcquisition::set_resampler_latency(uint32_t latency_samples)
+{
+    acquisition_->set_resampler_latency(latency_samples);
+}

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h

@@ -32,6 +32,7 @@
 #ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
 #define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
 
+#include "acq_conf.h"
 #include "acquisition_interface.h"
 #include "complex_byte_to_float_x2.h"
 #include "gnss_synchro.h"
@@ -137,8 +138,16 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Sets the resampler latency to account it in the acquisition code delay estimation
+     */
+
+    void set_resampler_latency(uint32_t latency_samples) override;
+
+
 private:
     ConfigurationInterface* configuration_;
+    Acq_Conf acq_parameters_;
     pcps_acquisition_sptr acquisition_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -89,7 +89,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     //   dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
     //   acq_parameters.dump_filename = dump_filename_;
     //--- Find number of samples per spreading code (4 ms)  -----------------
-    unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
     //acq_parameters.samples_per_code = code_length_;
     //int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
     //acq_parameters.samples_per_ms = samples_per_ms;
@@ -120,9 +120,9 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
 
     // compute all the GALILEO E1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
-    gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true);  // Direct FFT
+    auto* fft_if = new gr::fft::fft_complex(nsamples_total, true);  // Direct FFT
-    std::complex<float>* code = new std::complex<float>[nsamples_total];            // buffer for the local code
+    auto* code = new std::complex<float>[nsamples_total];           // buffer for the local code
-    gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
     d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E1_NUMBER_OF_CODES];  // memory containing all the possible fft codes for PRN 0 to 32
     float max;                                                                      // temporary maxima search
 
@@ -174,7 +174,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
             //        // fill in zero padding
             for (int s = code_length; s < nsamples_total; s++)
                 {
-                    code[s] = std::complex<float>(static_cast<float>(0, 0));
+                    code[s] = std::complex<float>(0.0, 0.0);
                     //code[s] = 0;
                 }
 

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -142,6 +142,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     //pcps_acquisition_sptr acquisition_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h

@@ -131,6 +131,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_cccwsr_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h

@@ -135,6 +135,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_quicksync_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h

@@ -134,6 +134,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_tong_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h

@@ -137,6 +137,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -49,7 +49,6 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    Acq_Conf acq_parameters = Acq_Conf();
     configuration_ = configuration;
     std::string default_item_type = "gr_complex";
     std::string default_dump_filename = "./acquisition.mat";
@@ -60,8 +59,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
 
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
-    acq_parameters.fs_in = fs_in_;
+    acq_parameters_.fs_in = fs_in_;
-    acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
     acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
     acq_iq_ = configuration_->property(role + ".acquire_iq", false);
     if (acq_iq_)
@@ -69,22 +67,58 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
             acq_pilot_ = false;
         }
     dump_ = configuration_->property(role + ".dump", false);
-    acq_parameters.dump = dump_;
+    acq_parameters_.dump = dump_;
-    acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
+    acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
     if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
-    acq_parameters.doppler_max = doppler_max_;
+    acq_parameters_.doppler_max = doppler_max_;
     sampled_ms_ = 1;
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
-    acq_parameters.max_dwells = max_dwells_;
+    acq_parameters_.max_dwells = max_dwells_;
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
-    acq_parameters.dump_filename = dump_filename_;
+    acq_parameters_.dump_filename = dump_filename_;
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
-    acq_parameters.bit_transition_flag = bit_transition_flag_;
+    acq_parameters_.bit_transition_flag = bit_transition_flag_;
     use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
-    acq_parameters.use_CFAR_algorithm_flag = use_CFAR_;
+    acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_;
     blocking_ = configuration_->property(role + ".blocking", true);
-    acq_parameters.blocking = blocking_;
+    acq_parameters_.blocking = blocking_;
+
+
+    acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
+    if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
+        {
+            LOG(WARNING) << "Galileo E5a acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
+            acq_parameters_.use_automatic_resampler = false;
+        }
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            if (acq_parameters_.fs_in > Galileo_E5a_OPT_ACQ_FS_HZ)
+                {
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E5a_OPT_ACQ_FS_HZ);
+                    uint32_t decimation = acq_parameters_.fs_in / Galileo_E5a_OPT_ACQ_FS_HZ;
+                    while (acq_parameters_.fs_in % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    acq_parameters_.resampler_ratio = decimation;
+                    acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
+                }
+
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+        }
+    else
+        {
+            acq_parameters_.resampled_fs = fs_in_;
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+        }
+
     //--- Find number of samples per spreading code (1ms)-------------------------
     code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
     vector_length_ = code_length_ * sampled_ms_;
@@ -104,16 +138,15 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
             item_size_ = sizeof(gr_complex);
             LOG(WARNING) << item_type_ << " unknown acquisition item type";
         }
-    acq_parameters.it_size = item_size_;
+    acq_parameters_.it_size = item_size_;
-    acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+    acq_parameters_.sampled_ms = sampled_ms_;
-    acq_parameters.sampled_ms = sampled_ms_;
+    acq_parameters_.ms_per_code = 1;
-    acq_parameters.ms_per_code = 1;
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
-    acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
+    acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
-    acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
+    acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
-    acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
+    acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
-    acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
+    acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
-    acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
+    acquisition_ = pcps_make_acquisition(acq_parameters_);
-    acquisition_ = pcps_make_acquisition(acq_parameters);
 
     channel_ = 0;
     threshold_ = 0.0;
@@ -224,7 +257,14 @@ void GalileoE5aPcpsAcquisition::set_local_code()
             strcpy(signal_, "5I");
         }
 
-    galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
+        }
+    else
+        {
+            galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
+        }
 
     for (unsigned int i = 0; i < sampled_ms_; i++)
         {
@@ -311,3 +351,8 @@ gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_right_block()
 {
     return acquisition_;
 }
+
+void GalileoE5aPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
+{
+    acquisition_->set_resampler_latency(latency_samples);
+}

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h

@@ -128,13 +128,19 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Sets the resampler latency to account it in the acquisition code delay estimation
+     */
+
+    void set_resampler_latency(uint32_t latency_samples) override;
+
 private:
     float calculate_threshold(float pfa);
 
     ConfigurationInterface* configuration_;
 
     pcps_acquisition_sptr acquisition_;
-
+    Acq_Conf acq_parameters_;
     size_t item_size_;
 
     std::string item_type_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -89,7 +89,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
             acq_pilot_ = false;
         }
 
-    unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
     acq_parameters.code_length = code_length;
     // The FPGA can only use FFT lengths that are a power of two.
     float nbits = ceilf(log2f((float)code_length));
@@ -108,9 +108,9 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
 
     // compute all the GALILEO E5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
-    gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true);  // Direct FFT
+    auto* fft_if = new gr::fft::fft_complex(nsamples_total, true);  // Direct FFT
-    std::complex<float>* code = new std::complex<float>[nsamples_total];            // buffer for the local code
+    auto* code = new std::complex<float>[nsamples_total];           // buffer for the local code
-    gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
     d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES];  // memory containing all the possible fft codes for PRN 0 to 32
     float max;                                                                       // temporary maxima search
 
@@ -141,7 +141,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
             // fill in zero padding
             for (int s = code_length; s < nsamples_total; s++)
                 {
-                    code[s] = std::complex<float>(static_cast<float>(0, 0));
+                    code[s] = std::complex<float>(0.0, 0.0);
                     //code[s] = 0;
                 }
 

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -130,6 +130,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     //float calculate_threshold(float pfa);
 

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

@@ -137,6 +137,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_sptr acquisition_;

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h

@@ -136,6 +136,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_sptr acquisition_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -54,7 +54,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    Acq_Conf acq_parameters = Acq_Conf();
     configuration_ = configuration;
     std::string default_item_type = "gr_complex";
     std::string default_dump_filename = "./acquisition.mat";
@@ -64,36 +63,64 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
     item_type_ = configuration_->property(role + ".item_type", default_item_type);
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
-    acq_parameters.fs_in = fs_in_;
+    acq_parameters_.fs_in = fs_in_;
-    acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
     dump_ = configuration_->property(role + ".dump", false);
-    acq_parameters.dump = dump_;
+    acq_parameters_.dump = dump_;
-    acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
+    acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
     blocking_ = configuration_->property(role + ".blocking", true);
-    acq_parameters.blocking = blocking_;
+    acq_parameters_.blocking = blocking_;
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
     if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
-    acq_parameters.doppler_max = doppler_max_;
+    acq_parameters_.doppler_max = doppler_max_;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
-    acq_parameters.sampled_ms = sampled_ms_;
+    acq_parameters_.sampled_ms = sampled_ms_;
-    acq_parameters.ms_per_code = 1;
+    acq_parameters_.ms_per_code = 1;
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
-    acq_parameters.bit_transition_flag = bit_transition_flag_;
+    acq_parameters_.bit_transition_flag = bit_transition_flag_;
     use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true);  //will be false in future versions
-    acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
+    acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
-    acq_parameters.max_dwells = max_dwells_;
+    acq_parameters_.max_dwells = max_dwells_;
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
-    acq_parameters.dump_filename = dump_filename_;
+    acq_parameters_.dump_filename = dump_filename_;
-    acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
+    acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
-    acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
+    acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
-    acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
+    acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
-    //--- Find number of samples per spreading code -------------------------
+    acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
-    code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
+    if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
-    acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+        {
-    acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
+            LOG(WARNING) << "GPS L1 CA acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
+            acq_parameters_.use_automatic_resampler = false;
+        }
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            if (acq_parameters_.fs_in > GPS_L1_CA_OPT_ACQ_FS_HZ)
+                {
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L1_CA_OPT_ACQ_FS_HZ);
+                    uint32_t decimation = acq_parameters_.fs_in / GPS_L1_CA_OPT_ACQ_FS_HZ;
+                    while (acq_parameters_.fs_in % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    acq_parameters_.resampler_ratio = decimation;
+                    acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
+                }
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters_.resampled_fs)));
+        }
+    else
+        {
+            acq_parameters_.resampled_fs = fs_in_;
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters_.fs_in)));
+        }
 
-    vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
+    vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
     code_ = new gr_complex[vector_length_];
 
     if (item_type_ == "cshort")
@@ -105,9 +132,9 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
             item_size_ = sizeof(gr_complex);
         }
 
-    acq_parameters.it_size = item_size_;
+    acq_parameters_.it_size = item_size_;
-    acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
+    acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
-    acquisition_ = pcps_make_acquisition(acq_parameters);
+    acquisition_ = pcps_make_acquisition(acq_parameters_);
     DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
 
     if (item_type_ == "cbyte")
@@ -208,8 +235,14 @@ void GpsL1CaPcpsAcquisition::set_local_code()
 {
     auto* code = new std::complex<float>[code_length_];
 
-    gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
+    if (acq_parameters_.use_automatic_resampler)
-
+        {
+            gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
+        }
+    else
+        {
+            gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
+        }
     for (unsigned int i = 0; i < sampled_ms_; i++)
         {
             memcpy(&(code_[i * code_length_]), code,
@@ -325,3 +358,8 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
 {
     return acquisition_;
 }
+
+void GpsL1CaPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
+{
+    acquisition_->set_resampler_latency(latency_samples);
+}

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h

@@ -36,6 +36,7 @@
 #ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
 #define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
 
+#include "acq_conf.h"
 #include "acquisition_interface.h"
 #include "complex_byte_to_float_x2.h"
 #include "gnss_synchro.h"
@@ -141,9 +142,17 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Sets the resampler latency to account it in the acquisition code delay estimation
+     */
+
+    void set_resampler_latency(uint32_t latency_samples) override;
+
+
 private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_sptr acquisition_;
+    Acq_Conf acq_parameters_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
     size_t item_size_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h

@@ -132,6 +132,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     pcps_acquisition_fine_doppler_cc_sptr acquisition_cc_;
     size_t item_size_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -74,7 +74,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     acq_parameters.doppler_max = doppler_max_;
     unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
     acq_parameters.sampled_ms = sampled_ms;
-    unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
     acq_parameters.code_length = code_length;
     // The FPGA can only use FFT lengths that are a power of two.
     float nbits = ceilf(log2f((float)code_length));
@@ -90,10 +90,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
 
     // compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
-    gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
+    auto* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
     // allocate memory to compute all the PRNs and compute all the possible codes
-    std::complex<float>* code = new std::complex<float>[nsamples_total];  // buffer for the local code
+    auto* code = new std::complex<float>[nsamples_total];  // buffer for the local code
-    gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
     d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs];  // memory containing all the possible fft codes for PRN 0 to 32
     float max;                                                    // temporary maxima search
     for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
@@ -102,7 +102,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
             // fill in zero padding
             for (int s = code_length; s < nsamples_total; s++)
                 {
-                    code[s] = std::complex<float>(static_cast<float>(0, 0));
+                    code[s] = std::complex<float>(0.0, 0.0);
                     //code[s] = 0;
                 }
             int offset = 0;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h

@@ -140,6 +140,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h

@@ -128,6 +128,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     pcps_assisted_acquisition_cc_sptr acquisition_cc_;
     size_t item_size_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h

@@ -130,6 +130,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_opencl_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h

@@ -136,6 +136,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_quicksync_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h

@@ -135,6 +135,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     pcps_tong_acquisition_cc_sptr acquisition_cc_;

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -52,7 +52,6 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    Acq_Conf acq_parameters = Acq_Conf();
     configuration_ = configuration;
     std::string default_item_type = "gr_complex";
     std::string default_dump_filename = "./acquisition.mat";
@@ -60,42 +59,73 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     LOG(INFO) << "role " << role;
 
     item_type_ = configuration_->property(role + ".item_type", default_item_type);
-    //float pfa =  configuration_->property(role + ".pfa", 0.0);
-
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
-    acq_parameters.fs_in = fs_in_;
+    acq_parameters_.fs_in = fs_in_;
-    acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
     dump_ = configuration_->property(role + ".dump", false);
-    acq_parameters.dump = dump_;
+    acq_parameters_.dump = dump_;
-    acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
+    acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
     blocking_ = configuration_->property(role + ".blocking", true);
-    acq_parameters.blocking = blocking_;
+    acq_parameters_.blocking = blocking_;
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
     if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
-    acq_parameters.doppler_max = doppler_max_;
+    acq_parameters_.doppler_max = doppler_max_;
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
-    acq_parameters.bit_transition_flag = bit_transition_flag_;
+    acq_parameters_.bit_transition_flag = bit_transition_flag_;
     use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true);  //will be false in future versions
-    acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
+    acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
-    acq_parameters.max_dwells = max_dwells_;
+    acq_parameters_.max_dwells = max_dwells_;
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
-    acq_parameters.dump_filename = dump_filename_;
+    acq_parameters_.dump_filename = dump_filename_;
-    //--- Find number of samples per spreading code -------------------------
+    acq_parameters_.ms_per_code = 20;
-    acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+    acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
-    acq_parameters.ms_per_code = 20;
+    if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
-    acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
-    if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
         {
             LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 20. Setting it to 20";
-            acq_parameters.sampled_ms = acq_parameters.ms_per_code;
+            acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
         }
 
-    code_length_ = acq_parameters.ms_per_code * acq_parameters.samples_per_ms;
+    acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
+    acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
+    acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
+    acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
+    acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
+    if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
+        {
+            LOG(WARNING) << "GPS L2CM acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
+            acq_parameters_.use_automatic_resampler = false;
+        }
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            if (acq_parameters_.fs_in > GPS_L2C_OPT_ACQ_FS_HZ)
+                {
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L2C_OPT_ACQ_FS_HZ);
+                    uint32_t decimation = acq_parameters_.fs_in / GPS_L2C_OPT_ACQ_FS_HZ;
+                    while (acq_parameters_.fs_in % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    acq_parameters_.resampler_ratio = decimation;
+                    acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
+                }
 
-    vector_length_ = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+        }
+    else
+        {
+            acq_parameters_.resampled_fs = fs_in_;
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+        }
 
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
+    vector_length_ = acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms * (acq_parameters_.bit_transition_flag ? 2 : 1);
     code_ = new gr_complex[vector_length_];
 
     if (item_type_ == "cshort")
@@ -107,14 +137,8 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
             item_size_ = sizeof(gr_complex);
         }
 
-    acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
+    acq_parameters_.it_size = item_size_;
-    acq_parameters.it_size = item_size_;
+    acquisition_ = pcps_make_acquisition(acq_parameters_);
-
-    acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
-    acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
-    acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
-    acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
-    acquisition_ = pcps_make_acquisition(acq_parameters);
     DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
 
     if (item_type_ == "cbyte")
@@ -127,7 +151,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    num_codes_ = acq_parameters.sampled_ms / acq_parameters.ms_per_code;
+    num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";
@@ -223,7 +247,16 @@ void GpsL2MPcpsAcquisition::set_local_code()
 {
     auto* code = new std::complex<float>[code_length_];
 
-    gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
+
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
+        }
+    else
+        {
+            gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
+        }
+
 
     for (unsigned int i = 0; i < num_codes_; i++)
         {
@@ -339,3 +372,7 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
 {
     return acquisition_;
 }
+void GpsL2MPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
+{
+    acquisition_->set_resampler_latency(latency_samples);
+}

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -139,9 +139,17 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Sets the resampler latency to account it in the acquisition code delay estimation
+     */
+
+    void set_resampler_latency(uint32_t latency_samples) override;
+
+
 private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_sptr acquisition_;
+    Acq_Conf acq_parameters_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
     size_t item_size_;

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -104,10 +104,10 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
 
     // compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
-    gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
+    auto* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
     // allocate memory to compute all the PRNs and compute all the possible codes
-    std::complex<float>* code = new std::complex<float>[nsamples_total];  // buffer for the local code
+    auto* code = new std::complex<float>[nsamples_total];  // buffer for the local code
-    gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
     d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs];  // memory containing all the possible fft codes for PRN 0 to 32
     float max;                                                    // temporary maxima search
     for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
@@ -116,7 +116,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
             // fill in zero padding
             for (int s = code_length; s < nsamples_total; s++)
                 {
-                    code[s] = std::complex<float>(static_cast<float>(0, 0));
+                    code[s] = std::complex<float>(0.0, 0.0);
                     //code[s] = 0;
                 }
             memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total);            // copy to FFT buffer

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h

@@ -140,6 +140,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     //pcps_acquisition_sptr acquisition_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -52,7 +52,6 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    Acq_Conf acq_parameters = Acq_Conf();
     configuration_ = configuration;
     std::string default_item_type = "gr_complex";
     std::string default_dump_filename = "./acquisition.mat";
@@ -63,32 +62,24 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
 
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
-    acq_parameters.fs_in = fs_in_;
+    acq_parameters_.fs_in = fs_in_;
-    acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
     dump_ = configuration_->property(role + ".dump", false);
-    acq_parameters.dump = dump_;
+    acq_parameters_.dump = dump_;
-    acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
+    acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
     blocking_ = configuration_->property(role + ".blocking", true);
-    acq_parameters.blocking = blocking_;
+    acq_parameters_.blocking = blocking_;
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
     if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
-    acq_parameters.doppler_max = doppler_max_;
+    acq_parameters_.doppler_max = doppler_max_;
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
-    acq_parameters.bit_transition_flag = bit_transition_flag_;
+    acq_parameters_.bit_transition_flag = bit_transition_flag_;
     use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true);  //will be false in future versions
-    acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
+    acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
-    acq_parameters.max_dwells = max_dwells_;
+    acq_parameters_.max_dwells = max_dwells_;
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
-    acq_parameters.dump_filename = dump_filename_;
+    acq_parameters_.dump_filename = dump_filename_;
-    acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
+    acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
-    //--- Find number of samples per spreading code -------------------------
-    code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
-    acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
-    acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
-
-    vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
-    code_ = new gr_complex[vector_length_];
 
     if (item_type_ == "cshort")
         {
@@ -99,14 +90,51 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
             item_size_ = sizeof(gr_complex);
         }
 
-    acq_parameters.ms_per_code = 1;
+    acq_parameters_.ms_per_code = 1;
-    acq_parameters.it_size = item_size_;
+    acq_parameters_.it_size = item_size_;
-    num_codes_ = acq_parameters.sampled_ms;
+    num_codes_ = acq_parameters_.sampled_ms;
-    acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
+    acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
-    acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
+    acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
-    acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
+    acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
-    acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
+    acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
-    acquisition_ = pcps_make_acquisition(acq_parameters);
+    acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
+    if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
+        {
+            LOG(WARNING) << "GPS L5 acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
+            acq_parameters_.use_automatic_resampler = false;
+        }
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            if (acq_parameters_.fs_in > GPS_L5_OPT_ACQ_FS_HZ)
+                {
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L5_OPT_ACQ_FS_HZ);
+                    uint32_t decimation = acq_parameters_.fs_in / GPS_L5_OPT_ACQ_FS_HZ;
+                    while (acq_parameters_.fs_in % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    acq_parameters_.resampler_ratio = decimation;
+                    acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
+                }
+
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+        }
+    else
+        {
+            acq_parameters_.resampled_fs = fs_in_;
+            //--- Find number of samples per spreading code -------------------------
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
+            acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+        }
+
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
+    vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
+    code_ = new gr_complex[vector_length_];
+    acquisition_ = pcps_make_acquisition(acq_parameters_);
     DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
 
     if (item_type_ == "cbyte")
@@ -114,6 +142,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
             cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
             float_to_complex_ = gr::blocks::float_to_complex::make();
         }
+
     channel_ = 0;
     threshold_ = 0.0;
     doppler_step_ = 0;
@@ -211,7 +240,15 @@ void GpsL5iPcpsAcquisition::set_local_code()
 {
     auto* code = new std::complex<float>[code_length_];
 
-    gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
+
+    if (acq_parameters_.use_automatic_resampler)
+        {
+            gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
+        }
+    else
+        {
+            gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
+        }
 
     for (unsigned int i = 0; i < num_codes_; i++)
         {
@@ -327,3 +364,8 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_right_block()
 {
     return acquisition_;
 }
+
+void GpsL5iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
+{
+    acquisition_->set_resampler_latency(latency_samples);
+}

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -139,9 +139,16 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Sets the resampler latency to account it in the acquisition code delay estimation
+     */
+
+    void set_resampler_latency(uint32_t latency_samples) override;
+
 private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_sptr acquisition_;
+    Acq_Conf acq_parameters_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
     size_t item_size_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -89,7 +89,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     //dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
     //acq_parameters.dump_filename = dump_filename_;
     //--- Find number of samples per spreading code -------------------------
-    unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
     acq_parameters.code_length = code_length;
     // The FPGA can only use FFT lengths that are a power of two.
     float nbits = ceilf(log2f((float)code_length));
@@ -105,11 +105,11 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     //printf("L5 ACQ CLASS MID 01\n");
     // compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
-    gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
+    auto* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
     //printf("L5 ACQ CLASS MID 02\n");
-    std::complex<float>* code = new gr_complex[vector_length];
+    auto* code = new gr_complex[vector_length];
     //printf("L5 ACQ CLASS MID 03\n");
-    gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
     //printf("L5 ACQ CLASS MID 04\n");
     d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs];  // memory containing all the possible fft codes for PRN 0 to 32
 
@@ -124,7 +124,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
             // fill in zero padding
             for (int s = code_length; s < nsamples_total; s++)
                 {
-                    code[s] = std::complex<float>(static_cast<float>(0, 0));
+                    code[s] = std::complex<float>(0.0, 0.0);
                     //code[s] = 0;
                 }
             memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total);            // copy to FFT buffer

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -140,6 +140,8 @@ public:
      */
     void stop_acquisition() override;
 
+    void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
+
 private:
     ConfigurationInterface* configuration_;
     //pcps_acquisition_sptr acquisition_;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -221,6 +221,12 @@ pcps_acquisition::~pcps_acquisition()
 }
 
 
+void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
+{
+    gr::thread::scoped_lock lock(d_setlock);  // require mutex with work function called by the scheduler
+    acq_parameters.resampler_latency_samples = latency_samples;
+}
+
 void pcps_acquisition::set_local_code(std::complex<float>* code)
 {
     // reset the intermediate frequency
@@ -280,7 +286,15 @@ bool pcps_acquisition::is_fdma()
 
 void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq)
 {
-    float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
+    float phase_step_rad;
+    if (acq_parameters.use_automatic_resampler)
+        {
+            phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.resampled_fs);
+        }
+    else
+        {
+            phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
+        }
     float _phase[1];
     _phase[0] = 0.0;
     volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
@@ -716,9 +730,20 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
                 {
                     d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
                 }
-            d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
+            if (acq_parameters.use_automatic_resampler)
-            d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
+                {
-            d_gnss_synchro->Acq_samplestamp_samples = samp_count;
+                    //take into account the acquisition resampler ratio
+                    d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
+                    d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples);  //account the resampler filter latency
+                    d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
+                    d_gnss_synchro->Acq_samplestamp_samples = rint(static_cast<double>(samp_count) * acq_parameters.resampler_ratio);
+                }
+            else
+                {
+                    d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
+                    d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
+                    d_gnss_synchro->Acq_samplestamp_samples = samp_count;
+                }
         }
     else
         {
@@ -762,10 +787,23 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
                 {
                     d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
                 }
-            d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
+
-            d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
+            if (acq_parameters.use_automatic_resampler)
-            d_gnss_synchro->Acq_samplestamp_samples = samp_count;
+                {
-            d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
+                    //take into account the acquisition resampler ratio
+                    d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
+                    d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples);  //account the resampler filter latency
+                    d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
+                    d_gnss_synchro->Acq_samplestamp_samples = rint(static_cast<double>(samp_count) * acq_parameters.resampler_ratio);
+                    d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
+                }
+            else
+                {
+                    d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
+                    d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
+                    d_gnss_synchro->Acq_samplestamp_samples = samp_count;
+                    d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
+                }
         }
 
     lk.lock();
@@ -865,6 +903,12 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
         }
 }
 
+// Called by gnuradio to enable drivers, etc for i/o devices.
+bool pcps_acquisition::start()
+{
+    d_sample_counter = 0ULL;
+    return true;
+}
 
 int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
     gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -98,6 +98,9 @@ private:
     float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
     float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
 
+    bool start();
+
+
     Acq_Conf acq_parameters;
     bool d_active;
     bool d_worker_active;
@@ -233,6 +236,9 @@ public:
         d_doppler_step = doppler_step;
     }
 
+
+    void set_resampler_latency(uint32_t latency_samples);
+
     /*!
       * \brief Parallel Code Phase Search Acquisition signal processing.
       */

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -42,6 +42,7 @@
 #include "pcps_acquisition_fpga.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
+#include <utility>
 
 
 #define AQ_DOWNSAMPLING_DELAY 40  // delay due to the downsampling filter in the acquisition
@@ -50,7 +51,7 @@ using google::LogMessage;
 
 pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
 {
-    return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_));
+    return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_)));
 }
 
 
@@ -61,7 +62,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
     //   printf("acq constructor start\n");
     this->message_port_register_out(pmt::mp("events"));
 
-    acq_parameters = conf_;
+    acq_parameters = std::move(conf_);
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
     d_active = false;
     d_state = 0;
@@ -74,7 +75,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
     d_doppler_step = 0U;
     d_test_statistics = 0.0;
     d_channel = 0U;
-    d_gnss_synchro = 0;
+    d_gnss_synchro = nullptr;
 
     //printf("zzzz acq_parameters.code_length = %d\n", acq_parameters.code_length);
     //printf("zzzz acq_parameters.samples_per_ms = %d\n", acq_parameters.samples_per_ms);
@@ -256,7 +257,7 @@ void pcps_acquisition_fpga::set_active(bool active)
                     d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
                     d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
 
-                    d_test_statistics = (d_mag / d_input_power); //* correction_factor;
+                    d_test_statistics = (d_mag / d_input_power); // correction_factor;
                 }
 
             // In the case of the FPGA the option of dumping the results of the acquisition to a file is not available

src/algorithms/acquisition/libs/acq_conf.cc

@@ -53,4 +53,8 @@ Acq_Conf::Acq_Conf()
     dump_channel = 0U;
     it_size = sizeof(char);
     blocking_on_standby = false;
+    use_automatic_resampler = false;
+    resampler_ratio = 1.0;
+    resampled_fs = 0LL;
+    resampler_latency_samples = 0U;
 }

src/algorithms/acquisition/libs/acq_conf.h

@@ -56,6 +56,10 @@ public:
     bool blocking;
     bool blocking_on_standby;  // enable it only for unit testing to avoid sample consume on idle status
     bool make_2_steps;
+    bool use_automatic_resampler;
+    float resampler_ratio;
+    int64_t resampled_fs;
+    uint32_t resampler_latency_samples;
     std::string dump_filename;
     uint32_t dump_channel;
     size_t it_size;

src/algorithms/acquisition/libs/fpga_acquisition.cc

@@ -40,6 +40,7 @@
 #include <fcntl.h>  // libraries used by the GIPO
 #include <iostream>
 #include <sys/mman.h>  // libraries used by the GIPO
+#include <utility>
 
 
 #define PAGE_SIZE 0x10000                     // default page size for the multicorrelator memory map
@@ -102,7 +103,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
 
     //printf("AAA- vector_length = %d\n ", vector_length);
     // initial values
-    d_device_name = device_name;
+    d_device_name = std::move(device_name);
     //d_freq = freq;
     d_fs_in = fs_in;
     d_vector_length = vector_length;
@@ -121,7 +122,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
             LOG(WARNING) << "Cannot open deviceio" << d_device_name;
             std::cout << "Acq: cannot open deviceio" << d_device_name << std::endl;
         }
-    d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
+    d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
         PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
 
     if (d_map_base == reinterpret_cast<void *>(-1))
@@ -234,7 +235,7 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
     float phase_step_rad_int_temp;
     int32_t phase_step_rad_int;
     //int32_t doppler = static_cast<int32_t>(-d_doppler_max) + d_doppler_step * doppler_index;
-    int32_t doppler = static_cast<int32_t>(-d_doppler_max);
+    auto doppler = static_cast<int32_t>(-d_doppler_max);
     //float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
     float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
     // The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
@@ -408,7 +409,7 @@ void fpga_acquisition::unblock_samples()
 
 void fpga_acquisition::close_device()
 {
-    uint32_t *aux = const_cast<uint32_t *>(d_map_base);
+    auto *aux = const_cast<uint32_t *>(d_map_base);
     if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
         {
             printf("Failed to unmap memory uio\n");

src/algorithms/channel/adapters/channel.cc

@@ -38,12 +38,10 @@
 using google::LogMessage;
 
 // Constructor
-Channel::Channel(ConfigurationInterface* configuration, uint32_t channel,
+Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
-    std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
     std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
     std::string role, std::string implementation, gr::msg_queue::sptr queue)
 {
-    pass_through_ = std::move(pass_through);
     acq_ = std::move(acq);
     trk_ = std::move(trk);
     nav_ = std::move(nav);
@@ -112,32 +110,15 @@ Channel::~Channel() = default;
 
 void Channel::connect(gr::top_block_sptr top_block)
 {
-    if (connected_)
-        {
-            LOG(WARNING) << "channel already connected internally";
-            return;
-        }
-    if (flag_enable_fpga == false)
-        {
-            pass_through_->connect(top_block);
-        }
     acq_->connect(top_block);
     trk_->connect(top_block);
     nav_->connect(top_block);
 
     //Synchronous ports
-    if (flag_enable_fpga == false)
-        {
-            top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
-            DLOG(INFO) << "pass_through_ -> acquisition";
-            top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
-            DLOG(INFO) << "pass_through_ -> tracking";
-        }
     top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
     DLOG(INFO) << "tracking -> telemetry_decoder";
 
     // Message ports
-
     top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
     top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
 
@@ -153,17 +134,8 @@ void Channel::disconnect(gr::top_block_sptr top_block)
             return;
         }
 
-    if (flag_enable_fpga == false)
-        {
-            top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
-            top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
-        }
     top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
 
-    if (flag_enable_fpga == false)
-        {
-            pass_through_->disconnect(top_block);
-        }
     acq_->disconnect(top_block);
     trk_->disconnect(top_block);
     nav_->disconnect(top_block);
@@ -173,9 +145,19 @@ void Channel::disconnect(gr::top_block_sptr top_block)
 
 gr::basic_block_sptr Channel::get_left_block()
 {
-    return pass_through_->get_left_block();
+    LOG(ERROR) << "Deprecated call to get_left_block() in channel interface";
+    return nullptr;
 }
 
+gr::basic_block_sptr Channel::get_left_block_trk()
+{
+    return trk_->get_left_block();
+}
+
+gr::basic_block_sptr Channel::get_left_block_acq()
+{
+    return acq_->get_left_block();
+}
 
 gr::basic_block_sptr Channel::get_right_block()
 {

src/algorithms/channel/adapters/channel.h

@@ -60,16 +60,17 @@ class Channel : public ChannelInterface
 {
 public:
     //! Constructor
-    Channel(ConfigurationInterface* configuration, uint32_t channel,
+    Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
-        std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
         std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
         std::string role, std::string implementation, gr::msg_queue::sptr queue);
     //! Virtual destructor
     virtual ~Channel();
 
-    void connect(gr::top_block_sptr top_block) override;
+    void connect(gr::top_block_sptr top_block) override;  //!< connects the tracking block to the top_block and to the telemetry
     void disconnect(gr::top_block_sptr top_block) override;
-    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_left_block() override;      //!< gets the gnuradio tracking block pointer
+    gr::basic_block_sptr get_left_block_trk() override;  //!< gets the gnuradio tracking block pointer
+    gr::basic_block_sptr get_left_block_acq() override;  //!< gets the gnuradio tracking block pointer
     gr::basic_block_sptr get_right_block() override;
 
     inline std::string role() override { return role_; }
@@ -88,7 +89,6 @@ public:
 
 private:
     channel_msg_receiver_cc_sptr channel_msg_rx;
-    std::shared_ptr<GNSSBlockInterface> pass_through_;
     std::shared_ptr<AcquisitionInterface> acq_;
     std::shared_ptr<TrackingInterface> trk_;
     std::shared_ptr<TelemetryDecoderInterface> nav_;

src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc

@@ -33,9 +33,9 @@
 #include "gnss_synchro.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
+#include <cinttypes>
 #include <cmath>
 #include <fcntl.h>  // libraries used by the GIPO
-#include <inttypes.h>
 #include <iostream>
 #include <string>
 #include <sys/mman.h>  // libraries used by the GIPO
@@ -129,7 +129,7 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
     // variable number).
 
     sample_counter = sample_counter + samples_passed;  //samples_per_output;
-    Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
+    auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
     out[0] = Gnss_Synchro();
     out[0].Flag_valid_symbol_output = false;
     out[0].Flag_valid_word = false;
@@ -236,7 +236,7 @@ void gnss_sdr_fpga_sample_counter::open_device()
             LOG(WARNING) << "Cannot open deviceio" << device_name;
             std::cout << "Counter-Intr: cannot open deviceio" << device_name << std::endl;
         }
-    map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
+    map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
         PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
 
     if (map_base == reinterpret_cast<void *>(-1))
@@ -265,7 +265,7 @@ void gnss_sdr_fpga_sample_counter::close_device()
     //printf("=========================================== NOW closing device ...\n");
     map_base[2] = 0;  // disable the generation of the interrupt in the device
 
-    uint32_t *aux = const_cast<uint32_t *>(map_base);
+    auto *aux = const_cast<uint32_t *>(map_base);
     if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
         {
             printf("Failed to unmap memory uio\n");

src/algorithms/libs/gnss_sdr_time_counter.cc

@@ -63,8 +63,8 @@ gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter()
 int gnss_sdr_time_counter::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
     gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items)
 {
-    Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
+    auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
-    const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);
+    const auto *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);
     out[0] = in[0];
     if ((current_T_rx_ms % report_interval_ms) == 0)
         {

src/algorithms/resampler/adapters/mmse_resampler_conditioner.cc

@@ -69,7 +69,7 @@ MmseResamplerConditioner::MmseResamplerConditioner(
             std::vector<float> taps = gr::filter::firdes::low_pass(1.0,
                 sample_freq_in_,
                 sample_freq_out_ / 2.1,
-                sample_freq_out_ / 10,
+                sample_freq_out_ / 5,
                 gr::filter::firdes::win_type::WIN_HAMMING);
             std::cout << "Enabled fractional resampler low pass filter with " << taps.size() << " taps" << std::endl;
             fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(1, taps);

src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc

@@ -38,6 +38,7 @@
 #include <glog/logging.h>
 #include <exception>
 #include <iostream>  // for cout, endl
+#include <utility>
 
 #ifdef __APPLE__
 #include <iio/iio.h>
@@ -46,8 +47,8 @@
 #endif
 
 Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
-    std::string role, unsigned int in_stream, unsigned int out_stream,
+    const std::string& role, unsigned int in_stream, unsigned int out_stream,
-    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
 {
     std::string default_item_type = "gr_complex";
     std::string default_dump_file = "./data/signal_source.dat";

src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h

@@ -45,7 +45,7 @@ class Ad9361FpgaSignalSource : public GNSSBlockInterface
 {
 public:
     Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
-        std::string role, unsigned int in_stream,
+        const std::string& role, unsigned int in_stream,
         unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
 
     ~Ad9361FpgaSignalSource();

src/algorithms/signal_source/adapters/custom_udp_signal_source.cc

@@ -36,14 +36,15 @@
 #include <boost/format.hpp>
 #include <glog/logging.h>
 #include <iostream>
+#include <utility>
 
 
 using google::LogMessage;
 
 
 CustomUDPSignalSource::CustomUDPSignalSource(ConfigurationInterface* configuration,
-    std::string role, unsigned int in_stream, unsigned int out_stream,
+    const std::string& role, unsigned int in_stream, unsigned int out_stream,
-    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
 {
     // DUMP PARAMETERS
     std::string empty = "";
@@ -113,8 +114,7 @@ CustomUDPSignalSource::CustomUDPSignalSource(ConfigurationInterface* configurati
 
 
 CustomUDPSignalSource::~CustomUDPSignalSource()
-{
+= default;
-}
 
 
 void CustomUDPSignalSource::connect(gr::top_block_sptr top_block)

src/algorithms/signal_source/adapters/custom_udp_signal_source.h

@@ -54,7 +54,7 @@ class CustomUDPSignalSource : public GNSSBlockInterface
 {
 public:
     CustomUDPSignalSource(ConfigurationInterface* configuration,
-        std::string role, unsigned int in_stream,
+        const std::string& role, unsigned int in_stream,
         unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
 
     virtual ~CustomUDPSignalSource();

src/algorithms/signal_source/adapters/fmcomms2_signal_source.cc

@@ -38,13 +38,14 @@
 #include <glog/logging.h>
 #include <exception>
 #include <iostream>
+#include <utility>
 
 
 using google::LogMessage;
 
 Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration,
-    std::string role, unsigned int in_stream, unsigned int out_stream,
+    const std::string& role, unsigned int in_stream, unsigned int out_stream,
-    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
 {
     std::string default_item_type = "gr_complex";
     std::string default_dump_file = "./data/signal_source.dat";
@@ -85,7 +86,7 @@ Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration
     std::cout << "LO frequency : " << freq_ << " Hz" << std::endl;
     std::cout << "sample rate: " << sample_rate_ << " Hz" << std::endl;
 
-    if (item_type_.compare("gr_complex") == 0)
+    if (item_type_ == "gr_complex")
         {
             if (RF_channels_ == 1)
                 {

src/algorithms/signal_source/adapters/fmcomms2_signal_source.h

@@ -46,7 +46,7 @@ class Fmcomms2SignalSource : public GNSSBlockInterface
 {
 public:
     Fmcomms2SignalSource(ConfigurationInterface* configuration,
-        std::string role, unsigned int in_stream,
+        const std::string& role, unsigned int in_stream,
         unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
 
     virtual ~Fmcomms2SignalSource();

src/algorithms/signal_source/adapters/osmosdr_signal_source.cc

@@ -37,14 +37,15 @@
 #include <glog/logging.h>
 #include <gnuradio/blocks/file_sink.h>
 #include <iostream>
+#include <utility>
 
 
 using google::LogMessage;
 
 
 OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
-    std::string role, unsigned int in_stream, unsigned int out_stream,
+    const std::string& role, unsigned int in_stream, unsigned int out_stream,
-    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
 {
     // DUMP PARAMETERS
     std::string empty = "";
@@ -66,11 +67,11 @@ OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
     osmosdr_args_ = configuration->property(role + ".osmosdr_args", std::string());
     antenna_ = configuration->property(role + ".antenna", empty);
 
-    if (item_type_.compare("short") == 0)
+    if (item_type_ == "short")
         {
             item_size_ = sizeof(short);
         }
-    else if (item_type_.compare("gr_complex") == 0)
+    else if (item_type_ == "gr_complex")
         {
             item_size_ = sizeof(gr_complex);
             // 1. Make the driver instance
@@ -158,8 +159,7 @@ OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
 
 
 OsmosdrSignalSource::~OsmosdrSignalSource()
-{
+= default;
-}
 
 
 void OsmosdrSignalSource::driver_instance()

src/algorithms/signal_source/adapters/osmosdr_signal_source.h

@@ -52,7 +52,7 @@ class OsmosdrSignalSource : public GNSSBlockInterface
 {
 public:
     OsmosdrSignalSource(ConfigurationInterface* configuration,
-        std::string role, unsigned int in_stream,
+        const std::string& role, unsigned int in_stream,
         unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
 
     virtual ~OsmosdrSignalSource();

src/algorithms/signal_source/adapters/plutosdr_signal_source.cc

@@ -34,14 +34,15 @@
 #include "gnss_sdr_valve.h"
 #include <glog/logging.h>
 #include <iostream>
+#include <utility>
 
 
 using google::LogMessage;
 
 
 PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration,
-    std::string role, unsigned int in_stream, unsigned int out_stream,
+    const std::string& role, unsigned int in_stream, unsigned int out_stream,
-    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+    boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
 {
     std::string default_item_type = "gr_complex";
     std::string default_dump_file = "./data/signal_source.dat";
@@ -63,7 +64,7 @@ PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
 
-    if (item_type_.compare("gr_complex") != 0)
+    if (item_type_ != "gr_complex")
         {
             std::cout << "Configuration error: item_type must be gr_complex" << std::endl;
             LOG(FATAL) << "Configuration error: item_type must be gr_complex!";
@@ -106,8 +107,7 @@ PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration
 
 
 PlutosdrSignalSource::~PlutosdrSignalSource()
-{
+= default;
-}
 
 
 void PlutosdrSignalSource::connect(gr::top_block_sptr top_block)

src/algorithms/signal_source/adapters/plutosdr_signal_source.h

@@ -48,7 +48,7 @@ class PlutosdrSignalSource : public GNSSBlockInterface
 {
 public:
     PlutosdrSignalSource(ConfigurationInterface* configuration,
-        std::string role, unsigned int in_stream,
+        const std::string& role, unsigned int in_stream,
         unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
 
     virtual ~PlutosdrSignalSource();

src/algorithms/signal_source/adapters/uhd_signal_source.cc

@@ -33,10 +33,10 @@
 #include "configuration_interface.h"
 #include "gnss_sdr_valve.h"
 #include <glog/logging.h>
-#include <volk/volk.h>
-#include <iostream>
 #include <uhd/exception.hpp>
 #include <uhd/types/device_addr.hpp>
+#include <volk/volk.h>
+#include <iostream>
 #include <utility>
 
 

src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc

@@ -32,6 +32,7 @@
 
 #include "gr_complex_ip_packet_source.h"
 #include <gnuradio/io_signature.h>
+#include <utility>
 
 
 const int FIFO_SIZE = 1472000;
@@ -76,15 +77,15 @@ typedef struct gr_udp_header
 
 gr_complex_ip_packet_source::sptr
 gr_complex_ip_packet_source::make(std::string src_device,
-    std::string origin_address,
+    const std::string& origin_address,
     int udp_port,
     int udp_packet_size,
     int n_baseband_channels,
-    std::string wire_sample_type,
+    const std::string& wire_sample_type,
     size_t item_size,
     bool IQ_swap_)
 {
-    return gnuradio::get_initial_sptr(new gr_complex_ip_packet_source(src_device,
+    return gnuradio::get_initial_sptr(new gr_complex_ip_packet_source(std::move(src_device),
         origin_address,
         udp_port,
         udp_packet_size,
@@ -99,11 +100,11 @@ gr_complex_ip_packet_source::make(std::string src_device,
  * The private constructor
  */
 gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
-    __attribute__((unused)) std::string origin_address,
+    __attribute__((unused)) const std::string& origin_address,
     int udp_port,
     int udp_packet_size,
     int n_baseband_channels,
-    std::string wire_sample_type,
+    const std::string& wire_sample_type,
     size_t item_size,
     bool IQ_swap_)
     : gr::sync_block("gr_complex_ip_packet_source",
@@ -113,12 +114,12 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
     std::cout << "Start Ethernet packet capture\n";
 
     d_n_baseband_channels = n_baseband_channels;
-    if (wire_sample_type.compare("cbyte") == 0)
+    if (wire_sample_type == "cbyte")
         {
             d_wire_sample_type = 1;
             d_bytes_per_sample = d_n_baseband_channels * 2;
         }
-    else if (wire_sample_type.compare("c4bits") == 0)
+    else if (wire_sample_type == "c4bits")
         {
             d_wire_sample_type = 2;
             d_bytes_per_sample = d_n_baseband_channels;
@@ -129,7 +130,7 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
             exit(0);
         }
     std::cout << "d_wire_sample_type:" << d_wire_sample_type << std::endl;
-    d_src_device = src_device;
+    d_src_device = std::move(src_device);
     d_udp_port = udp_port;
     d_udp_payload_size = udp_packet_size;
     d_fifo_full = false;
@@ -142,8 +143,8 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
     d_item_size = item_size;
     d_IQ_swap = IQ_swap_;
     d_sock_raw = 0;
-    d_pcap_thread = NULL;
+    d_pcap_thread = nullptr;
-    descr = NULL;
+    descr = nullptr;
 
     memset(reinterpret_cast<char *>(&si_me), 0, sizeof(si_me));
 }
@@ -171,7 +172,7 @@ bool gr_complex_ip_packet_source::start()
 bool gr_complex_ip_packet_source::stop()
 {
     std::cout << "gr_complex_ip_packet_source STOP\n";
-    if (descr != NULL)
+    if (descr != nullptr)
         {
             pcap_breakloop(descr);
             d_pcap_thread->join();
@@ -187,7 +188,7 @@ bool gr_complex_ip_packet_source::open()
     boost::mutex::scoped_lock lock(d_mutex);  // hold mutex for duration of this function
     // open device for reading
     descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf);
-    if (descr == NULL)
+    if (descr == nullptr)
         {
             std::cout << "Error opening Ethernet device " << d_src_device << std::endl;
             std::cout << "Fatal Error in pcap_open_live(): " << std::string(errbuf) << std::endl;
@@ -220,7 +221,7 @@ bool gr_complex_ip_packet_source::open()
 
 gr_complex_ip_packet_source::~gr_complex_ip_packet_source()
 {
-    if (d_pcap_thread != NULL)
+    if (d_pcap_thread != nullptr)
         {
             delete d_pcap_thread;
         }
@@ -232,7 +233,7 @@ gr_complex_ip_packet_source::~gr_complex_ip_packet_source()
 void gr_complex_ip_packet_source::static_pcap_callback(u_char *args, const struct pcap_pkthdr *pkthdr,
     const u_char *packet)
 {
-    gr_complex_ip_packet_source *bridge = reinterpret_cast<gr_complex_ip_packet_source *>(args);
+    auto *bridge = reinterpret_cast<gr_complex_ip_packet_source *>(args);
     bridge->pcap_callback(args, pkthdr, packet);
 }
 
@@ -327,22 +328,22 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
             switch (d_wire_sample_type)
                 {
                 case 1:  // interleaved byte samples
-                    for (long unsigned int i = 0; i < output_items.size(); i++)
+                    for (auto & output_item : output_items)
                         {
                             real = fifo_buff[fifo_read_ptr++];
                             imag = fifo_buff[fifo_read_ptr++];
                             if (d_IQ_swap)
                                 {
-                                    static_cast<gr_complex *>(output_items[i])[n] = gr_complex(real, imag);
+                                    static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
                                 }
                             else
                                 {
-                                    static_cast<gr_complex *>(output_items[i])[n] = gr_complex(imag, real);
+                                    static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
                                 }
                         }
                     break;
                 case 2:  // 4-bit samples
-                    for (long unsigned int i = 0; i < output_items.size(); i++)
+                    for (auto & output_item : output_items)
                         {
                             tmp_char2 = fifo_buff[fifo_read_ptr] & 0x0F;
                             if (tmp_char2 >= 8)
@@ -365,11 +366,11 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
                                 }
                             if (d_IQ_swap)
                                 {
-                                    static_cast<gr_complex *>(output_items[i])[n] = gr_complex(imag, real);
+                                    static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
                                 }
                             else
                                 {
-                                    static_cast<gr_complex *>(output_items[i])[n] = gr_complex(real, imag);
+                                    static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
                                 }
                         }
                     break;

src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h

@@ -84,19 +84,19 @@ private:
 public:
     typedef boost::shared_ptr<gr_complex_ip_packet_source> sptr;
     static sptr make(std::string src_device,
-        std::string origin_address,
+        const std::string& origin_address,
         int udp_port,
         int udp_packet_size,
         int n_baseband_channels,
-        std::string wire_sample_type,
+        const std::string& wire_sample_type,
         size_t item_size,
         bool IQ_swap_);
     gr_complex_ip_packet_source(std::string src_device,
-        std::string origin_address,
+        const std::string& origin_address,
         int udp_port,
         int udp_packet_size,
         int n_baseband_channels,
-        std::string wire_sample_type,
+        const std::string& wire_sample_type,
         size_t item_size,
         bool IQ_swap_);
     ~gr_complex_ip_packet_source();

src/algorithms/signal_source/libs/ad9361_manager.cc

@@ -75,10 +75,10 @@ bool get_ad9361_stream_dev(struct iio_context *ctx, enum iodev d, struct iio_dev
         {
         case TX:
             *dev = iio_context_find_device(ctx, "cf-ad9361-dds-core-lpc");
-            return *dev != NULL;
+            return *dev != nullptr;
         case RX:
             *dev = iio_context_find_device(ctx, "cf-ad9361-lpc");
-            return *dev != NULL;
+            return *dev != nullptr;
         default:
             return false;
         }
@@ -100,7 +100,7 @@ bool get_ad9361_stream_ch(struct iio_context *ctx __attribute__((unused)), enum
             name << chid;
             *chn = iio_device_find_channel(dev, name.str().c_str(), d == TX);
         }
-    return *chn != NULL;
+    return *chn != nullptr;
 }
 
 
@@ -115,14 +115,14 @@ bool get_phy_chan(struct iio_context *ctx, enum iodev d, int chid, struct iio_ch
             name << "voltage";
             name << chid;
             *chn = iio_device_find_channel(get_ad9361_phy(ctx), name.str().c_str(), false);
-            return *chn != NULL;
+            return *chn != nullptr;
             break;
         case TX:
             name.str("");
             name << "voltage";
             name << chid;
             *chn = iio_device_find_channel(get_ad9361_phy(ctx), name.str().c_str(), true);
-            return *chn != NULL;
+            return *chn != nullptr;
             break;
         default:
             return false;
@@ -138,10 +138,10 @@ bool get_lo_chan(struct iio_context *ctx, enum iodev d, struct iio_channel **chn
         // LO chan is always output, i.e. true
         case RX:
             *chn = iio_device_find_channel(get_ad9361_phy(ctx), "altvoltage0", true);
-            return *chn != NULL;
+            return *chn != nullptr;
         case TX:
             *chn = iio_device_find_channel(get_ad9361_phy(ctx), "altvoltage1", true);
-            return *chn != NULL;
+            return *chn != nullptr;
         default:
             return false;
         }
@@ -151,7 +151,7 @@ bool get_lo_chan(struct iio_context *ctx, enum iodev d, struct iio_channel **chn
 /* applies streaming configuration through IIO */
 bool cfg_ad9361_streaming_ch(struct iio_context *ctx, struct stream_cfg *cfg, enum iodev type, int chid)
 {
-    struct iio_channel *chn = NULL;
+    struct iio_channel *chn = nullptr;
 
     // Configure phy and lo channels
     //LOG(INFO)<<"* Acquiring AD9361 phy channel"<<chid;
@@ -179,9 +179,9 @@ bool cfg_ad9361_streaming_ch(struct iio_context *ctx, struct stream_cfg *cfg, en
 bool config_ad9361_rx_local(uint64_t bandwidth_,
     uint64_t sample_rate_,
     uint64_t freq_,
-    std::string rf_port_select_,
+    const std::string& rf_port_select_,
-    std::string gain_mode_rx1_,
+    const std::string& gain_mode_rx1_,
-    std::string gain_mode_rx2_,
+    const std::string& gain_mode_rx2_,
     double rf_gain_rx1_,
     double rf_gain_rx2_)
 
@@ -291,13 +291,13 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
 }
 
 
-bool config_ad9361_rx_remote(std::string remote_host,
+bool config_ad9361_rx_remote(const std::string& remote_host,
     uint64_t bandwidth_,
     uint64_t sample_rate_,
     uint64_t freq_,
-    std::string rf_port_select_,
+    const std::string& rf_port_select_,
-    std::string gain_mode_rx1_,
+    const std::string& gain_mode_rx1_,
-    std::string gain_mode_rx2_,
+    const std::string& gain_mode_rx2_,
     double rf_gain_rx1_,
     double rf_gain_rx2_)
 {
@@ -543,7 +543,7 @@ bool config_ad9361_lo_local(uint64_t bandwidth_,
 }
 
 
-bool config_ad9361_lo_remote(std::string remote_host,
+bool config_ad9361_lo_remote(const std::string& remote_host,
     uint64_t bandwidth_,
     uint64_t sample_rate_,
     uint64_t freq_rf_tx_hz_,
@@ -680,7 +680,7 @@ bool config_ad9361_lo_remote(std::string remote_host,
 }
 
 
-bool ad9361_disable_lo_remote(std::string remote_host)
+bool ad9361_disable_lo_remote(const std::string& remote_host)
 {
     std::cout << "AD9361 Acquiring IIO REMOTE context in host " << remote_host << std::endl;
     struct iio_context *ctx;

src/algorithms/signal_source/libs/ad9361_manager.h

@@ -92,19 +92,19 @@ bool cfg_ad9361_streaming_ch(struct iio_context *ctx, struct stream_cfg *cfg, en
 bool config_ad9361_rx_local(uint64_t bandwidth_,
     uint64_t sample_rate_,
     uint64_t freq_,
-    std::string rf_port_select_,
+    const std::string& rf_port_select_,
-    std::string gain_mode_rx1_,
+    const std::string& gain_mode_rx1_,
-    std::string gain_mode_rx2_,
+    const std::string& gain_mode_rx2_,
     double rf_gain_rx1_,
     double rf_gain_rx2_);
 
-bool config_ad9361_rx_remote(std::string remote_host,
+bool config_ad9361_rx_remote(const std::string& remote_host,
     uint64_t bandwidth_,
     uint64_t sample_rate_,
     uint64_t freq_,
-    std::string rf_port_select_,
+    const std::string& rf_port_select_,
-    std::string gain_mode_rx1_,
+    const std::string& gain_mode_rx1_,
-    std::string gain_mode_rx2_,
+    const std::string& gain_mode_rx2_,
     double rf_gain_rx1_,
     double rf_gain_rx2_);
 
@@ -115,7 +115,7 @@ bool config_ad9361_lo_local(uint64_t bandwidth_,
     int64_t freq_dds_tx_hz_,
     double scale_dds_dbfs_);
 
-bool config_ad9361_lo_remote(std::string remote_host,
+bool config_ad9361_lo_remote(const std::string& remote_host,
     uint64_t bandwidth_,
     uint64_t sample_rate_,
     uint64_t freq_rf_tx_hz_,
@@ -124,7 +124,7 @@ bool config_ad9361_lo_remote(std::string remote_host,
     double scale_dds_dbfs_);
 
 
-bool ad9361_disable_lo_remote(std::string remote_host);
+bool ad9361_disable_lo_remote(const std::string& remote_host);
 
 bool ad9361_disable_lo_local();
 

src/algorithms/signal_source/libs/fpga_switch.cc

@@ -45,7 +45,7 @@
 const size_t PAGE_SIZE = 0x10000;
 const unsigned int TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;
 
-fpga_switch::fpga_switch(std::string device_name)
+fpga_switch::fpga_switch(const std::string& device_name)
 {
     if ((d_device_descriptor = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
         {
@@ -108,7 +108,7 @@ unsigned fpga_switch::fpga_switch_test_register(
 
 void fpga_switch::close_device()
 {
-    unsigned *aux = const_cast<unsigned *>(d_map_base);
+    auto *aux = const_cast<unsigned *>(d_map_base);
     if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
         {
             std::cout << "Failed to unmap memory uio" << std::endl;

src/algorithms/signal_source/libs/fpga_switch.h

@@ -44,7 +44,7 @@
 class fpga_switch
 {
 public:
-    fpga_switch(std::string device_name);
+    fpga_switch(const std::string& device_name);
     ~fpga_switch();
     void set_switch_position(int switch_position);
 

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc

@@ -51,7 +51,7 @@ void GalileoE1DllPllVemlTrackingFpga::stop_tracking()
 }
 
 GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
-    ConfigurationInterface* configuration, std::string role,
+    ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
     //dllpllconf_t trk_param;

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h

@@ -52,7 +52,7 @@ class GalileoE1DllPllVemlTrackingFpga : public TrackingInterface
 {
 public:
     GalileoE1DllPllVemlTrackingFpga(ConfigurationInterface* configuration,
-        std::string role,
+        const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc

@@ -51,7 +51,7 @@ void GalileoE5aDllPllTrackingFpga::stop_tracking()
 }
 
 GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
-    ConfigurationInterface *configuration, std::string role,
+    ConfigurationInterface *configuration, const std::string &role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
     //printf("creating the E5A tracking");
@@ -136,9 +136,9 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
 
     //################# PRE-COMPUTE ALL THE CODES #################
     unsigned int code_samples_per_chip = 1;
-    unsigned int code_length_chips = static_cast<unsigned int>(Galileo_E5a_CODE_LENGTH_CHIPS);
+    auto code_length_chips = static_cast<unsigned int>(Galileo_E5a_CODE_LENGTH_CHIPS);
 
-    gr_complex *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment()));
+    auto *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment()));
 
     float *tracking_code;
     float *data_code;

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.h

@@ -52,7 +52,7 @@ class GalileoE5aDllPllTrackingFpga : public TrackingInterface
 {
 public:
     GalileoE5aDllPllTrackingFpga(ConfigurationInterface* configuration,
-        std::string role,
+        const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc

@@ -53,7 +53,7 @@ void GpsL1CaDllPllTrackingFpga::stop_tracking()
 }
 
 GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
-    ConfigurationInterface* configuration, std::string role,
+    ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
     Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h

@@ -53,7 +53,7 @@ class GpsL1CaDllPllTrackingFpga : public TrackingInterface
 {
 public:
     GpsL1CaDllPllTrackingFpga(ConfigurationInterface* configuration,
-        std::string role,
+        const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 

src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc

@@ -52,7 +52,7 @@ void GpsL2MDllPllTrackingFpga::stop_tracking()
 }
 
 GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
-    ConfigurationInterface* configuration, std::string role,
+    ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
     //dllpllconf_t trk_param;
@@ -125,7 +125,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
 
     //d_tracking_code = static_cast<float *>(volk_gnsssdr_malloc(2 * static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
     d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * NUM_PRNs * sizeof(int), volk_gnsssdr_get_alignment()));
-    float* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
+    auto* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
 
     //################# PRE-COMPUTE ALL THE CODES #################
     d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
@@ -167,9 +167,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
 }
 
 
-GpsL2MDllPllTrackingFpga::~GpsL2MDllPllTrackingFpga()
+GpsL2MDllPllTrackingFpga::~GpsL2MDllPllTrackingFpga() = default;
-{
-}
 
 
 void GpsL2MDllPllTrackingFpga::start_tracking()

src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.h

@@ -52,7 +52,7 @@ class GpsL2MDllPllTrackingFpga : public TrackingInterface
 {
 public:
     GpsL2MDllPllTrackingFpga(ConfigurationInterface* configuration,
-        std::string role,
+        const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc

@@ -52,7 +52,7 @@ void GpsL5DllPllTrackingFpga::stop_tracking()
 }
 
 GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
-    ConfigurationInterface *configuration, std::string role,
+    ConfigurationInterface *configuration, const std::string &role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
     //printf("L5 TRK CLASS CREATED\n");
@@ -136,7 +136,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
 
     //################# PRE-COMPUTE ALL THE CODES #################
     unsigned int code_samples_per_chip = 1;
-    unsigned int code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
+    auto code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
     //printf("TRK code_length_chips = %d\n", code_length_chips);
 
     float *tracking_code;

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h

@@ -50,7 +50,7 @@ class GpsL5DllPllTrackingFpga : public TrackingInterface
 {
 public:
     GpsL5DllPllTrackingFpga(ConfigurationInterface* configuration,
-        std::string role,
+        const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc

@@ -103,7 +103,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
     if (trk_parameters.system == 'G')
         {
             systemName = "GPS";
-            if (signal_type.compare("1C") == 0)
+            if (signal_type == "1C")
                 {
                     d_signal_carrier_freq = GPS_L1_FREQ_HZ;
                     d_code_period = GPS_L1_CA_CODE_PERIOD;
@@ -124,11 +124,11 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     // preamble bits to sampled symbols
                     d_gps_l1ca_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
                     int32_t n = 0;
-                    for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
+                    for (unsigned short preambles_bit : preambles_bits)
                         {
                             for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
                                 {
-                                    if (preambles_bits[i] == 1)
+                                    if (preambles_bit == 1)
                                         {
                                             d_gps_l1ca_preambles_symbols[n] = 1;
                                         }
@@ -142,7 +142,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);  // Change fixed buffer size
                     d_symbol_history.clear();                                 // Clear all the elements in the buffer
                 }
-            else if (signal_type.compare("2S") == 0)
+            else if (signal_type == "2S")
                 {
                     d_signal_carrier_freq = GPS_L2_FREQ_HZ;
                     d_code_period = GPS_L2_M_PERIOD;
@@ -156,7 +156,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     trk_parameters.track_pilot = false;
                     interchange_iq = false;
                 }
-            else if (signal_type.compare("L5") == 0)
+            else if (signal_type == "L5")
                 {
                     d_signal_carrier_freq = GPS_L5_FREQ_HZ;
                     d_code_period = GPS_L5i_PERIOD;
@@ -199,7 +199,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
     else if (trk_parameters.system == 'E')
         {
             systemName = "Galileo";
-            if (signal_type.compare("1B") == 0)
+            if (signal_type == "1B")
                 {
                     d_signal_carrier_freq = Galileo_E1_FREQ_HZ;
                     d_code_period = Galileo_E1_CODE_PERIOD;
@@ -223,7 +223,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                         }
                     interchange_iq = false;  // Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
                 }
-            else if (signal_type.compare("5X") == 0)
+            else if (signal_type == "5X")
                 {
                     d_signal_carrier_freq = Galileo_E5a_FREQ_HZ;
                     d_code_period = GALILEO_E5a_CODE_PERIOD;
@@ -428,10 +428,10 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
         {
             d_dump_filename = trk_parameters.dump_filename;
             std::string dump_path;
-            if (d_dump_filename.find_last_of("/") != std::string::npos)
+            if (d_dump_filename.find_last_of('/') != std::string::npos)
                 {
-                    std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
+                    std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
-                    dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
+                    dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
                     d_dump_filename = dump_filename_;
                 }
             else
@@ -443,9 +443,9 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     d_dump_filename = "trk_channel_";
                 }
             // remove extension if any
-            if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
+            if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
                 {
-                    d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
+                    d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
                 }
 
             d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
@@ -501,15 +501,15 @@ void dll_pll_veml_tracking_fpga::start_tracking()
     d_carrier_loop_filter.initialize();  // initialize the carrier filter
     d_code_loop_filter.initialize();     // initialize the code filter
 
-    if (systemName.compare("GPS") == 0 and signal_type.compare("1C") == 0)
+    if (systemName == "GPS" and signal_type == "1C")
         {
             // nothing to compute : the local codes are pre-computed in the adapter class
         }
-    else if (systemName.compare("GPS") == 0 and signal_type.compare("2S") == 0)
+    else if (systemName == "GPS" and signal_type == "2S")
         {
             // nothing to compute : the local codes are pre-computed in the adapter class
         }
-    else if (systemName.compare("GPS") == 0 and signal_type.compare("L5") == 0)
+    else if (systemName == "GPS" and signal_type == "L5")
         {
             if (trk_parameters.track_pilot)
                 {
@@ -520,7 +520,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
                     // nothing to compute : the local codes are pre-computed in the adapter class
                 }
         }
-    else if (systemName.compare("Galileo") == 0 and signal_type.compare("1B") == 0)
+    else if (systemName == "Galileo" and signal_type == "1B")
         {
             if (trk_parameters.track_pilot)
                 {
@@ -533,7 +533,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
                     // nothing to compute : the local codes are pre-computed in the adapter class
                 }
         }
-    else if (systemName.compare("Galileo") == 0 and signal_type.compare("5X") == 0)
+    else if (systemName == "Galileo" and signal_type == "5X")
         {
             if (trk_parameters.track_pilot)
                 {
@@ -604,7 +604,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
 
 dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
 {
-    if (signal_type.compare("1C") == 0)
+    if (signal_type == "1C")
         {
             volk_gnsssdr_free(d_gps_l1ca_preambles_symbols);
         }
@@ -1025,26 +1025,26 @@ int32_t dll_pll_veml_tracking_fpga::save_matfile()
         {
             return 1;
         }
-    float *abs_VE = new float[num_epoch];
+    auto *abs_VE = new float[num_epoch];
-    float *abs_E = new float[num_epoch];
+    auto *abs_E = new float[num_epoch];
-    float *abs_P = new float[num_epoch];
+    auto *abs_P = new float[num_epoch];
-    float *abs_L = new float[num_epoch];
+    auto *abs_L = new float[num_epoch];
-    float *abs_VL = new float[num_epoch];
+    auto *abs_VL = new float[num_epoch];
-    float *Prompt_I = new float[num_epoch];
+    auto *Prompt_I = new float[num_epoch];
-    float *Prompt_Q = new float[num_epoch];
+    auto *Prompt_Q = new float[num_epoch];
-    uint64_t *PRN_start_sample_count = new uint64_t[num_epoch];
+    auto *PRN_start_sample_count = new uint64_t[num_epoch];
-    float *acc_carrier_phase_rad = new float[num_epoch];
+    auto *acc_carrier_phase_rad = new float[num_epoch];
-    float *carrier_doppler_hz = new float[num_epoch];
+    auto *carrier_doppler_hz = new float[num_epoch];
-    float *code_freq_chips = new float[num_epoch];
+    auto *code_freq_chips = new float[num_epoch];
-    float *carr_error_hz = new float[num_epoch];
+    auto *carr_error_hz = new float[num_epoch];
-    float *carr_error_filt_hz = new float[num_epoch];
+    auto *carr_error_filt_hz = new float[num_epoch];
-    float *code_error_chips = new float[num_epoch];
+    auto *code_error_chips = new float[num_epoch];
-    float *code_error_filt_chips = new float[num_epoch];
+    auto *code_error_filt_chips = new float[num_epoch];
-    float *CN0_SNV_dB_Hz = new float[num_epoch];
+    auto *CN0_SNV_dB_Hz = new float[num_epoch];
-    float *carrier_lock_test = new float[num_epoch];
+    auto *carrier_lock_test = new float[num_epoch];
-    float *aux1 = new float[num_epoch];
+    auto *aux1 = new float[num_epoch];
-    double *aux2 = new double[num_epoch];
+    auto *aux2 = new double[num_epoch];
-    uint32_t *PRN = new uint32_t[num_epoch];
+    auto *PRN = new uint32_t[num_epoch];
 
     try
         {
@@ -1108,8 +1108,8 @@ int32_t dll_pll_veml_tracking_fpga::save_matfile()
     std::string filename = dump_filename_;
     filename.erase(filename.length() - 4, 4);
     filename.append(".mat");
-    matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
+    matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
-    if (reinterpret_cast<int64_t *>(matfp) != NULL)
+    if (reinterpret_cast<int64_t *>(matfp) != nullptr)
         {
             size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
             matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0);
@@ -1264,7 +1264,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
 {
     gr::thread::scoped_lock l(d_setlock);
     // Block input data and block output stream pointers
-    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+    auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();
@@ -1297,7 +1297,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
                 //printf("333333 d_correlation_length_samples = %d\n", d_correlation_length_samples);
                 uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
                 //printf("333333 num_frames = %d\n", num_frames);
-                uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
+                auto absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
                 //printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
                 multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
                 d_absolute_samples_offset = absolute_samples_offset;

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc

@@ -47,11 +47,11 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
+#include <pmt/pmt.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <cmath>
 #include <iostream>
 #include <memory>
-#include <pmt/pmt.h>
 #include <sstream>
 #include <utility>
 

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h

@@ -45,10 +45,10 @@
 //#include "tracking_loop_filter.h"
 #include "cpu_multicorrelator.h"
 #include <gnuradio/block.h>
+#include <pmt/pmt.h>
 #include <deque>
 #include <fstream>
 #include <map>
-#include <pmt/pmt.h>
 #include <string>
 
 class glonass_l1_ca_dll_pll_c_aid_tracking_cc;

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc

@@ -47,10 +47,10 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
+#include <pmt/pmt.h>
 #include <cmath>
 #include <iostream>
 #include <memory>
-#include <pmt/pmt.h>
 #include <sstream>
 #include <utility>
 

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc

@@ -45,11 +45,11 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
+#include <pmt/pmt.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <cmath>
 #include <iostream>
 #include <memory>
-#include <pmt/pmt.h>
 #include <sstream>
 #include <utility>
 

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h

@@ -43,10 +43,10 @@
 //#include "tracking_loop_filter.h"
 #include "cpu_multicorrelator.h"
 #include <gnuradio/block.h>
+#include <pmt/pmt.h>
 #include <deque>
 #include <fstream>
 #include <map>
-#include <pmt/pmt.h>
 #include <string>
 
 class glonass_l2_ca_dll_pll_c_aid_tracking_cc;

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc

@@ -45,10 +45,10 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
+#include <pmt/pmt.h>
 #include <cmath>
 #include <iostream>
 #include <memory>
-#include <pmt/pmt.h>
 #include <sstream>
 #include <utility>
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h

@@ -43,10 +43,10 @@
 //#include "tracking_loop_filter.h"
 #include "cpu_multicorrelator.h"
 #include <gnuradio/block.h>
+#include <pmt/pmt.h>
 #include <deque>
 #include <fstream>
 #include <map>
-#include <pmt/pmt.h>
 #include <string>
 
 class gps_l1_ca_dll_pll_c_aid_tracking_cc;

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc

@@ -39,10 +39,10 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
+#include <pmt/pmt.h>
 #include <cmath>
 #include <iostream>
 #include <memory>
-#include <pmt/pmt.h>
 #include <sstream>
 #include <utility>
 

src/algorithms/tracking/libs/fpga_multicorrelator.cc

@@ -41,20 +41,20 @@
 #include <new>
 
 // libraries used by DMA test code and GIPO test code
-#include <errno.h>
+#include <cerrno>
+#include <cstdio>
 #include <fcntl.h>
-#include <stdio.h>
 #include <unistd.h>
 
 // libraries used by DMA test code
-#include <assert.h>
+#include <cassert>
-#include <stdint.h>
+#include <cstdint>
 #include <sys/stat.h>
 #include <unistd.h>
 
 // libraries used by GPIO test code
-#include <signal.h>
+#include <csignal>
-#include <stdlib.h>
+#include <cstdlib>
 #include <sys/mman.h>
 
 // logging
@@ -62,6 +62,7 @@
 
 // string manipulation
 #include <string>
+#include <utility>
 
 // constants
 #include "GPS_L1_CA.h"
@@ -160,7 +161,7 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int32_t n_correlators,
 {
     //printf("tracking fpga class created\n");
     d_n_correlators = n_correlators;
-    d_device_name = device_name;
+    d_device_name = std::move(device_name);
     d_device_base = device_base;
     d_track_pilot = track_pilot;
     d_device_descriptor = 0;
@@ -345,7 +346,7 @@ void fpga_multicorrelator_8sc::set_channel(uint32_t channel)
     //            std::cout << "deviceio" << device_io_name << " opened successfully" << std::endl;
     //
     //        }
-    d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
+    d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
         PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
 
     if (d_map_base == reinterpret_cast<void *>(-1))
@@ -709,7 +710,7 @@ void fpga_multicorrelator_8sc::unlock_channel(void)
 
 void fpga_multicorrelator_8sc::close_device()
 {
-    uint32_t *aux = const_cast<uint32_t *>(d_map_base);
+    auto *aux = const_cast<uint32_t *>(d_map_base);
     if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
         {
             printf("Failed to unmap memory uio\n");

src/core/interfaces/acquisition_interface.h

@@ -65,6 +65,7 @@ public:
     virtual signed int mag() = 0;
     virtual void reset() = 0;
     virtual void stop_acquisition() = 0;
+    virtual void set_resampler_latency(uint32_t latency_samples) = 0;
 };
 
 #endif /* GNSS_SDR_ACQUISITION_INTERFACE */

src/core/interfaces/channel_interface.h

@@ -51,6 +51,10 @@
 class ChannelInterface : public GNSSBlockInterface
 {
 public:
+    virtual gr::basic_block_sptr get_left_block_trk() = 0;
+    virtual gr::basic_block_sptr get_left_block_acq() = 0;
+    virtual gr::basic_block_sptr get_left_block() = 0;
+    virtual gr::basic_block_sptr get_right_block() = 0;
     virtual Gnss_Signal get_signal() const = 0;
     virtual void start_acquisition() = 0;
     virtual void stop_channel() = 0;

src/core/libs/gnss_sdr_supl_client.cc

@@ -32,8 +32,8 @@
  */
 
 #include "gnss_sdr_supl_client.h"
-#include <cmath>
 #include <pugixml.hpp>
+#include <cmath>
 #include <utility>
 
 gnss_sdr_supl_client::gnss_sdr_supl_client()

src/core/receiver/control_thread.cc

@@ -67,6 +67,7 @@
 #include <sys/ipc.h>
 #include <sys/msg.h>
 #include <sys/types.h>
+#include <utility>
 
 
 extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
@@ -294,14 +295,14 @@ int ControlThread::run()
 }
 
 
-void ControlThread::set_control_queue(gr::msg_queue::sptr control_queue)
+void ControlThread::set_control_queue(const gr::msg_queue::sptr& control_queue)
 {
     if (flowgraph_->running())
         {
             LOG(WARNING) << "Unable to set control queue while flowgraph is running";
             return;
         }
-    control_queue_ = control_queue;
+    control_queue_ = std::move(control_queue);
     cmd_interface_.set_msg_queue(control_queue_);
 }
 

src/core/receiver/control_thread.h

@@ -93,7 +93,7 @@ public:
      *
      * \param[in] boost::shared_ptr<gr::msg_queue> control_queue
      */
-    void set_control_queue(gr::msg_queue::sptr control_queue);
+    void set_control_queue(const gr::msg_queue::sptr& control_queue);
 
 
     unsigned int processed_control_messages()

src/core/receiver/gnss_block_factory.cc

@@ -360,12 +360,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1C" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1C" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1C" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),
@@ -425,12 +424,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_2S" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_2S" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_2S" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),
@@ -493,12 +491,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1B" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1B" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1B" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),
@@ -561,12 +558,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_5X" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_5X" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_5X" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),
@@ -630,12 +626,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),
@@ -699,12 +694,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2G(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_2G" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_2G" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_2G" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),
@@ -767,12 +761,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_L5(
         }
     config->set_property("Channel.item_type", acq_item_type);
 
-    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
     std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_L5" + appendix1, acq, 1, 0);
     std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_L5" + appendix2, trk, 1, 1);
     std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_L5" + appendix3, tlm, 1, 1);
 
-    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
         std::move(acq_),
         std::move(trk_),
         std::move(tlm_),

src/core/receiver/gnss_flowgraph.cc

@@ -33,30 +33,41 @@
  */
 
 #include "gnss_flowgraph.h"
+#include "GPS_L1_CA.h"
+#include "GPS_L2C.h"
+#include "GPS_L5.h"
+#include "Galileo_E1.h"
+#include "Galileo_E5a.h"
+#include "channel.h"
 #include "channel_interface.h"
 #include "configuration_interface.h"
 #include "gnss_block_factory.h"
-#include "gnss_block_interface.h"
-#include "gnss_synchro.h"
 #include <boost/lexical_cast.hpp>
 #include <boost/tokenizer.hpp>
 #include <glog/logging.h>
+#include <gnuradio/filter/firdes.h>
 #include <algorithm>
 #include <exception>
 #include <iostream>
 #include <set>
+#include <utility>
+#ifdef GR_GREATER_38
+#include <gnuradio/filter/fir_filter_blk.h>
+#else
+#include <gnuradio/filter/fir_filter_ccf.h>
+#endif
 
 
 #define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
 
 using google::LogMessage;
 
-GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue)
+GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr& queue)
 {
     connected_ = false;
     running_ = false;
     configuration_ = configuration;
-    queue_ = queue;
+    queue_ = std::move(queue);
     init();
 }
 
@@ -343,6 +354,8 @@ void GNSSFlowgraph::connect()
 #endif
     // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
     int selected_signal_conditioner_ID = 0;
+    bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
+    uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
     for (unsigned int i = 0; i < channels_count_; i++)
         {
             if (FPGA_enabled == false)
@@ -357,8 +370,119 @@ void GNSSFlowgraph::connect()
                         }
                     try
                         {
-                            top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                            // Enable automatic resampler for the acquisition, if required
-                                channels_.at(i)->get_left_block(), 0);
+                            if (use_acq_resampler == true)
+                                {
+                                    //create acquisition resamplers if required
+                                    double resampler_ratio = 1.0;
+                                    double acq_fs = fs;
+                                    //find the signal associated to this channel
+                                    switch (mapStringValues_[channels_.at(i)->implementation()])
+                                        {
+                                        case evGPS_1C:
+                                            acq_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
+                                            break;
+                                        case evGPS_2S:
+                                            acq_fs = GPS_L2C_OPT_ACQ_FS_HZ;
+                                            break;
+                                        case evGPS_L5:
+                                            acq_fs = GPS_L5_OPT_ACQ_FS_HZ;
+                                            break;
+                                        case evSBAS_1C:
+                                            acq_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
+                                            break;
+                                        case evGAL_1B:
+                                            acq_fs = Galileo_E1_OPT_ACQ_FS_HZ;
+                                            break;
+                                        case evGAL_5X:
+                                            acq_fs = Galileo_E5a_OPT_ACQ_FS_HZ;
+                                            break;
+                                        case evGLO_1G:
+                                            acq_fs = fs;
+                                            break;
+                                        case evGLO_2G:
+                                            acq_fs = fs;
+                                            break;
+                                        }
+
+                                    if (acq_fs < fs)
+                                        {
+                                            //check if the resampler is already created for the channel system/signal and for the specific RF Channel
+                                            std::string map_key = channels_.at(i)->implementation() + std::to_string(selected_signal_conditioner_ID);
+                                            resampler_ratio = static_cast<double>(fs) / acq_fs;
+                                            int decimation = floor(resampler_ratio);
+                                            while (fs % decimation > 0)
+                                                {
+                                                    decimation--;
+                                                };
+                                            double acq_fs = fs / decimation;
+
+                                            if (decimation > 1)
+                                                {
+                                                    //create a FIR low pass filter
+                                                    std::vector<float> taps;
+                                                    taps = gr::filter::firdes::low_pass(1.0,
+                                                        fs,
+                                                        acq_fs / 2.1,
+                                                        acq_fs / 10,
+                                                        gr::filter::firdes::win_type::WIN_HAMMING);
+
+                                                    gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
+
+                                                    std::pair<std::map<std::string, gr::basic_block_sptr>::iterator, bool> ret;
+                                                    ret = acq_resamplers_.insert(std::pair<std::string, gr::basic_block_sptr>(map_key, fir_filter_ccf_));
+                                                    if (ret.second == true)
+                                                        {
+                                                            top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                                                acq_resamplers_.at(map_key), 0);
+                                                            LOG(INFO) << "Created "
+                                                                      << channels_.at(i)->implementation()
+                                                                      << " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
+                                                        }
+                                                    else
+                                                        {
+                                                            LOG(INFO) << "Found existing "
+                                                                      << channels_.at(i)->implementation()
+                                                                      << " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
+                                                        }
+
+
+                                                    top_block_->connect(acq_resamplers_.at(map_key), 0,
+                                                        channels_.at(i)->get_left_block_acq(), 0);
+
+                                                    top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                                        channels_.at(i)->get_left_block_trk(), 0);
+
+                                                    std::shared_ptr<Channel> channel_ptr;
+                                                    channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
+                                                    channel_ptr->acquisition()->set_resampler_latency((taps.size() - 1) / 2);
+                                                }
+                                            else
+                                                {
+                                                    LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
+                                                    //resampler not required!
+                                                    top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                                        channels_.at(i)->get_left_block_acq(), 0);
+                                                    top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                                        channels_.at(i)->get_left_block_trk(), 0);
+                                                }
+                                        }
+                                    else
+                                        {
+                                            LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
+                                            top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                                channels_.at(i)->get_left_block_acq(), 0);
+                                            top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                                channels_.at(i)->get_left_block_trk(), 0);
+                                        }
+                                }
+                            else
+                                {
+                                    top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                        channels_.at(i)->get_left_block_acq(), 0);
+                                    top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
+                                        channels_.at(i)->get_left_block_trk(), 0);
+                                }
                         }
                     catch (const std::exception& e)
                         {
@@ -678,7 +802,7 @@ void GNSSFlowgraph::disconnect()
             try
                 {
                     top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
-                        channels_.at(i)->get_left_block(), 0);
+                        channels_.at(i)->get_left_block_trk(), 0);
                 }
             catch (const std::exception& e)
                 {

src/core/receiver/gnss_flowgraph.h

@@ -55,6 +55,7 @@
 #include <queue>
 #include <string>
 #include <vector>
+#include <map>
 
 #if ENABLE_FPGA
 #include "gnss_sdr_fpga_sample_counter.h"
@@ -72,7 +73,7 @@ public:
     /*!
      * \brief Constructor that initializes the receiver flow graph
      */
-    GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue);
+    GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr& queue);
 
     /*!
      * \brief Destructor
@@ -166,6 +167,7 @@ private:
     std::shared_ptr<GNSSBlockInterface> observables_;
     std::shared_ptr<GNSSBlockInterface> pvt_;
 
+    std::map<std::string, gr::basic_block_sptr> acq_resamplers_;
     std::vector<std::shared_ptr<ChannelInterface>> channels_;
     gnss_sdr_sample_counter_sptr ch_out_sample_counter;
 #if ENABLE_FPGA

src/core/system_parameters/GPS_L1_CA.h

@@ -57,6 +57,9 @@ const double GPS_L1_CA_CODE_PERIOD = 0.001;         //!< GPS L1 C/A code period
 const uint32_t GPS_L1_CA_CODE_PERIOD_MS = 1U;       //!< GPS L1 C/A code period [ms]
 const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07;    //!< GPS L1 C/A chip period [seconds]
 
+//optimum parameters
+const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 1000000;  //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
+
 /*!
  * \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
  *

src/core/system_parameters/GPS_L2C.h

@@ -63,6 +63,10 @@ const double GPS_L2_L_PERIOD = 1.5;                 //!< GPS L2 L code period [s
 
 const int32_t GPS_L2C_HISTORY_DEEP = 5;
 
+//optimum parameters
+const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 1000000;  //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
+
+
 const int32_t GPS_L2C_M_INIT_REG[115] =
     {0742417664, 0756014035, 0002747144, 0066265724,     // 1:4
         0601403471, 0703232733, 0124510070, 0617316361,  // 5:8

src/core/system_parameters/GPS_L5.h

@@ -64,6 +64,9 @@ const double GPS_L5q_PERIOD = 0.001;              //!< GPS L5 code period [secon
 
 const int32_t GPS_L5_HISTORY_DEEP = 5;
 
+//optimum parameters
+const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000;  //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
+
 const int32_t GPS_L5i_INIT_REG[210] =
     {266, 365, 804, 1138,
         1509, 1559, 1756, 2084,

src/core/system_parameters/Galileo_E1.h

@@ -63,6 +63,11 @@ const int32_t Galileo_E1_B_SAMPLES_PER_SYMBOL = 1;        //!< (Galileo_E1_CODE_
 const int32_t Galileo_E1_C_SECONDARY_CODE_LENGTH = 25;    //!< Galileo E1-C secondary code length [chips]
 const int32_t Galileo_E1_NUMBER_OF_CODES = 50;
 
+
+//optimum parameters
+const uint32_t Galileo_E1_OPT_ACQ_FS_HZ = 2000000;  //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
+
+
 const double GALILEO_STARTOFFSET_ms = 68.802;  //[ms] Initial sign. travel time (this cannot go here)
 
 

src/core/system_parameters/Galileo_E5a.h

@@ -57,6 +57,9 @@ const int32_t Galileo_E5a_NUMBER_OF_CODES = 50;
 const int32_t GALILEO_E5A_HISTORY_DEEP = 20;
 const int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6;
 
+//optimum parameters
+const uint32_t Galileo_E5a_OPT_ACQ_FS_HZ = 10000000;  //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
+
 // F/NAV message structure
 
 const int32_t GALILEO_FNAV_PREAMBLE_LENGTH_BITS = 12;

src/tests/common-files/tracking_tests_flags.h

@@ -42,6 +42,7 @@ DEFINE_double(external_signal_acquisition_threshold, 2.5, "Threshold for satelli
 DEFINE_int32(external_signal_acquisition_dwells, 5, "Maximum dwells count for satellite acquisition when external file is used");
 DEFINE_double(external_signal_acquisition_doppler_max_hz, 5000.0, "Doppler max for satellite acquisition when external file is used");
 DEFINE_double(external_signal_acquisition_doppler_step_hz, 125.0, "Doppler step for satellite acquisition when external file is used");
+DEFINE_bool(use_acquisition_resampler, false, "Reduce the sampling rate of the input signal for the acquisition in order to optimize the SNR and decrease the processor load");
 
 DEFINE_string(signal_file, std::string("signal_out.bin"), "Path of the external signal capture file");
 DEFINE_double(CN0_dBHz_start, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]");

src/tests/system-tests/position_test.cc

@@ -33,6 +33,7 @@
  */
 
 #include "MATH_CONSTANTS.h"
+#include "acquisition_msg_rx.h"
 #include "concurrent_map.h"
 #include "concurrent_queue.h"
 #include "control_thread.h"
@@ -45,6 +46,7 @@
 #include "signal_generator_flags.h"
 #include "spirent_motion_csv_dump_reader.h"
 #include "test_flags.h"
+#include "tracking_tests_flags.h"  //acquisition resampler
 #include <armadillo>
 #include <boost/filesystem.hpp>
 #include <glog/logging.h>
@@ -183,6 +185,11 @@ int PositionSystemTest::configure_receiver()
             const int output_rate_ms = 100;
 
             config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
+            // Enable automatic resampler for the acquisition, if required
+            if (FLAGS_use_acquisition_resampler == true)
+                {
+                    config->set_property("GNSS-SDR.use_acquisition_resampler", "true");
+                }
 
             // Set the assistance system parameters
             config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
@@ -830,7 +837,7 @@ void PositionSystemTest::print_results(const arma::mat& R_eb_enu)
                 {
                     boost::filesystem::path p(gnuplot_executable);
                     boost::filesystem::path dir = p.parent_path();
-                    std::string gnuplot_path = dir.native();
+                    const std::string& gnuplot_path = dir.native();
                     Gnuplot::set_GNUPlotPath(gnuplot_path);
 
                     Gnuplot g1("points");

src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc

@@ -31,6 +31,10 @@
  */
 
 #include "GPS_L1_CA.h"
+#include "GPS_L2C.h"
+#include "GPS_L5.h"
+#include "Galileo_E1.h"
+#include "Galileo_E5a.h"
 #include "acquisition_msg_rx.h"
 #include "galileo_e1_pcps_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
@@ -64,17 +68,23 @@
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/filter/firdes.h>
 #include <gnuradio/top_block.h>
-#include <gtest/gtest.h>
-#include <matio.h>
-#include <chrono>
-#include <exception>
 #include <gpstk/Rinex3ObsBase.hpp>
 #include <gpstk/Rinex3ObsData.hpp>
 #include <gpstk/Rinex3ObsHeader.hpp>
 #include <gpstk/Rinex3ObsStream.hpp>
 #include <gpstk/RinexUtilities.hpp>
+#include <gtest/gtest.h>
+#include <matio.h>
+#include <chrono>
+#include <exception>
 #include <unistd.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/filter/fir_filter_blk.h>
+#else
+#include <gnuradio/filter/fir_filter_ccf.h>
+#endif
 
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
@@ -186,6 +196,19 @@ HybridObservablesTest_tlm_msg_rx::~HybridObservablesTest_tlm_msg_rx()
 class HybridObservablesTest : public ::testing::Test
 {
 public:
+    enum StringValue
+    {
+        evGPS_1C,
+        evGPS_2S,
+        evGPS_L5,
+        evSBAS_1C,
+        evGAL_1B,
+        evGAL_5X,
+        evGLO_1G,
+        evGLO_2G
+    };
+    std::map<std::string, StringValue> mapStringValues_;
+
     std::string generator_binary;
     std::string p1;
     std::string p2;
@@ -247,6 +270,13 @@ public:
         factory = std::make_shared<GNSSBlockFactory>();
         config = std::make_shared<InMemoryConfiguration>();
         item_size = sizeof(gr_complex);
+        mapStringValues_["1C"] = evGPS_1C;
+        mapStringValues_["2S"] = evGPS_2S;
+        mapStringValues_["L5"] = evGPS_L5;
+        mapStringValues_["1B"] = evGAL_1B;
+        mapStringValues_["5X"] = evGAL_5X;
+        mapStringValues_["1G"] = evGLO_1G;
+        mapStringValues_["2G"] = evGLO_2G;
     }
 
     ~HybridObservablesTest()
@@ -328,6 +358,11 @@ bool HybridObservablesTest::acquire_signal()
     tmp_gnss_synchro.Channel_ID = 0;
     config = std::make_shared<InMemoryConfiguration>();
     config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
+    // Enable automatic resampler for the acquisition, if required
+    if (FLAGS_use_acquisition_resampler == true)
+        {
+            config->set_property("GNSS-SDR.use_acquisition_resampler", "true");
+        }
     config->set_property("Acquisition.blocking_on_standby", "true");
     config->set_property("Acquisition.blocking", "true");
     config->set_property("Acquisition.dump", "false");
@@ -337,11 +372,12 @@ bool HybridObservablesTest::acquire_signal()
     std::shared_ptr<AcquisitionInterface> acquisition;
 
     std::string System_and_Signal;
+    std::string signal;
     //create the correspondign acquisition block according to the desired tracking signal
     if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'G';
-            std::string signal = "1C";
+            signal = "1C";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -353,7 +389,7 @@ bool HybridObservablesTest::acquire_signal()
     else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'E';
-            std::string signal = "1B";
+            signal = "1B";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -364,7 +400,7 @@ bool HybridObservablesTest::acquire_signal()
     else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'G';
-            std::string signal = "2S";
+            signal = "2S";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -375,7 +411,7 @@ bool HybridObservablesTest::acquire_signal()
     else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
         {
             tmp_gnss_synchro.System = 'E';
-            std::string signal = "5X";
+            signal = "5X";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -391,7 +427,7 @@ bool HybridObservablesTest::acquire_signal()
     else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'E';
-            std::string signal = "5X";
+            signal = "5X";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -402,7 +438,7 @@ bool HybridObservablesTest::acquire_signal()
     else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'G';
-            std::string signal = "L5";
+            signal = "L5";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -433,10 +469,88 @@ bool HybridObservablesTest::acquire_signal()
     file_source->seek(2 * FLAGS_skip_samples, 0);  //skip head. ibyte, two bytes per complex sample
     gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
     //gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
+    //top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
 
     top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
-    top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+
-    //top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
+    // Enable automatic resampler for the acquisition, if required
+    if (FLAGS_use_acquisition_resampler == true)
+        {
+            //create acquisition resamplers if required
+            double resampler_ratio = 1.0;
+
+            double opt_fs = baseband_sampling_freq;
+            //find the signal associated to this channel
+            switch (mapStringValues_[signal])
+                {
+                case evGPS_1C:
+                    opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
+                    break;
+                case evGPS_2S:
+                    opt_fs = GPS_L2C_OPT_ACQ_FS_HZ;
+                    break;
+                case evGPS_L5:
+                    opt_fs = GPS_L5_OPT_ACQ_FS_HZ;
+                    break;
+                case evSBAS_1C:
+                    opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
+                    break;
+                case evGAL_1B:
+                    opt_fs = Galileo_E1_OPT_ACQ_FS_HZ;
+                    break;
+                case evGAL_5X:
+                    opt_fs = Galileo_E5a_OPT_ACQ_FS_HZ;
+                    break;
+                case evGLO_1G:
+                    opt_fs = baseband_sampling_freq;
+                    break;
+                case evGLO_2G:
+                    opt_fs = baseband_sampling_freq;
+                    break;
+                }
+            if (opt_fs < baseband_sampling_freq)
+                {
+                    resampler_ratio = baseband_sampling_freq / opt_fs;
+                    int decimation = floor(resampler_ratio);
+                    while (baseband_sampling_freq % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    double acq_fs = baseband_sampling_freq / decimation;
+
+                    if (decimation > 1)
+                        {
+                            //create a FIR low pass filter
+                            std::vector<float> taps;
+                            taps = gr::filter::firdes::low_pass(1.0,
+                                baseband_sampling_freq,
+                                acq_fs / 2.1,
+                                acq_fs / 10,
+                                gr::filter::firdes::win_type::WIN_HAMMING);
+                            std::cout << "Enabled decimation low pass filter with " << taps.size() << " taps and decimation factor of " << decimation << std::endl;
+                            acquisition->set_resampler_latency((taps.size() - 1) / 2);
+                            gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
+                            top_block->connect(gr_interleaved_char_to_complex, 0, fir_filter_ccf_, 0);
+                            top_block->connect(fir_filter_ccf_, 0, acquisition->get_left_block(), 0);
+                        }
+                    else
+                        {
+                            std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
+                            top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+                        }
+                }
+            else
+                {
+                    std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
+                    top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+                }
+        }
+    else
+        {
+            top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+            //top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
+        }
+
 
     boost::shared_ptr<Acquisition_msg_rx> msg_rx;
     try

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc

@@ -54,10 +54,11 @@
 #include <gnuradio/top_block.h>
 #include <gtest/gtest.h>
 #include <chrono>
+#include <cstdio>  // FPGA read input file
 #include <fcntl.h>
 #include <iostream>
-#include <stdio.h>  // FPGA read input file
 #include <unistd.h>
+#include <utility>
 #ifdef GR_GREATER_38
 #include <gnuradio/analog/sig_source.h>
 #else
@@ -69,7 +70,7 @@
 #define FIVE_SECONDS 5000000          // five seconds in microseconds
 
 void send_tracking_gps_input_samples(FILE *rx_signal_file,
-    int num_remaining_samples, gr::top_block_sptr top_block)
+    int num_remaining_samples, const gr::top_block_sptr& top_block)
 {
     int num_samples_transferred = 0;   // number of samples that have been transferred to the DMA so far
     static int flowgraph_stopped = 0;  // flag to indicate if the flowgraph is stopped already
@@ -142,7 +143,7 @@ void sending_thread(gr::top_block_sptr top_block, const char *file_name)
     usleep(FIVE_SECONDS);  // wait for some time to give time to the other thread to program the device
 
     //send_tracking_gps_input_samples(dma_descr, rx_signal_file, file_length);
-    send_tracking_gps_input_samples(rx_signal_file, file_length, top_block);
+    send_tracking_gps_input_samples(rx_signal_file, file_length, std::move(top_block));
 
     fclose(rx_signal_file);
 }
@@ -151,7 +152,7 @@ void sending_thread(gr::top_block_sptr top_block, const char *file_name)
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class GpsL1CADllPllTrackingTestFpga_msg_rx;
 
-typedef boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
+using GpsL1CADllPllTrackingTestFpga_msg_rx_sptr = boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx>;
 
 GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
 
@@ -180,7 +181,7 @@ void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
 {
     try
         {
-            int64_t message = pmt::to_long(msg);
+            int64_t message = pmt::to_long(std::move(msg));
             rx_message = message;
         }
     catch (boost::bad_any_cast &e)
@@ -204,9 +205,7 @@ GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() : g
 }
 
 
-GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
+GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx() = default;
-{
-}
 
 
 // ###########################################################
@@ -243,9 +242,7 @@ public:
         gnss_synchro = Gnss_Synchro();
     }
 
-    ~GpsL1CADllPllTrackingTestFpga()
+    ~GpsL1CADllPllTrackingTestFpga() = default;
-    {
-    }
 
     void configure_receiver();
 
@@ -283,7 +280,7 @@ int GpsL1CADllPllTrackingTestFpga::generate_signal()
     int child_status;
 
     char *const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0],
-        &p4[0], &p5[0], NULL};
+        &p4[0], &p5[0], nullptr};
 
     int pid;
     if ((pid = fork()) == -1)

src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc

@@ -30,8 +30,11 @@
  * -------------------------------------------------------------------------
  */
 
-
 #include "GPS_L1_CA.h"
+#include "GPS_L2C.h"
+#include "GPS_L5.h"
+#include "Galileo_E1.h"
+#include "Galileo_E5a.h"
 #include "acquisition_msg_rx.h"
 #include "control_message_factory.h"
 #include "galileo_e1_pcps_ambiguous_acquisition.h"
@@ -58,12 +61,18 @@
 #include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>
+#include <gnuradio/filter/firdes.h>
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/top_block.h>
 #include <gtest/gtest.h>
 #include <chrono>
 #include <cstdint>
 #include <vector>
+#ifdef GR_GREATER_38
+#include <gnuradio/filter/fir_filter_blk.h>
+#else
+#include <gnuradio/filter/fir_filter_ccf.h>
+#endif
 
 
 // ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
@@ -126,6 +135,19 @@ TrackingPullInTest_msg_rx::~TrackingPullInTest_msg_rx()
 class TrackingPullInTest : public ::testing::Test
 {
 public:
+    enum StringValue
+    {
+        evGPS_1C,
+        evGPS_2S,
+        evGPS_L5,
+        evSBAS_1C,
+        evGAL_1B,
+        evGAL_5X,
+        evGLO_1G,
+        evGLO_2G
+    };
+    std::map<std::string, StringValue> mapStringValues_;
+
     std::string generator_binary;
     std::string p1;
     std::string p2;
@@ -171,6 +193,13 @@ public:
         config = std::make_shared<InMemoryConfiguration>();
         item_size = sizeof(gr_complex);
         gnss_synchro = Gnss_Synchro();
+        mapStringValues_["1C"] = evGPS_1C;
+        mapStringValues_["2S"] = evGPS_2S;
+        mapStringValues_["L5"] = evGPS_L5;
+        mapStringValues_["1B"] = evGAL_1B;
+        mapStringValues_["5X"] = evGAL_5X;
+        mapStringValues_["1G"] = evGLO_1G;
+        mapStringValues_["2G"] = evGLO_2G;
     }
 
     ~TrackingPullInTest()
@@ -289,7 +318,7 @@ void TrackingPullInTest::configure_receiver(
             System_and_Signal = "GPS L2CM";
             signal.copy(gnss_synchro.Signal, 2, 0);
             config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.track_pilot", "false");
+            config->set_property("Tracking.track_pilot", "true");
         }
     else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0 or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
         {
@@ -302,7 +331,7 @@ void TrackingPullInTest::configure_receiver(
                     config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking"));
                 }
             config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.track_pilot", "false");
+            config->set_property("Tracking.track_pilot", "true");
             config->set_property("Tracking.order", "2");
         }
     else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
@@ -312,7 +341,7 @@ void TrackingPullInTest::configure_receiver(
             System_and_Signal = "GPS L5I";
             signal.copy(gnss_synchro.Signal, 2, 0);
             config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.track_pilot", "false");
+            config->set_property("Tracking.track_pilot", "true");
             config->set_property("Tracking.order", "2");
         }
     else
@@ -345,8 +374,15 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     // Satellite signal definition
     Gnss_Synchro tmp_gnss_synchro;
     tmp_gnss_synchro.Channel_ID = 0;
+
+
     config = std::make_shared<InMemoryConfiguration>();
     config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
+    // Enable automatic resampler for the acquisition, if required
+    if (FLAGS_use_acquisition_resampler == true)
+        {
+            config->set_property("GNSS-SDR.use_acquisition_resampler", "true");
+        }
     config->set_property("Acquisition.blocking_on_standby", "true");
     config->set_property("Acquisition.blocking", "true");
     config->set_property("Acquisition.dump", "false");
@@ -356,11 +392,12 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     std::shared_ptr<AcquisitionInterface> acquisition;
 
     std::string System_and_Signal;
+    std::string signal;
     //create the correspondign acquisition block according to the desired tracking signal
     if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'G';
-            std::string signal = "1C";
+            signal = "1C";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -372,7 +409,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'E';
-            std::string signal = "1B";
+            signal = "1B";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -383,7 +420,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'G';
-            std::string signal = "2S";
+            signal = "2S";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -394,7 +431,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
         {
             tmp_gnss_synchro.System = 'E';
-            std::string signal = "5X";
+            signal = "5X";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -410,7 +447,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'E';
-            std::string signal = "5X";
+            signal = "5X";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -421,7 +458,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
         {
             tmp_gnss_synchro.System = 'G';
-            std::string signal = "L5";
+            signal = "L5";
             const char* str = signal.c_str();                                  // get a C style null terminated string
             std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
@@ -449,13 +486,90 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
     std::string file = FLAGS_signal_file;
     const char* file_name = file.c_str();
     file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
-    file_source->seek(2 * FLAGS_skip_samples, 0);  //skip head. ibyte, two bytes per complex sample
+    file_source->seek(2 * FLAGS_skip_samples, SEEK_SET);  //skip head. ibyte, two bytes per complex sample
     gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
     //gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
 
     top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
-    top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+
-    //top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
+    // Enable automatic resampler for the acquisition, if required
+    if (FLAGS_use_acquisition_resampler == true)
+        {
+            //create acquisition resamplers if required
+            double resampler_ratio = 1.0;
+
+            double opt_fs = baseband_sampling_freq;
+            //find the signal associated to this channel
+            switch (mapStringValues_[signal])
+                {
+                case evGPS_1C:
+                    opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
+                    break;
+                case evGPS_2S:
+                    opt_fs = GPS_L2C_OPT_ACQ_FS_HZ;
+                    break;
+                case evGPS_L5:
+                    opt_fs = GPS_L5_OPT_ACQ_FS_HZ;
+                    break;
+                case evSBAS_1C:
+                    opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
+                    break;
+                case evGAL_1B:
+                    opt_fs = Galileo_E1_OPT_ACQ_FS_HZ;
+                    break;
+                case evGAL_5X:
+                    opt_fs = Galileo_E5a_OPT_ACQ_FS_HZ;
+                    break;
+                case evGLO_1G:
+                    opt_fs = baseband_sampling_freq;
+                    break;
+                case evGLO_2G:
+                    opt_fs = baseband_sampling_freq;
+                    break;
+                }
+            if (opt_fs < baseband_sampling_freq)
+                {
+                    resampler_ratio = baseband_sampling_freq / opt_fs;
+                    int decimation = floor(resampler_ratio);
+                    while (baseband_sampling_freq % decimation > 0)
+                        {
+                            decimation--;
+                        };
+                    double acq_fs = baseband_sampling_freq / decimation;
+
+                    if (decimation > 1)
+                        {
+                            //create a FIR low pass filter
+                            std::vector<float> taps;
+                            taps = gr::filter::firdes::low_pass(1.0,
+                                baseband_sampling_freq,
+                                acq_fs / 2.1,
+                                acq_fs / 10,
+                                gr::filter::firdes::win_type::WIN_HAMMING);
+                            std::cout << "Enabled decimation low pass filter with " << taps.size() << " taps and decimation factor of " << decimation << std::endl;
+                            acquisition->set_resampler_latency((taps.size() - 1) / 2);
+                            gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
+                            top_block->connect(gr_interleaved_char_to_complex, 0, fir_filter_ccf_, 0);
+                            top_block->connect(fir_filter_ccf_, 0, acquisition->get_left_block(), 0);
+                        }
+                    else
+                        {
+                            std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
+                            top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+                        }
+                }
+            else
+                {
+                    std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
+                    top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+                }
+        }
+    else
+        {
+            top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
+            //top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
+        }
+
 
     boost::shared_ptr<Acquisition_msg_rx> msg_rx;
     try
@@ -531,7 +645,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
                     std::cout << " . ";
                 }
             top_block->stop();
-            file_source->seek(2 * FLAGS_skip_samples, 0);  //skip head. ibyte, two bytes per complex sample
+            file_source->seek(2 * FLAGS_skip_samples, SEEK_SET);  //skip head. ibyte, two bytes per complex sample
             std::cout.flush();
         }
     std::cout << "]" << std::endl;