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

2025-10-31 15:23:04 +00:00 · 2019-04-10 19:53:45 +02:00
parent 1a3305fc5b b315118654
commit 19e46a2ebf
69 changed files with 242 additions and 330 deletions
--- a/README.md
+++ b/README.md
@@ -578,7 +578,7 @@ $ sudo port install doxygen +docs
 You also might need to activate a Python installation. The list of installed versions can be retrieved with:

 ~~~~~~
-$ port select list python
+$ port select --list python
 ~~~~~~

 and you can activate a certain version by typing:
--- a/cmake/Modules/SetupPython.cmake
+++ b/cmake/Modules/SetupPython.cmake
@@ -100,6 +100,13 @@ else()
            gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
            gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
        endif()
+        if(NOT MAKO_FOUND OR NOT SIX_FOUND)
+            unset(PYTHON_EXECUTABLE)
+            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
+            gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
+            gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
+            gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+        endif()
    endif()
 endif()

--- a/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
@@ -123,7 +123,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
@@ -102,7 +102,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -173,7 +173,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    uint32_t doppler_max_;
    uint32_t doppler_step_;
--- a/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
@@ -121,7 +121,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
@@ -101,7 +101,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -172,7 +172,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
@@ -110,7 +110,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
@@ -96,7 +96,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -156,7 +156,7 @@ private:
    unsigned int vector_length_;
    unsigned int code_length_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
@@ -154,7 +154,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
@@ -100,7 +100,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -171,7 +171,7 @@ private:
    bool use_CFAR_algorithm_flag_;
    bool acquire_pilot_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
@@ -187,7 +187,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
    channel_ = 0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    // temporary buffers that we can delete
    delete[] code;
    delete fft_if;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
@@ -99,11 +99,12 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_fpga_->set_channel_fsm(channel_fsm);
    }
+
    /*!
     * \brief Set statistics threshold of PCPS algorithm
     */
@@ -156,7 +157,7 @@ private:
    pcps_acquisition_fpga_sptr acquisition_fpga_;
    bool acquire_pilot_;
    uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    uint32_t doppler_max_;
    uint32_t doppler_step_;
    std::string dump_filename_;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
@@ -111,7 +111,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
@@ -96,7 +96,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -155,7 +155,7 @@ private:
    unsigned int code_length_;
    //unsigned int satellite_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
@@ -144,7 +144,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
@@ -97,7 +97,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -159,7 +159,7 @@ private:
    unsigned int code_length_;
    bool bit_transition_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
@@ -114,7 +114,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
@@ -96,7 +96,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -157,7 +157,7 @@ private:
    unsigned int vector_length_;
    unsigned int code_length_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
@@ -119,7 +119,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
@@ -97,7 +97,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -160,7 +160,7 @@ private:
    unsigned int code_length_;
    bool bit_transition_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
@@ -152,7 +152,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
@@ -88,7 +88,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -169,7 +169,7 @@ private:
    unsigned int vector_length_;
    unsigned int code_length_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
    unsigned int sampled_ms_;
--- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
@@ -189,7 +189,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
    channel_ = 0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    // temporary buffers that we can delete
    delete[] code;
    delete fft_if;
--- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
@@ -88,6 +88,7 @@ public:
     * tracking blocks
     */
    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
+
    /*!
     * \brief Set acquisition channel unique ID
     */
@@ -100,11 +101,12 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_fpga_->set_channel_fsm(channel_fsm);
    }
+
    /*!
     * \brief Set statistics threshold of PCPS algorithm
     */
@@ -174,7 +176,7 @@ private:
    bool acq_iq_;

    uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    uint32_t doppler_max_;
    uint32_t doppler_step_;
    unsigned int in_streams_;
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -125,7 +125,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -98,7 +98,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -162,7 +162,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
@@ -124,7 +124,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
@@ -98,7 +98,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -162,7 +162,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
@@ -147,7 +147,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
@@ -104,7 +104,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -174,7 +174,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
@@ -97,7 +97,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
@@ -97,7 +97,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -152,7 +152,7 @@ private:
    std::string item_type_;
    unsigned int vector_length_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
@@ -169,7 +169,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
    channel_ = 0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    // temporary buffers that we can delete
    delete[] code;
    delete fft_if;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
@@ -101,13 +101,14 @@ public:
    }

    /*!
-      * \brief Set channel fsm associated to this acquisition instance
-      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+     * \brief Set channel fsm associated to this acquisition instance
+     */
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_fpga_->set_channel_fsm(channel_fsm);
    }
+
    /*!
     * \brief Set statistics threshold of PCPS algorithm
     */
@@ -159,7 +160,7 @@ private:
    ConfigurationInterface* configuration_;
    pcps_acquisition_fpga_sptr acquisition_fpga_;
    uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    uint32_t doppler_max_;
    uint32_t doppler_step_;
    Gnss_Synchro* gnss_synchro_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
@@ -89,7 +89,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
@@ -97,7 +97,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -149,7 +149,7 @@ private:
    unsigned int vector_length_;
    //unsigned int satellite_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
@@ -105,7 +105,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
@@ -96,7 +96,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -154,7 +154,7 @@ private:
    unsigned int code_length_;
    bool bit_transition_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
@@ -137,7 +137,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
@@ -98,7 +98,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -160,7 +160,7 @@ private:
    unsigned int code_length_;
    bool bit_transition_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
@@ -99,7 +99,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
@@ -97,7 +97,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -158,7 +158,7 @@ private:
    unsigned int vector_length_;
    unsigned int code_length_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
@@ -151,7 +151,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
    if (in_streams_ > 1)
        {
--- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
@@ -101,7 +101,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -171,7 +171,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
@@ -144,8 +144,8 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
                    fft_data = local_code & SELECT_ALL_CODE_BITS;
                    d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;

-                    //                    d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)),
-                    //                        static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)));
+                    // d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)),
+                    // static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)));
                }
        }

@@ -161,7 +161,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
    channel_ = 0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    

    threshold_ = 0.0;
 }
--- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
@@ -100,7 +100,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_fpga_->set_channel_fsm(channel_fsm);
@@ -158,7 +158,7 @@ private:
    pcps_acquisition_fpga_sptr acquisition_fpga_;
    std::string item_type_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
@@ -169,7 +169,6 @@ private:
    unsigned int in_streams_;
    unsigned int out_streams_;

-    //lv_16sc_t* d_all_fft_codes_;  // memory that contains all the code ffts
    uint32_t* d_all_fft_codes_;  // memory that contains all the code ffts

    //float calculate_threshold(float pfa);
--- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
@@ -147,7 +147,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
    threshold_ = 0.0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
--- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
@@ -101,7 +101,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_->set_channel_fsm(channel_fsm);
@@ -170,7 +170,7 @@ private:
    bool bit_transition_flag_;
    bool use_CFAR_algorithm_flag_;
    unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    float threshold_;
    unsigned int doppler_max_;
    unsigned int doppler_step_;
--- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
@@ -172,7 +172,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
    channel_ = 0;
    doppler_step_ = 0;
    gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
    // temporary buffers that we can delete
    delete[] code;
    delete fft_if;
--- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
@@ -101,11 +101,12 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
    {
        channel_fsm_ = channel_fsm;
        acquisition_fpga_->set_channel_fsm(channel_fsm);
    }
+
    /*!
     * \brief Set statistics threshold of PCPS algorithm
     */
@@ -158,7 +159,7 @@ private:
    pcps_acquisition_fpga_sptr acquisition_fpga_;
    std::string item_type_;
    uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
    uint32_t doppler_max_;
    uint32_t doppler_step_;
    std::string dump_filename_;
--- a/src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
@@ -100,7 +100,7 @@ private:
        int doppler_offset);
    float estimate_input_power(gr_complex* in);

-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    int64_t d_fs_in;
    int d_samples_per_ms;
    int d_sampled_ms;
@@ -216,7 +216,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
@@ -118,7 +118,7 @@ private:
    int32_t d_state;
    bool d_dump;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    std::string d_dump_filename;

 public:
@@ -186,7 +186,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
@@ -429,10 +429,11 @@ void pcps_acquisition::send_positive_acquisition()
               << ", magnitude " << d_mag
               << ", input signal power " << d_input_power;
    d_positive_acq = 1;
-    if (d_channel_fsm)
+
+    if (!d_channel_fsm.expired())
        {
            //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
-            d_channel_fsm->Event_valid_acquisition();
+            d_channel_fsm.lock()->Event_valid_acquisition();
        }
    else
        {
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
@@ -124,7 +124,7 @@ private:
    int64_t d_old_freq;
    int32_t d_state;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    uint32_t d_doppler_step;
    float d_doppler_center_step_two;
    uint32_t d_num_noncoherent_integrations_counter;
@@ -213,7 +213,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
@@ -122,7 +122,7 @@ private:
    int d_n_samples_in_buffer;
    bool d_dump;
    unsigned int d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;

    std::string d_dump_filename;

@@ -189,7 +189,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
@@ -81,7 +81,6 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
    d_max_num_acqs = acq_parameters.max_num_acqs;

    acquisition_fpga = std::make_shared<Fpga_Acquisition>(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size,
-
        acq_parameters.fs_in, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes, acq_parameters.excludelimit);
 }

@@ -152,7 +151,7 @@ void pcps_acquisition_fpga::send_positive_acquisition()
               << ", input signal power " << d_input_power;

    //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
-    d_channel_fsm->Event_valid_acquisition();
+    d_channel_fsm.lock()->Event_valid_acquisition();
 }


@@ -171,11 +170,11 @@ void pcps_acquisition_fpga::send_negative_acquisition()

    if (acq_parameters.repeat_satellite == true)
        {
-            d_channel_fsm->Event_failed_acquisition_repeat();
+            d_channel_fsm.lock()->Event_failed_acquisition_repeat();
        }
    else
        {
-            d_channel_fsm->Event_failed_acquisition_no_repeat();
+            d_channel_fsm.lock()->Event_failed_acquisition_no_repeat();
        }
 }

@@ -248,6 +247,7 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t
        }
 }

+
 void pcps_acquisition_fpga::set_active(bool active)
 {
    d_active = active;
@@ -264,7 +264,6 @@ void pcps_acquisition_fpga::set_active(bool active)
               // no CFAR algorithm in the FPGA
               << ", use_CFAR_algorithm_flag: false";

-
    acquisition_fpga->open_device();
    acquisition_fpga->configure_acquisition();
    acquisition_fpga->write_local_code();
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
@@ -62,8 +62,7 @@ typedef struct
    int32_t code_length;
    uint32_t select_queue_Fpga;
    std::string device_name;
-    //lv_16sc_t* all_fft_codes;  // memory that contains all the code ffts
-    uint32_t* all_fft_codes;
+    uint32_t* all_fft_codes; // pointer to memory that contains all the code ffts
    //float downsampling_factor;
    uint32_t downsampling_factor;
    uint32_t total_block_exp;
@@ -112,7 +111,7 @@ private:
    float d_test_statistics;
    int32_t d_state;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    uint32_t d_doppler_step;
    uint32_t d_doppler_max;
    uint32_t d_fft_size;
@@ -188,11 +187,10 @@ public:
        d_channel = channel;
    }

-
    /*!
-      * \brief Set channel fsm associated to this acquisition instance
-      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+     * \brief Set channel fsm associated to this acquisition instance
+     */
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
@@ -138,7 +138,7 @@ private:
    int32_t d_well_count;
    bool d_dump;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    std::string d_dump_filename;

 public:
@@ -199,7 +199,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
@@ -117,7 +117,7 @@ private:
    int32_t d_state;
    bool d_dump;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    std::string d_dump_filename;

 public:
@@ -186,7 +186,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
@@ -162,7 +162,7 @@ private:
    cl::CommandQueue* d_cl_queue;
    clFFT_Plan d_cl_fft_plan;
    cl_int d_cl_fft_batch_size;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    int d_opencl;

 public:
@@ -230,7 +230,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
@@ -151,7 +151,7 @@ private:
    int32_t d_state;
    bool d_dump;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    std::string d_dump_filename;

 public:
@@ -219,7 +219,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
@@ -134,7 +134,7 @@ private:
    int32_t d_state;
    bool d_dump;
    uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
    std::string d_dump_filename;

 public:
@@ -202,7 +202,7 @@ public:
    /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
    {
        d_channel_fsm = channel_fsm;
    }
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
@@ -20,53 +20,6 @@ if(DEFINED __INCLUDED_VOLK_PYTHON_CMAKE)
 endif()
 set(__INCLUDED_VOLK_PYTHON_CMAKE TRUE)

-########################################################################
-# Setup the python interpreter:
-# This allows the user to specify a specific interpreter,
-# or finds the interpreter via the built-in cmake module.
-########################################################################
-set(VOLK_PYTHON_MIN_VERSION "2.7")
-set(VOLK_PYTHON3_MIN_VERSION "3.4")
-
-if(CMAKE_VERSION VERSION_LESS 3.12)
-    if(PYTHON_EXECUTABLE)
-        message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
-        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
-    else()
-        message(STATUS "PYTHON_EXECUTABLE not set - using default python2")
-        message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
-        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
-        if(NOT PYTHONINTERP_FOUND)
-            message(STATUS "python2 not found - using python3")
-            find_package(PythonInterp ${VOLK_PYTHON3_MIN_VERSION} REQUIRED)
-        endif()
-    endif()
-else()
-    if(PYTHON_EXECUTABLE)
-        message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
-        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
-    else()
-        find_package(Python3 COMPONENTS Interpreter)
-        if(Python3_FOUND)
-            set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
-            set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
-        endif()
-        if(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
-            find_package(Python2 COMPONENTS Interpreter)
-            if(Python2_FOUND)
-                set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
-                set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
-            endif()
-        endif()
-    endif()
-endif()
-
-if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
-    set(PYTHON3 TRUE)
-endif()
-
-
-
 ########################################################################
 # Check for the existence of a python module:
 # - desc a string description of the check
@@ -102,6 +55,61 @@ except: pass
    "${have}")
 endmacro()

+
+########################################################################
+# Setup the python interpreter:
+# This allows the user to specify a specific interpreter,
+# or finds the interpreter via the built-in cmake module.
+########################################################################
+set(VOLK_PYTHON_MIN_VERSION "2.7")
+set(VOLK_PYTHON3_MIN_VERSION "3.4")
+
+if(CMAKE_VERSION VERSION_LESS 3.12)
+    if(PYTHON_EXECUTABLE)
+        message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
+        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
+    else()
+        message(STATUS "PYTHON_EXECUTABLE not set - using default python2")
+        message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
+        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+        if(NOT PYTHONINTERP_FOUND)
+            message(STATUS "python2 not found - using python3")
+            find_package(PythonInterp ${VOLK_PYTHON3_MIN_VERSION} REQUIRED)
+        endif()
+    endif()
+else()
+    if(PYTHON_EXECUTABLE)
+        message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
+        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
+    else()
+        find_package(Python3 COMPONENTS Interpreter)
+        if(Python3_FOUND)
+            set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
+            set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
+            volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+            volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+        endif()
+        if(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
+            find_package(Python2 COMPONENTS Interpreter)
+            if(Python2_FOUND)
+                set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
+                set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
+                volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+                volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+            endif()
+            if(NOT MAKO_FOUND OR NOT SIX_FOUND)
+                unset(PYTHON_EXECUTABLE)
+                find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+            endif()
+        endif()
+    endif()
+endif()
+
+if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
+    set(PYTHON3 TRUE)
+endif()
+
+
 ########################################################################
 # Sets the python installation directory VOLK_PYTHON_DIR
 ########################################################################
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
@@ -114,7 +114,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
                }
        }
    T_rx_TOW_ms = 0U;
-    T_rx_TOW_offset_ms = 0U;
+    T_rx_step_ms = 20;  //read from config at the adapter GNSS-SDR.observable_interval_ms!!
    T_rx_TOW_set = false;

    // rework
@@ -443,38 +443,39 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
    //2. If the TOW is set, it must be incremented by the desired receiver time step.
    //   the time step must match the observables timer block (connected to the las input channel)
    std::vector<Gnss_Synchro>::const_iterator it;
-    //    if (!T_rx_TOW_set)
-    //        {
-    //uint32_t TOW_ref = std::numeric_limits<uint32_t>::max();
-    uint32_t TOW_ref = 0U;
-    for (it = data.cbegin(); it != data.cend(); it++)
+    if (!T_rx_TOW_set)
        {
-            if (it->Flag_valid_word)
+            //uint32_t TOW_ref = std::numeric_limits<uint32_t>::max();
+            uint32_t TOW_ref = 0U;
+            for (it = data.cbegin(); it != data.cend(); it++)
                {
-                    if (it->TOW_at_current_symbol_ms > TOW_ref)
+                    if (it->Flag_valid_word)
                        {
-                            TOW_ref = it->TOW_at_current_symbol_ms;
-                            T_rx_TOW_set = true;
+                            if (it->TOW_at_current_symbol_ms > TOW_ref)
+                                {
+                                    TOW_ref = it->TOW_at_current_symbol_ms;
+                                    T_rx_TOW_set = true;
+                                }
                        }
                }
+            T_rx_TOW_ms = TOW_ref - (TOW_ref % 20);
+        }
+    else
+        {
+            T_rx_TOW_ms += T_rx_step_ms;  //the tow time step increment must match the ref time channel step
+            //todo: check what happens during the week rollover
+            if (T_rx_TOW_ms >= 604800000)
+                {
+                    T_rx_TOW_ms = T_rx_TOW_ms % 604800000;
+                }
        }
-    T_rx_TOW_ms = TOW_ref;
-    //}
-    //    else
-    //        {
-    //            T_rx_TOW_ms += T_rx_step_ms;
-    //            //todo: check what happens during the week rollover
-    //            if (T_rx_TOW_ms >= 604800000)
-    //                {
-    //                    T_rx_TOW_ms = T_rx_TOW_ms % 604800000;
-    //                }
-    //        }
-    //    std::cout << "T_rx_TOW_ms: " << T_rx_TOW_ms << std::endl;
 }


 void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
 {
+    //    std::cout.precision(17);
+    //    std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
    std::vector<Gnss_Synchro>::iterator it;
    for (it = data.begin(); it != data.end(); it++)
        {
@@ -486,13 +487,21 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
                    it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
                    it->Flag_valid_pseudorange = true;
                    // debug code
-                    // std::cout.precision(17);
-                    // std::cout << "[" << it->Channel_ID << "] interp_TOW_ms: " << it->interp_TOW_ms << std::endl;
-                    // std::cout << "[" << it->Channel_ID << "] Diff T_rx_TOW_ms - interp_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) - it->interp_TOW_ms << std::endl;
-                    // std::cout << "[" << it->Channel_ID << "] Pseudorange_m: " << it->Pseudorange_m << std::endl;
+                    //
+                    //                    std::cout << "[" << it->Channel_ID << "] interp_TOW_ms: " << it->interp_TOW_ms << std::endl;
+                    //                    std::cout << "[" << it->Channel_ID << "] Diff T_rx_TOW_ms - interp_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) - it->interp_TOW_ms << std::endl;
                }
        }
-    // usleep(1000);
+
+    //    for (it = data.begin(); it != data.end(); it++)
+    //        {
+    //            if (it->Flag_valid_word)
+    //                {
+    //                    std::cout << "[" << it->Channel_ID << "] Pseudorange_m: " << it->Pseudorange_m << std::endl;
+    //                }
+    //        }
+    //    std::cout << std::endl;
+    //    usleep(1000);
 }


@@ -548,7 +557,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
            for (uint32_t n = 0; n < d_nchannels_out; n++)
                {
                    Gnss_Synchro interpolated_gnss_synchro{};
-                    if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + T_rx_TOW_offset_ms * T_rx_clock_step_samples))
+                    if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
                        {
                            // Produce an empty observation
                            interpolated_gnss_synchro = Gnss_Synchro();
@@ -564,49 +573,10 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
                        }
                    epoch_data.push_back(interpolated_gnss_synchro);
                }
-            if (n_valid > 0)
-                {
-                    update_TOW(epoch_data);
-                    int tow_inc_loop_count = 0;
-                    while (T_rx_TOW_ms % 20 != 0 and tow_inc_loop_count < 20)
-                        {
-                            tow_inc_loop_count++;
-                            T_rx_TOW_offset_ms++;
-                            T_rx_TOW_offset_ms = T_rx_TOW_offset_ms % 20;
-                            //check if effectively the receiver TOW is now multiple of 20 ms
-                            n_valid = 0;
-                            epoch_data.clear();
-                            for (uint32_t n = 0; n < d_nchannels_out; n++)
-                                {
-                                    Gnss_Synchro interpolated_gnss_synchro{};
-                                    if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + T_rx_TOW_offset_ms * T_rx_clock_step_samples))
-                                        {
-                                            // Produce an empty observation
-                                            interpolated_gnss_synchro = Gnss_Synchro();
-                                            interpolated_gnss_synchro.Flag_valid_pseudorange = false;
-                                            interpolated_gnss_synchro.Flag_valid_word = false;
-                                            interpolated_gnss_synchro.Flag_valid_acquisition = false;
-                                            interpolated_gnss_synchro.fs = 0;
-                                            interpolated_gnss_synchro.Channel_ID = n;
-                                        }
-                                    else
-                                        {
-                                            n_valid++;
-                                        }
-                                    epoch_data.push_back(interpolated_gnss_synchro);
-                                }
-                            update_TOW(epoch_data);
-                            // debug code:
-                            // if (T_rx_TOW_ms % 20 != 0)
-                            //     {
-                            //         std::cout << "Warning: RX TOW is not multiple of 20 ms\n";
-                            //     }
-                            // std::cout << "T_rx_TOW_ms=" << T_rx_TOW_ms << " T_rx_TOW_offset_ms=" << T_rx_TOW_offset_ms << " ->" << T_rx_TOW_ms % 20 << std::endl;
-                        }
-                }

            if (n_valid > 0)
                {
+                    update_TOW(epoch_data);
                    compute_pranges(epoch_data);
                }

--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
@@ -83,7 +83,7 @@ private:
    //rx time follow GPST
    bool T_rx_TOW_set;
    uint32_t T_rx_TOW_ms;
-    uint32_t T_rx_TOW_offset_ms;
+    uint32_t T_rx_step_ms;
    bool d_dump;
    bool d_dump_mat;
    uint32_t d_nchannels_in;
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
@@ -560,9 +560,6 @@ void dll_pll_veml_tracking::start_tracking()
    d_carrier_phase_rate_step_rad = 0.0;
    d_carr_ph_history.clear();
    d_code_ph_history.clear();
-    // DLL/PLL filter initialization
-    d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz));  // initialize the carrier filter
-    d_code_loop_filter.initialize();                                                 // initialize the code filter

    if (systemName == "GPS" and signal_type == "1C")
        {
@@ -732,8 +729,14 @@ void dll_pll_veml_tracking::start_tracking()

    d_current_correlation_time_s = d_code_period;

+
+    // Initialize tracking  ==========================================
+    d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
    d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_hz);
    d_code_loop_filter.set_update_interval(d_code_period);
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz));  // initialize the carrier filter
+    d_code_loop_filter.initialize();                                                 // initialize the code filter

    // DEBUG OUTPUT
    std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
--- a/src/core/interfaces/acquisition_interface.h
+++ b/src/core/interfaces/acquisition_interface.h
@@ -58,7 +58,7 @@ class AcquisitionInterface : public GNSSBlockInterface
 public:
    virtual void set_gnss_synchro(Gnss_Synchro* gnss_synchro) = 0;
    virtual void set_channel(unsigned int channel_id) = 0;
-    virtual void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) = 0;
+    virtual void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) = 0;
    virtual void set_threshold(float threshold) = 0;
    virtual void set_doppler_max(unsigned int doppler_max) = 0;
    virtual void set_doppler_step(unsigned int doppler_step) = 0;
--- a/src/core/libs/gnss_sdr_fpga_sample_counter.cc
+++ b/src/core/libs/gnss_sdr_fpga_sample_counter.cc
@@ -104,7 +104,7 @@ gnss_sdr_fpga_sample_counter::~gnss_sdr_fpga_sample_counter()
 }


-// Called by gnuradio to enable drivers, etc for i/o devices.
+// Called by GNU Radio to enable drivers, etc for i/o devices.
 bool gnss_sdr_fpga_sample_counter::start()
 {
    // configure the number of samples per output in the FPGA and enable the interrupts
@@ -114,7 +114,8 @@ bool gnss_sdr_fpga_sample_counter::start()
    return true;
 }

-// Called by GNURadio to disable drivers, etc for i/o devices.
+
+// Called by GNU Radio to disable drivers, etc for i/o devices.
 bool gnss_sdr_fpga_sample_counter::stop()
 {
    close_device();
@@ -188,37 +189,6 @@ void gnss_sdr_fpga_sample_counter::close_device()
 }


-//uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
-//{
-//    int32_t irq_count;
-//   ssize_t nb;
-//    int32_t counter;
-//
-//   // enable interrupts
-//    int32_t reenable = 1;
-//    ssize_t nbytes = TEMP_FAILURE_RETRY(write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t)));
-//   if (nbytes != sizeof(int32_t))
-//        {
-//            std::cerr << "Error enabling interruptions in the FPGA." << std::endl;
-//        }
-//
-//    // wait for interrupt
-//   nb = read(fd, &irq_count, sizeof(irq_count));
-//   if (nb != sizeof(irq_count))
-//        {
-//            std::cout << "FPGA sample counter module read failed to retrieve 4 bytes!" << std::endl;
-//            std::cout << "FPGA sample counter module interrupt number " << irq_count << std::endl;
-//        }
-//
-//    // it is a rising edge interrupt, the interrupt does not need to be acknowledged
-//    //map_base[1] = 0; // writing anything to reg 1 acknowledges the interrupt
-//
-//    // add number of passed samples or read the current counter value for more accuracy
-//    counter = samples_per_output;  //map_base[0];
-//    return counter;
-//}
-
-
 int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
    __attribute__((unused)) gr_vector_int &ninput_items,
    __attribute__((unused)) gr_vector_const_void_star &input_items,
@@ -240,7 +210,6 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
    out[0].Channel_ID = -1;
    out[0].fs = fs;

-
    if ((sample_counter - last_sample_counter) > samples_per_report)
        {
            last_sample_counter = sample_counter;
@@ -305,69 +274,8 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
    current_T_rx_ms = interval_ms * (sample_counter) / samples_per_output;
    return 1;
 }
-//<<<<<<< HEAD:src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc

-//uint32_t gnss_sdr_fpga_sample_counter::test_register(uint32_t writeval)
-//{
-//uint32_t readval;
-//// write value to test register
-//map_base[3] = writeval;
-//// read value from test register
-//readval = map_base[3];
-//// return read value
-//return readval;
-//}

-//void gnss_sdr_fpga_sample_counter::configure_samples_per_output(uint32_t interval)
-//{
-//    // note : the counter is a 48-bit value in the HW.
-//    map_base[0] = interval - 1;
-//}
-
-//void gnss_sdr_fpga_sample_counter::open_device()
-//{
-//// open communication with HW accelerator
-//if ((fd = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
-//{
-//    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(nullptr, PAGE_SIZE,
-//PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
-//
-//if (map_base == reinterpret_cast<void *>(-1))
-//{
-//    LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
-//    std::cout << "Counter-Intr: cannot map deviceio" << device_name << std::endl;
-//}
-
-//// sanity check : check test register
-//uint32_t writeval = TEST_REG_SANITY_CHECK;
-//uint32_t readval;
-//readval = gnss_sdr_fpga_sample_counter::test_register(writeval);
-//if (writeval != readval)
-//{
-//    LOG(WARNING) << "Acquisition test register sanity check failed";
-//}
-//else
-//{
-//    LOG(INFO) << "Acquisition test register sanity check success!";
-//}
-//}
-
-//void gnss_sdr_fpga_sample_counter::close_device()
-//{
-//map_base[2] = 0;  // disable the generation of the interrupt in the device
-//
-//auto *aux = const_cast<uint32_t *>(map_base);
-//if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
-//{
-//    std::cout << "Failed to unmap memory uio" << std::endl;
-//}
-//close(fd);
-//}
-
-////uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
 void gnss_sdr_fpga_sample_counter::wait_for_interrupt()
 {
    int32_t irq_count;
@@ -385,5 +293,3 @@ void gnss_sdr_fpga_sample_counter::wait_for_interrupt()
            std::cout << "fpga sample counter module interrupt number " << irq_count << std::endl;
        }
 }
-//=======
-//>>>>>>> b409f1c15efdd3c80fde680f4b5b966a1c18467b:src/core/libs/gnss_sdr_fpga_sample_counter.cc
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -246,8 +246,8 @@ void GNSSFlowgraph::connect()
                                {
                                    // Connect the multichannel signal source to multiple signal conditioners
                                    // GNURADIO max_streams=-1 means infinite ports!
-                                    LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
-                                    LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
+                                    DLOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
+                                    DLOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();

                                    if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
                                        {
@@ -443,10 +443,26 @@ void GNSSFlowgraph::connect()
                                                {
                                                    // create a FIR low pass filter
                                                    std::vector<float> taps;
+
+                                                    //                                                    float beta = 7.0;
+                                                    //                                                    float halfband = 0.5;
+                                                    //                                                    float fractional_bw = 0.4;
+                                                    //                                                    float rate = 1.0 / static_cast<float>(decimation);
+                                                    //
+                                                    //                                                    float trans_width = rate * (halfband - fractional_bw);
+                                                    //                                                    float mid_transition_band = rate * halfband - trans_width / 2.0;
+                                                    //
+                                                    //                                                    taps = gr::filter::firdes::low_pass(1.0,
+                                                    //                                                        1.0,
+                                                    //                                                        mid_transition_band,
+                                                    //                                                        trans_width,
+                                                    //                                                        gr::filter::firdes::win_type::WIN_KAISER,
+                                                    //                                                        beta);
+
                                                    taps = gr::filter::firdes::low_pass(1.0,
                                                        fs,
                                                        acq_fs / 2.1,
-                                                        acq_fs / 10,
+                                                        acq_fs / 2,
                                                        gr::filter::firdes::win_type::WIN_HAMMING);

                                                    gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);