Patch submitted by Daniel Fehr: Enabling EGNOS tracking and minor bugfixes

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@392 64b25241-fba3-4117-9849-534c7e92360d
2025-10-31 15:23:04 +00:00 · 2013-07-20 07:58:59 +00:00
parent 1ad1f0569c
commit 10318d6b7d
5 changed files with 529 additions and 37 deletions
--- a/conf/gnss-sdr_sbas.conf
+++ b/conf/gnss-sdr_sbas.conf
@@ -0,0 +1,466 @@
+; configuration file for SBAS
+; invoke it by doing
+; gnss-sdr --config_file=../conf/gnss-sdr_sbas.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;#internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
+GNSS-SDR.internal_fs_hz=4000000
+
+;######### CONTROL_THREAD CONFIG ############
+ControlThread.wait_for_flowgraph=false
+
+;######### SIGNAL_SOURCE CONFIG ############
+;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source]
+SignalSource.implementation=File_Signal_Source
+
+;#filename: path to file with the captured GNSS signal samples to be processed
+SignalSource.filename=/Users/fehrdan/GNSS/dev/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
+
+;#item_type: Type and resolution for each of the signal samples. 
+;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer.
+;#If short is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
+
+SignalSource.item_type=short
+
+;#sampling_frequency: Original Signal sampling frequency in [Hz] 
+SignalSource.sampling_frequency=4000000
+
+;#freq: RF front-end center frequency in [Hz] 
+SignalSource.freq=1575420000
+
+;#gain: Front-end Gain in [dB] 
+SignalSource.gain=60
+
+;#AGC_enabled: RTLSDR AGC enabled [true or false]
+
+SignalSource.AGC_enabled=true
+
+;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
+SignalSource.subdevice=B:0
+
+;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
+SignalSource.samples=0
+
+;#repeat: Repeat the processing file. Disable this option in this version
+SignalSource.repeat=false
+
+;#dump: Dump the Signal source data to a file. Disable this option in this version
+SignalSource.dump=false
+
+SignalSource.dump_filename=../data/signal_source.dat
+
+
+;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
+; it helps to not overload the CPU, but the processing time will be longer. 
+SignalSource.enable_throttle_control=false
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+;## It holds blocks to change data type, filter and resample input data. 
+
+;#implementation: Use [Pass_Through] or [Signal_Conditioner]
+;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+SignalConditioner.implementation=Signal_Conditioner
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+;## Changes the type of input data. Please disable it in this version.
+;#implementation: Use [Ishort_To_Complex] or [Pass_Through]
+DataTypeAdapter.implementation=Ishort_To_Complex
+;#dump: Dump the filtered data to a file.
+DataTypeAdapter.dump=false
+;#dump_filename: Log path and filename.
+DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
+
+;######### INPUT_FILTER CONFIG ############
+;## Filter the input data. Can be combined with frequency translation for IF signals
+
+;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
+;#[Pass_Through] disables this block
+;#[Fir_Filter] enables a FIR Filter
+;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
+
+;InputFilter.implementation=Fir_Filter
+;InputFilter.implementation=Freq_Xlating_Fir_Filter
+InputFilter.implementation=Pass_Through
+
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
+
+;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. 
+;#These options are based on parameters of gnuradio's function: gr_remez.
+;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+
+;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+InputFilter.input_item_type=gr_complex
+
+;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+InputFilter.output_item_type=gr_complex
+
+;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
+InputFilter.taps_item_type=float
+
+;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
+InputFilter.number_of_taps=5
+
+;#number_of _bands: Number of frequency bands in the filter.
+InputFilter.number_of_bands=2
+
+;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
+;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
+;#The number of band_begin and band_end elements must match the number of bands
+
+InputFilter.band1_begin=0.0
+;InputFilter.band1_end=0.8
+InputFilter.band1_end=0.85
+InputFilter.band2_begin=0.90
+InputFilter.band2_end=1.0
+
+;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
+;#The number of ampl_begin and ampl_end elements must match the number of bands
+
+InputFilter.ampl1_begin=1.0
+InputFilter.ampl1_end=1.0
+InputFilter.ampl2_begin=0.0
+InputFilter.ampl2_end=0.0
+
+;#band_error: weighting applied to each band (usually 1).
+;#The number of band_error elements must match the number of bands
+InputFilter.band1_error=1.0
+InputFilter.band2_error=1.0
+
+;#filter_type: one of "bandpass", "hilbert" or "differentiator" 
+InputFilter.filter_type=bandpass
+
+;#grid_density: determines how accurately the filter will be constructed.
+;The minimum value is 16; higher values are slower to compute the filter.
+InputFilter.grid_density=16
+
+;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
+;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
+
+InputFilter.sampling_frequency=4000000
+InputFilter.IF=0
+
+
+
+;######### RESAMPLER CONFIG ############
+;## Resamples the input data. 
+
+;#implementation: Use [Pass_Through] or [Direct_Resampler]
+;#[Pass_Through] disables this block
+;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
+;Resampler.implementation=Direct_Resampler
+Resampler.implementation=Pass_Through
+
+;#dump: Dump the resamplered data to a file.
+Resampler.dump=false
+;#dump_filename: Log path and filename.
+Resampler.dump_filename=../data/resampler.dat
+
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Resampler.item_type=gr_complex
+
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=4000000
+
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
+
+
+;######### CHANNELS GLOBAL CONFIG ############
+;#count: Number of available satellite channels.
+Channels.count=3
+;#in_acquisition: Number of channels simultaneously acquiring
+Channels.in_acquisition=3
+;#system: GPS, GLONASS, Galileo, SBAS or Compass
+;#if the option is disabled by default is assigned GPS
+Channel.system=GPS
+
+;#signal: 
+;# "1C" GPS L1 C/A
+;# "1P" GPS L1 P
+;# "1W" GPS L1 Z-tracking and similar (AS on)
+;# "1Y" GPS L1 Y
+;# "1M" GPS L1 M
+;# "1N" GPS L1 codeless
+;# "2C" GPS L2 C/A
+;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
+;# "2S" GPS L2 L2C (M)
+;# "2L" GPS L2 L2C (L)
+;# "2X" GPS L2 L2C (M+L)
+;# "2P" GPS L2 P
+;# "2W" GPS L2 Z-tracking and similar (AS on)
+;# "2Y" GPS L2 Y
+;# "2M" GPS GPS L2 M
+;# "2N" GPS L2 codeless
+;# "5I" GPS L5 I
+;# "5Q" GPS L5 Q
+;# "5X" GPS L5 I+Q
+;# "1C" GLONASS G1 C/A
+;# "1P" GLONASS G1 P
+;# "2C" GLONASS G2 C/A  (Glonass M)
+;# "2P" GLONASS G2 P
+;# "1A" GALILEO E1 A (PRS)
+;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1C" GALILEO E1 C (no data)
+;# "1X" GALILEO E1 B+C
+;# "1Z" GALILEO E1 A+B+C
+;# "5I" GALILEO E5a I (F/NAV OS)
+;# "5Q" GALILEO E5a Q  (no data)
+;# "5X" GALILEO E5a I+Q
+;# "7I" GALILEO E5b I
+;# "7Q" GALILEO E5b Q
+;# "7X" GALILEO E5b I+Q
+;# "8I" GALILEO E5 I
+;# "8Q" GALILEO E5 Q
+;# "8X" GALILEO E5 I+Q
+;# "6A" GALILEO E6 A
+;# "6B" GALILEO E6 B
+;# "6C" GALILEO E6 C
+;# "6X" GALILEO E6 B+C
+;# "6Z" GALILEO E6 A+B+C
+;# "1C" SBAS L1 C/A
+;# "5I" SBAS L5 I
+;# "5Q" SBAS L5 Q
+;# "5X" SBAS L5 I+Q
+;# "2I" COMPASS E2 I
+;# "2Q" COMPASS E2 Q
+;# "2X" COMPASS E2 IQ
+;# "7I" COMPASS E5b I
+;# "7Q" COMPASS E5b Q
+;# "7X" COMPASS E5b IQ
+;# "6I" COMPASS E6 I
+;# "6Q" COMPASS E6 Q
+;# "6X" COMPASS E6 IQ
+;#if the option is disabled by default is assigned "1C" GPS L1 C/A
+Channel.signal=1C
+
+;######### SPECIFIC CHANNELS CONFIG ######
+;#The following options are specific to each channel and overwrite the generic options 
+
+;######### CHANNEL 0 CONFIG ############
+
+Channel0.system=SBAS
+Channel0.signal=1C
+Channel0.satellite=124          ;#satellite: Satellite PRN ID for this channel. Disable this option to random search
+Channel0.repeat_satellite=true
+
+;######### CHANNEL 1 CONFIG ############
+
+Channel1.system=SBAS
+Channel1.signal=1C
+Channel1.satellite=120
+Channel1.repeat_satellite=true
+
+;######### CHANNEL 2 CONFIG ############
+
+Channel2.system=SBAS
+Channel2.signal=1C
+Channel2.satellite=126
+Channel2.repeat_satellite=true
+
+;######### CHANNEL 3 CONFIG ############
+
+Channel3.system=GPS
+Channel3.signal=1C
+Channel3.satellite=21
+Channel3.repeat_satellite=false
+
+;######### CHANNEL 4 CONFIG ############
+
+Channel4.system=GPS
+Channel4.signal=1C
+Channel4.satellite=3
+Channel4.repeat_satellite=false
+
+;######### CHANNEL 5 CONFIG ############
+
+Channel5.system=GPS
+Channel5.signal=1C
+;Channel5.satellite=21
+;Channel5.repeat_satellite=false
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false] 
+Acquisition.dump=false
+;#filename: Log path and filename
+Acquisition.dump_filename=../data/acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz] 
+Acquisition.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition.sampled_ms=1
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition
+;#threshold: Acquisition threshold
+Acquisition.threshold=0.005
+;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] 
+Acquisition.pfa=0.0001
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition.doppler_max=10000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition.doppler_step=500
+
+
+;######### ACQUISITION CHANNELS CONFIG ######
+;#The following options are specific to each channel and overwrite the generic options 
+
+
+;######### ACQUISITION CH 0 CONFIG ############
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
+Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition0.threshold=0.005
+Acquisition0.pfa=0.00001
+Acquisition0.doppler_max=10000
+Acquisition0.doppler_step=250
+;#repeat_satellite: Use only jointly with the satellte PRN ID option. 
+Acquisition0.repeat_satellite=false
+
+;######### ACQUISITION CH 1 CONFIG ############
+Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition1.threshold=0.005
+Acquisition1.pfa=0.00001
+Acquisition1.doppler_max=10000
+Acquisition1.doppler_step=250
+Acquisition1.repeat_satellite=true
+
+;######### ACQUISITION CH 2 CONFIG ############
+Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition2.threshold=0.005
+Acquisition2.pfa=0.00001
+Acquisition2.doppler_max=10000
+Acquisition2.doppler_step=250
+Acquisition2.repeat_satellite=true
+
+;######### ACQUISITION CH 3 CONFIG ############
+Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition3.threshold=0.005
+Acquisition3.pfa=0.001
+Acquisition3.doppler_max=10000
+Acquisition3.doppler_step=250
+
+
+;######### ACQUISITION CH 4 CONFIG ############
+Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition4.threshold=0.005
+Acquisition4.pfa=0.001
+Acquisition4.doppler_max=10000
+Acquisition4.doppler_step=250
+
+
+;######### ACQUISITION CH 5 CONFIG ############
+Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition5.threshold=60
+Acquisition5.doppler_max=10000
+Acquisition5.doppler_step=250
+
+
+;######### ACQUISITION CH 6 CONFIG ############
+Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition6.threshold=0.005
+Acquisition6.pfa=0.001
+Acquisition6.doppler_max=10000
+Acquisition6.doppler_step=250
+
+
+;######### ACQUISITION CH 7 CONFIG ############
+Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition7.threshold=0.005
+Acquisition7.pfa=0.001
+Acquisition7.doppler_max=10000
+Acquisition7.doppler_step=250
+
+
+;######### ACQUISITION CH 8 CONFIG ############
+Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition8.threshold=0.005
+Acquisition8.pfa=0.001
+Acquisition8.doppler_max=10000
+Acquisition8.doppler_step=250
+
+
+
+;######### TRACKING GLOBAL CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
+Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
+;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+Tracking.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz] 
+Tracking.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] 
+Tracking.dump=true
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking.dump_filename=../data/tracking/tracking_ch_
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking.pll_bw_hz=25.0;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking.dll_bw_hz=2.0;
+
+;#fll_bw_hz: FLL loop filter bandwidth [Hz]
+Tracking.fll_bw_hz=5.0;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking.order=3;
+
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking.early_late_space_chips=0.5;
+
+;######### TELEMETRY DECODER CONFIG ############
+;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
+TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder.dump=false
+
+;######### OBSERVABLES CONFIG ############
+;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
+Observables.implementation=GPS_L1_CA_Observables
+
+;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] 
+Observables.dump=false
+
+;#dump_filename: Log path and filename.
+Observables.dump_filename=./observables.dat
+
+
+;######### PVT CONFIG ############
+;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
+PVT.implementation=GPS_L1_CA_PVT
+
+;#averaging_depth: Number of PVT observations in the moving average algorithm
+PVT.averaging_depth=10
+
+;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] 
+PVT.flag_averaging=true
+
+;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
+PVT.output_rate_ms=100;
+
+;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
+PVT.display_rate_ms=500;
+
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] 
+PVT.dump=false
+
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
+
+;######### OUTPUT_FILTER CONFIG ############
+;# Receiver output filter: Leave this block disabled in this version
+OutputFilter.implementation=Null_Sink_Output_Filter
+OutputFilter.filename=../data/gnss-sdr.dat
+OutputFilter.item_type=gr_complex
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@ -179,7 +179,9 @@ gr::basic_block_sptr Channel::get_right_block()
 void Channel::set_signal(Gnss_Signal gnss_signal)
 {
    gnss_signal_ = gnss_signal;
-    gnss_signal_.get_signal().copy(gnss_synchro_.Signal,2,0);
+    const char * str = gnss_signal_.get_signal().c_str(); // get a C style null terminated string
+    std::memcpy((void*)gnss_synchro_.Signal, str,3); // copy string into synchro char array: 2 char + null
+    gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
    gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();
    gnss_synchro_.System = gnss_signal_.get_satellite().get_system_short().c_str()[0];
    acq_->init();
--- a/src/algorithms/libs/gps_sdr_signal_processing.cc
+++ b/src/algorithms/libs/gps_sdr_signal_processing.cc
@@ -43,15 +43,26 @@ void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, signed int _prn, uns
    unsigned int feedback1, feedback2;
    unsigned int lcv, lcv2;
    unsigned int delay;
-    signed int prn = _prn-1; //Move the PRN code to fit an array indices
+    signed int prn_idx;

    /* G2 Delays as defined in GPS-ISD-200D */
-    signed int delays[51] = {5, 6, 7, 8, 17, 18, 139, 140, 141, 251, 252, 254 ,255, 256, 257, 258, 469, 470, 471, 472,
-            473, 474, 509, 512, 513, 514, 515, 516, 859, 860, 861, 862, 145, 175, 52, 21, 237, 235, 886, 657, 634, 762,
-            355, 1012, 176, 603, 130, 359, 595, 68, 386};
+    signed int delays[51] = {5 /*PRN1*/, 6, 7, 8, 17, 18, 139, 140, 141, 251, 252, 254 ,255, 256, 257, 258, 469, 470, 471, 472,
+            473, 474, 509, 512, 513, 514, 515, 516, 859, 860, 861, 862 /*PRN32*/,
+            145 /*PRN120*/, 175, 52, 21, 237, 235, 886, 657, 634, 762,
+            355, 1012, 176, 603, 130, 359, 595, 68, 386 /*PRN138*/};
+
+    // compute delay array index for given PRN number
+    if(120 <= _prn && _prn <= 138)
+    {
+    	prn_idx = _prn - 88;	// SBAS PRNs are at array indices 31 to 50 (offset: -120+33-1 =-88)
+    }
+    else
+    {
+    	prn_idx = _prn-1;
+    }

    /* A simple error check */
-    if((prn < 0) || (prn > 51))
+    if((prn_idx < 0) || (prn_idx > 51))
        return;

    for(lcv = 0; lcv < 10; lcv++)
@@ -80,7 +91,7 @@ void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, signed int _prn, uns
        }

    /* Set the delay */
-    delay = 1023 - delays[prn];
+    delay = 1023 - delays[prn_idx];
    delay += _chip_shift;
    delay %= 1023;
    /* Generate PRN from G1 and G2 Registers */
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
@@ -351,6 +351,10 @@ Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc()
 int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
+	// stream to collect cout calls to improve thread safety
+	std::stringstream tmp_str_stream;
+
+
    float carr_error_hz;
    float carr_error_filt_hz;
    float code_error_chips;
@@ -501,29 +505,24 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
            /*!
             *  \todo The stop timer has to be moved to the signal source!
             */
-            // debug: Second counter in channel 0
-            if (d_channel == 0)
-                {
-                    if (floor(d_sample_counter / d_fs_in) != d_last_seg)
-                        {
-                            d_last_seg = floor(d_sample_counter / d_fs_in);
-                            std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
-                            std::cout << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-                                      << ", Doppler=" << d_carrier_doppler_hz<<" [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
-                            //std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
-                            //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
-                        }
-                }
-            else
-                {
-                    if (floor(d_sample_counter / d_fs_in) != d_last_seg)
-                        {
-                            d_last_seg = floor(d_sample_counter / d_fs_in);
-                            std::cout << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-                                      << ", Doppler=" << d_carrier_doppler_hz<<" [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
-                            //std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
-                        }
-                }
+			if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+				{
+					d_last_seg = floor(d_sample_counter / d_fs_in);
+
+					if (d_channel == 0)
+					{
+						// debug: Second counter in channel 0
+						tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
+						std::cout << tmp_str_stream.rdbuf() << std::flush;
+					}
+
+					tmp_str_stream << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+									   << ", Doppler="<<d_carrier_doppler_hz<<" [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+					std::cout << tmp_str_stream.rdbuf() << std::flush;
+
+					//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
+					//if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
+				}
        }
    else
        {
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -525,18 +525,16 @@ void GNSSFlowgraph::init()
 void GNSSFlowgraph::set_signals_list()
 {
    /*
-     * Sets a sequential list of satellites (1, 2, ...32)
+     * Sets a sequential list of GNSS satellites
     */

+    std::set<unsigned int>::iterator available_gnss_prn_iter;
+
    /*
     * \TODO Describe GNSS satellites more nicely, with RINEX notation
     * See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
     */
-    std::set<unsigned int> available_gps_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-            11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 25, 26, 27, 28,
-            29, 30, 31, 32 };

-    std::set<unsigned int>::iterator available_gnss_prn_iter;


    /*
@@ -547,6 +545,9 @@ void GNSSFlowgraph::set_signals_list()
    /*
     * Loop to create GPS L1 C/A signals
     */
+    std::set<unsigned int> available_gps_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
+            11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 25, 26, 27, 28,
+            29, 30, 31, 32 };

    for (available_gnss_prn_iter = available_gps_prn.begin(); available_gnss_prn_iter
    != available_gps_prn.end(); available_gnss_prn_iter++)
@@ -555,13 +556,25 @@ void GNSSFlowgraph::set_signals_list()
    				*available_gnss_prn_iter), std::string("1C")));
        }

+
+    /*
+     * Loop to create SBAS L1 C/A signals
+     */
+    std::set<unsigned int> available_sbas_prn = { 120, 124, 126};
+
+    for (available_gnss_prn_iter = available_sbas_prn.begin(); available_gnss_prn_iter
+    != available_sbas_prn.end(); available_gnss_prn_iter++)
+        {
+            available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("SBAS"),
+                    *available_gnss_prn_iter), std::string("1C")));
+        }
+
+
    /*
     * Loop to create the list of Galileo E1 B signals
     */
-
    std::set<unsigned int> available_galileo_prn = { 11, 12, 19, 20 };

-
    for (available_gnss_prn_iter = available_galileo_prn.begin(); available_gnss_prn_iter
    != available_galileo_prn.end(); available_gnss_prn_iter++)
        {
@@ -569,6 +582,7 @@ void GNSSFlowgraph::set_signals_list()
 				*available_gnss_prn_iter), std::string("1B")));
        }

+
    /*
     * Ordering the list of signals from configuration file
     */