diff --git a/CMakeLists.txt b/CMakeLists.txt
index 314bbab62..4e72a4b3a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -344,7 +344,7 @@ set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
 set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
-set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
+set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")
 
 
diff --git a/cmake/Modules/FindGnssSimulator.cmake b/cmake/Modules/FindGnssSimulator.cmake
new file mode 100644
index 000000000..56bccc709
--- /dev/null
+++ b/cmake/Modules/FindGnssSimulator.cmake
@@ -0,0 +1,28 @@
+# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
+#
+# This file is part of GNSS-SDR.
+#
+# GNSS-SDR is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# GNSS-SDR is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+
+
+find_program(SW_GENERATOR_BIN gnss_sim
+             PATHS /usr/bin
+                   /usr/local/bin
+                   /opt/local/bin
+                   ${CMAKE_INSTALL_PREFIX}/bin
+             PATH_SUFFIXES bin )
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNSS-SIMULATOR  DEFAULT_MSG  SW_GENERATOR_BIN)
+MARK_AS_ADVANCED(SW_GENERATOR_BIN)
\ No newline at end of file
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
index b1b6d699a..034cbbd10 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
@@ -271,8 +271,8 @@ void pcps_acquisition::init()
     d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
 
     // Create the carrier Doppler wipeoff signals
-    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
-    if (acq_parameters.make_2_steps)
+    if (d_grid_doppler_wipeoffs == nullptr) d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+    if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr))
         {
             d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
             for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
@@ -281,11 +281,18 @@ void pcps_acquisition::init()
                 }
         }
 
-    d_magnitude_grid = new float*[d_num_doppler_bins];
+    if (d_magnitude_grid == nullptr)
+        {
+            d_magnitude_grid = new float*[d_num_doppler_bins];
+            for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+                {
+                    d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+                    d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
+                }
+        }
+
     for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
-            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-            d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
             for (uint32_t k = 0; k < d_fft_size; k++)
                 {
                     d_magnitude_grid[doppler_index][k] = 0.0;
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 4821afbd4..cd07aead3 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -179,6 +179,7 @@ endif(ENABLE_UNIT_TESTING_MINIMAL)
 ################################################################################
 # Optional generator
 ################################################################################
+option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON)
 if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    if(ENABLE_FPGA)
       set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
@@ -188,31 +189,38 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    else(ENABLE_FPGA)
       set(CROSS_INSTALL_DIR "")
    endif(ENABLE_FPGA)
-   ExternalProject_Add(
-      gnss-sim
-      GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator
-      GIT_TAG ${GNSSSDR_GNSS_SIM_LOCAL_VERSION}
-      SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gnss-sim
-      BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim
-      CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} ${CROSS_INSTALL_DIR}
-      UPDATE_COMMAND ""
-      PATCH_COMMAND ""
-      INSTALL_COMMAND ""
-   )
-   if(ENABLE_INSTALL_TESTS)
-      install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim DESTINATION bin)
-      install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n DESTINATION share/gnss-sim)
-      install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv DESTINATION share/gnss-sim)
-      set(SW_GENERATOR_BIN ${CMAKE_INSTALL_PREFIX}/bin/gnss_sim)
+   find_package(GnssSimulator QUIET)
+   if(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
       add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
       add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
       add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")
-   else(ENABLE_INSTALL_TESTS)
-      set(SW_GENERATOR_BIN ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim)
-      add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
-      add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
-      add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
-   endif(ENABLE_INSTALL_TESTS)
+   else(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
+      ExternalProject_Add(
+         gnss-sim
+         GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator
+         GIT_TAG ${GNSSSDR_GNSS_SIM_LOCAL_VERSION}
+         SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gnss-sim
+         BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim
+         CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} ${CROSS_INSTALL_DIR}
+         UPDATE_COMMAND ""
+         PATCH_COMMAND ""
+         INSTALL_COMMAND ""
+      )
+      if(ENABLE_INSTALL_TESTS)
+         install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim DESTINATION bin)
+         install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n DESTINATION share/gnss-sim)
+         install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv DESTINATION share/gnss-sim)
+         set(SW_GENERATOR_BIN ${CMAKE_INSTALL_PREFIX}/bin/gnss_sim)
+         add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
+         add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
+         add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")
+      else(ENABLE_INSTALL_TESTS)
+         set(SW_GENERATOR_BIN ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim)
+         add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
+         add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
+         add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
+      endif(ENABLE_INSTALL_TESTS)
+   endif(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
 
    ################################################################################
    # Local installation of GPSTk http://www.gpstk.org/