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

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -410,57 +410,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
             {}     /* char pppopt[256]   ppp option   "-GAP_RESION="  default gap to reset iono parameters (ep) */
     };
 
-    sol_t sol_ = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
+    rtkinit(&rtk, &rtklib_configuration_options);
-
-    ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
-
-    ssat_t ssat_ =  { '0', /* navigation system */
-            '0', /* valid satellite flag single */
-            {0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
-            {0.0}, /* residuals of pseudorange (m) */
-            {0.0}, /* residuals of carrier-phase (m) */
-            {'0'}, /* valid satellite flag */
-            {'0'}, /* signal strength (0.25 dBHz) */
-            {'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
-            {'0'}, /* cycle-slip flag */
-            {'0'}, /* half-cycle valid flag */
-            {},    /* lock counter of phase */
-            {},    /* obs outage counter of phase */
-            {},    /* cycle-slip counter */
-            {},    /* reject counter */
-            0.0,   /* geometry-free phase L1-L2 (m) */
-            0.0,   /* geometry-free phase L1-L5 (m) */
-            0.0,   /* MW-LC (m) */
-            0.0,   /* phase windup (cycle) */
-            {{{0,0}},{{0,0}}},  /* previous carrier-phase time */
-            {{},{}} /* previous carrier-phase observable (cycle) */
-    };
-
-    int nx = 0; /* Number of estimated states */
-    if(positioning_mode <= PMODE_FIXED) nx = 4 + 3;
-    if(positioning_mode >= PMODE_PPP_KINEMA) nx = NX_PPP(&rtklib_configuration_options);
-    int na = NP_PPP(&rtklib_configuration_options);
-
-    double x[nx];
-    double Px[nx*nx];
-    double xa[na];
-    double Pa[na*na];
-    rtk = { sol_,  /* RTK solution */
-            {},          /* base position/velocity (ecef) (m|m/s) */
-            nx,           /* number of float states */
-            na,           /* number of fixed states */
-            output_rate_ms / 1000.0,  /* time difference between current and previous (s) */
-            x,          /* float states */
-            Px,          /* float states covariance */
-            xa,          /* fixed states */
-            Pa,          /* fixed states covariance */
-            3,           /* number of continuous fixes of ambiguity */
-            {ambc_},     /* ambiguity control */
-            {ssat_},     /* satellite status */
-            256,           /* bytes in error message buffer */
-            {'0'},       /* error message buffer */
-            rtklib_configuration_options /* processing options */
-    };
 
     // make PVT object
     pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_,  output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
@@ -500,6 +450,7 @@ bool RtklibPvt::save_assistance_to_XML()
 
 RtklibPvt::~RtklibPvt()
 {
+    rtkfree(&rtk);
     save_assistance_to_XML();
 }
 

src/algorithms/libs/rtklib/rtklib_rtcm.cc

@@ -52,8 +52,6 @@
  *----------------------------------------------------------------------------*/
 
 #include "rtklib_rtcm.h"
-#include "rtklib_rtcm2.h"
-#include "rtklib_rtcm3.h"
 #include "rtklib_rtkcmn.h"
 
 //extern int encode_rtcm3(rtcm_t *rtcm, int type, int sync);

src/algorithms/libs/rtklib/rtklib_rtcm.h

@@ -51,12 +51,14 @@
  *
  *----------------------------------------------------------------------------*/
 
-#include "rtklib.h"
-
 
 #ifndef GNSS_SDR_RTKLIB_RTCM_H_
 #define GNSS_SDR_RTKLIB_RTCM_H_
 
+#include "rtklib.h"
+#include "rtklib_rtcm2.h"
+#include "rtklib_rtcm3.h"
+
 #define RTCM2PREAMB 0x66        /* rtcm ver.2 frame preamble */
 #define RTCM3PREAMB 0xD3        /* rtcm ver.3 frame preamble */
 

src/algorithms/libs/rtklib/rtklib_rtcm2.cc

@@ -54,7 +54,6 @@
 
 
 #include "rtklib_rtcm2.h"
-#include "rtklib_rtcm3.h"
 #include "rtklib_rtkcmn.h"
 
 

src/algorithms/libs/rtklib/rtklib_rtcm3.cc

@@ -56,8 +56,54 @@
 #include "rtklib_rtkcmn.h"
 
 
+/* msm signal id table -------------------------------------------------------*/
+const char *msm_sig_gps[32] = {
+    /* GPS: ref [13] table 3.5-87, ref [14][15] table 3.5-91 */
+    ""  , "1C", "1P", "1W", "1Y", "1M", ""  , "2C", "2P", "2W", "2Y", "2M",  /*  1-12 */
+    ""  , ""  , "2S", "2L", "2X", ""  , ""  , ""  , ""  , "5I", "5Q", "5X",  /* 13-24 */
+    ""  , ""  , ""  , ""  , ""  , "1S", "1L", "1X"                      /* 25-32 */
+};
 
 
+const char *msm_sig_glo[32] = {
+    /* GLONASS: ref [13] table 3.5-93,  ref [14][15] table 3.5-97 */
+    ""  , "1C", "1P", ""  , ""  , ""  , ""  , "2C", "2P", ""  , "3I", "3Q",
+    "3X", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
+};
+
+
+const char *msm_sig_gal[32] = {
+    /* Galileo: ref [15] table 3.5-100 */
+    ""  , "1C", "1A", "1B", "1X", "1Z", ""  , "6C", "6A", "6B", "6X", "6Z",
+    ""  , "7I", "7Q", "7X", ""  , "8I", "8Q", "8X", ""  , "5I", "5Q", "5X",
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
+};
+
+
+const char *msm_sig_qzs[32] = {
+    /* QZSS: ref [15] table 3.5-103 */
+    ""  , "1C", ""  , ""  , ""  , ""  , ""  , ""  , "6S", "6L", "6X", ""  ,
+    ""  , ""  , "2S", "2L", "2X", ""  , ""  , ""  , ""  , "5I", "5Q", "5X",
+    ""  , ""  , ""  , ""  , ""  , "1S", "1L", "1X"
+};
+
+
+const char *msm_sig_sbs[32] = {
+    /* SBAS: ref [13] table 3.5-T+005 */
+    ""  , "1C", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , "5I", "5Q", "5X",
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
+};
+
+
+const char *msm_sig_cmp[32] = {
+    /* BeiDou: ref [15] table 3.5-106 */
+    ""  , "1I", "1Q", "1X", ""  , ""  , ""  , "6I", "6Q", "6X", ""  , ""  ,
+    ""  , "7I", "7Q", "7X", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
+};
+
 /* get sign-magnitude bits ---------------------------------------------------*/
 double getbitg(const unsigned char *buff, int pos, int len)
 {
@@ -137,7 +183,7 @@ unsigned char snratio(double snr)
 
 
 /* get observation data index ------------------------------------------------*/
-int obsindex(obs_t *obs, gtime_t time, int sat)
+int obsindex3(obs_t *obs, gtime_t time, int sat)
 {
     int i, j;
 
@@ -274,7 +320,7 @@ int decode_type1002(rtcm_t *rtcm)
                 {
                     rtcm->obs.n = rtcm->obsflag = 0;
                 }
-            if ((index = obsindex(&rtcm->obs, rtcm->time, sat)) < 0) continue;
+            if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1*0.02+amb*PRUNIT_GPS;
             if (ppr1 != (int)0xFFF80000)
                 {
@@ -342,7 +388,7 @@ int decode_type1004(rtcm_t *rtcm)
                 {
                     rtcm->obs.n = rtcm->obsflag = 0;
                 }
-            if ((index = obsindex(&rtcm->obs, rtcm->time, sat)) < 0) continue;
+            if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1*0.02+amb*PRUNIT_GPS;
             if (ppr1 != (int)0xFFF80000)
                 {
@@ -624,7 +670,7 @@ int decode_type1010(rtcm_t *rtcm)
                 {
                     rtcm->obs.n = rtcm->obsflag = 0;
                 }
-            if ((index = obsindex(&rtcm->obs, rtcm->time, sat)) < 0) continue;
+            if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1*0.02+amb*PRUNIT_GLO;
             if (ppr1 != (int)0xFFF80000)
                 {
@@ -685,7 +731,7 @@ int decode_type1012(rtcm_t *rtcm)
                 {
                     rtcm->obs.n = rtcm->obsflag = 0;
                 }
-            if ((index = obsindex(&rtcm->obs, rtcm->time, sat)) < 0) continue;
+            if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1*0.02+amb*PRUNIT_GLO;
             if (ppr1 != (int)0xFFF80000)
                 {
@@ -2140,7 +2186,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                         {
                             rtcm->obs.n = rtcm->obsflag = 0;
                         }
-                    index = obsindex(&rtcm->obs, rtcm->time, sat);
+                    index = obsindex3(&rtcm->obs, rtcm->time, sat);
                 }
             else
                 {

src/algorithms/libs/rtklib/rtklib_rtcm3.h

@@ -63,54 +63,6 @@ const double PRUNIT_GLO = 599584.916;  /* rtcm ver.3 unit of glonass pseudorange
 const double RANGE_MS = SPEED_OF_LIGHT * 0.001;      /* range in 1 ms */
 
 
-/* msm signal id table -------------------------------------------------------*/
-const char *msm_sig_gps[32] = {
-    /* GPS: ref [13] table 3.5-87, ref [14][15] table 3.5-91 */
-    ""  , "1C", "1P", "1W", "1Y", "1M", ""  , "2C", "2P", "2W", "2Y", "2M",  /*  1-12 */
-    ""  , ""  , "2S", "2L", "2X", ""  , ""  , ""  , ""  , "5I", "5Q", "5X",  /* 13-24 */
-    ""  , ""  , ""  , ""  , ""  , "1S", "1L", "1X"                      /* 25-32 */
-};
-
-
-const char *msm_sig_glo[32] = {
-    /* GLONASS: ref [13] table 3.5-93,  ref [14][15] table 3.5-97 */
-    ""  , "1C", "1P", ""  , ""  , ""  , ""  , "2C", "2P", ""  , "3I", "3Q",
-    "3X", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
-    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
-};
-
-
-const char *msm_sig_gal[32] = {
-    /* Galileo: ref [15] table 3.5-100 */
-    ""  , "1C", "1A", "1B", "1X", "1Z", ""  , "6C", "6A", "6B", "6X", "6Z",
-    ""  , "7I", "7Q", "7X", ""  , "8I", "8Q", "8X", ""  , "5I", "5Q", "5X",
-    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
-};
-
-
-const char *msm_sig_qzs[32] = {
-    /* QZSS: ref [15] table 3.5-103 */
-    ""  , "1C", ""  , ""  , ""  , ""  , ""  , ""  , "6S", "6L", "6X", ""  ,
-    ""  , ""  , "2S", "2L", "2X", ""  , ""  , ""  , ""  , "5I", "5Q", "5X",
-    ""  , ""  , ""  , ""  , ""  , "1S", "1L", "1X"
-};
-
-
-const char *msm_sig_sbs[32] = {
-    /* SBAS: ref [13] table 3.5-T+005 */
-    ""  , "1C", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
-    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , "5I", "5Q", "5X",
-    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
-};
-
-
-const char *msm_sig_cmp[32] = {
-    /* BeiDou: ref [15] table 3.5-106 */
-    ""  , "1I", "1Q", "1X", ""  , ""  , ""  , "6I", "6Q", "6X", ""  , ""  ,
-    ""  , "7I", "7Q", "7X", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
-    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
-};
-
 
 /* ssr update intervals ------------------------------------------------------*/
 const double ssrudint[16] = {
@@ -169,7 +121,7 @@ int lossoflock(rtcm_t *rtcm, int sat, int freq, int lock);
 
 unsigned char snratio(double snr);
 
-int obsindex(obs_t *obs, gtime_t time, int sat);
+int obsindex3(obs_t *obs, gtime_t time, int sat);
 
 int test_staid(rtcm_t *rtcm, int staid);
 

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc

@@ -54,16 +54,6 @@ galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump)
 }
 
 
-
-void galileo_e1b_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
-{
-    if(noutput_items != 0)
-        {
-            ninput_items_required[0] = GALILEO_INAV_PAGE_SYMBOLS; // set the required sample history
-        }
-}
-
-
 void galileo_e1b_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits)
 {
     int CodeLength = 240;
@@ -161,7 +151,6 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
     d_flag_frame_sync = false;
 
     d_flag_parity = false;
-    d_TOW_at_Preamble = 0;
     d_TOW_at_current_symbol = 0;
     delta_t = 0;
     d_CRC_error_counter = 0;
@@ -286,25 +275,34 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
     int preamble_diff = 0;
 
     Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
-    d_sample_counter++; //count for the processed samples
-
-    // ########### Output the tracking data to navigation and PVT ##########
     const Gnss_Synchro **in = (const Gnss_Synchro **)  &input_items[0]; //Get the input samples pointer
 
-    // TODO Optimize me!
+    Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
-    //******* preamble correlation ********
+    //1. Copy the current tracking output
-    for (int i = 0; i < d_symbols_per_preamble; i++)
+    current_symbol = in[0][0];
-        {
+    d_symbol_history.push_back(current_symbol); //add new symbol to the symbol queue
-            if (in[0][i].Prompt_I < 0)    // symbols clipping
+    d_sample_counter++; //count for the processed samples
-                {
+    consume_each(1);
-                    corr_value -= d_preambles_symbols[i];
+
-                }
-            else
-                {
-                    corr_value += d_preambles_symbols[i];
-                }
-        }
     d_flag_preamble = false;
+    unsigned int required_symbols=GALILEO_INAV_PAGE_SYMBOLS+d_symbols_per_preamble;
+
+    if (d_symbol_history.size()>required_symbols)
+    {
+        // TODO Optimize me!
+        //******* preamble correlation ********
+        for (int i = 0; i < d_symbols_per_preamble; i++)
+            {
+                if (d_symbol_history.at(i).Prompt_I < 0)    // symbols clipping
+                    {
+                        corr_value -= d_preambles_symbols[i];
+                    }
+                else
+                    {
+                        corr_value += d_preambles_symbols[i];
+                    }
+            }
+    }
 
     //******* frame sync ******************
     if (d_stat == 0) //no preamble information
@@ -351,12 +349,12 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
                         {
                             if (corr_value > 0)
                                 {
-                                    page_part_symbols[i] = in[0][i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
+                                    page_part_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
 
                                 }
                             else
                                 {
-                                    page_part_symbols[i] = -in[0][i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
+                                    page_part_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
                                 }
                         }
 
@@ -371,7 +369,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
                                 {
                                     d_flag_frame_sync = true;
                                     DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
-                                            << in[0][0].Tracking_sample_counter << " [samples]";
+                                            << d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
                                 }
                         }
                     else
@@ -388,47 +386,27 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
                 }
         }
 
-    consume_each(1); //one by one
-
     // UPDATE GNSS SYNCHRO DATA
-    Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
-    //1. Copy the current tracking output
-    current_synchro_data = in[0][0];
     //2. Add the telemetry decoder information
     if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
         //update TOW at the preamble instant
-        // JAVI: 30/06/2014
-        // TOW, in Galileo, is referred to the START of the PAGE PART, that is, THE FIRST SYMBOL OF THAT PAGE, NOT THE PREAMBLE.
-        // thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_page_start.
-        // Since we detected the preamble, then, we are in the last symbol of that preamble, or just at the start of the first page symbol.
-        //flag preamble is true after the all page (even and odd) is received. I/NAV page period is 2 SECONDS
         {
             if(d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
                 {
-                    //std::cout<< "Using TOW_5 for timestamping" << std::endl;
+                //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
-                    d_TOW_at_Preamble = d_nav.TOW_5 + GALILEO_INAV_PAGE_PART_SECONDS; //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
+                    d_TOW_at_current_symbol = d_nav.TOW_5  + GALILEO_INAV_PAGE_PART_SECONDS+((double)required_symbols)*GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
-                    /* 1  sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD) is added because
-                     * if we have a TOW value it means that we are at the beginning of the last page part
-                     * (GNU Radio history keeps in a buffer the rest of the incoming frame part)*/
-                    d_TOW_at_current_symbol = d_TOW_at_Preamble;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
                     d_nav.flag_TOW_5 = false;
                 }
 
             else if(d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
                 {
-                    //std::cout<< "Using TOW_6 for timestamping" << std::endl;
+                    //TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
-                    d_TOW_at_Preamble = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS;
+                    d_TOW_at_current_symbol = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS+((double)required_symbols)*GALILEO_E1_CODE_PERIOD;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
-                    //TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
-                    /* 1  sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD) is added because
-                     * if we have a TOW value it means that we are at the beginning of the last page part
-                     * (GNU Radio history keeps in a buffer the rest of the incoming frame part)*/
-                    d_TOW_at_current_symbol = d_TOW_at_Preamble;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
                     d_nav.flag_TOW_6 = false;
                 }
             else
                 {
                     //this page has no timing information
-                    d_TOW_at_Preamble = d_TOW_at_Preamble + GALILEO_INAV_PAGE_SECONDS;
                     d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
                 }
         }
@@ -446,15 +424,15 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
 
     if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
         {
-            current_synchro_data.Flag_valid_word = true;
+            current_symbol.Flag_valid_word = true;
         }
     else
         {
-            current_synchro_data.Flag_valid_word = false;
+            current_symbol.Flag_valid_word = false;
         }
 
-    current_synchro_data.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
+    current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
-    current_synchro_data.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
+    current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
 
     if(d_dump == true)
         {
@@ -465,9 +443,9 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
                 unsigned long int tmp_ulong_int;
                 tmp_double = d_TOW_at_current_symbol;
                 d_dump_file.write((char*)&tmp_double, sizeof(double));
-                tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
+                tmp_ulong_int = current_symbol.Tracking_sample_counter;
                 d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
-                tmp_double = d_TOW_at_Preamble;
+                tmp_double = 0;
                 d_dump_file.write((char*)&tmp_double, sizeof(double));
             }
             catch (const std::ifstream::failure & e)
@@ -475,11 +453,16 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
                     LOG(WARNING) << "Exception writing observables dump file " << e.what();
             }
         }
+
+    // remove used symbols from history
+    if (d_symbol_history.size()>required_symbols)
+    {
+        d_symbol_history.pop_front();
+    }
     //3. Make the output (copy the object contents to the GNURadio reserved memory)
-    *out[0] = current_synchro_data;
+    *out[0] = current_symbol;
     //std::cout<<"GPS L1 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
     return 1;
-
 }
 
 

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h

@@ -43,6 +43,7 @@
 #include "galileo_almanac.h"
 #include "galileo_iono.h"
 #include "galileo_utc_model.h"
+#include "gnss_synchro.h"
 
 
 
@@ -70,12 +71,6 @@ public:
     int general_work (int noutput_items, gr_vector_int &ninput_items,
             gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
 
-    /*!
-     * \brief Function which tells the scheduler how many input items
-     *        are required to produce noutput_items output items.
-     */
-    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
-
 private:
     friend galileo_e1b_telemetry_decoder_cc_sptr
     galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
@@ -93,6 +88,8 @@ private:
     unsigned int d_samples_per_symbol;
     int d_symbols_per_preamble;
 
+    std::deque<Gnss_Synchro> d_symbol_history;
+
     long unsigned int d_sample_counter;
     long unsigned int d_preamble_index;
     unsigned int d_stat;
@@ -109,7 +106,6 @@ private:
     Gnss_Satellite d_satellite;
     int d_channel;
 
-    double d_TOW_at_Preamble;
     double d_TOW_at_current_symbol;
 
     bool flag_TOW_set;