diff --git a/src/algorithms/libs/rtklib/rtklib.h b/src/algorithms/libs/rtklib/rtklib.h
index 1a8632220..1d0b6df1d 100644
--- a/src/algorithms/libs/rtklib/rtklib.h
+++ b/src/algorithms/libs/rtklib/rtklib.h
@@ -1223,6 +1223,19 @@ typedef struct {        /* RTK server type */
     lock_t lock;        /* lock flag */
 } rtksvr_t;
 
+typedef struct {                    /* multi-signal-message header type */
+    unsigned char iod;              /* issue of data station */
+    unsigned char time_s;           /* cumulative session transmitting time */
+    unsigned char clk_str;          /* clock steering indicator */
+    unsigned char clk_ext;          /* external clock indicator */
+    unsigned char smooth;           /* divergence free smoothing indicator */
+    unsigned char tint_s;           /* soothing interval */
+    unsigned char nsat,nsig;        /* number of satellites/signals */
+    unsigned char sats[64];         /* satellites */
+    unsigned char sigs[32];         /* signals */
+    unsigned char cellmask[64];     /* cell mask */
+} msm_h_t;
+
 
 const double chisqr[100] = {      /* chi-sqr(n) (alpha=0.001) */
     10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6,
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm.cc b/src/algorithms/libs/rtklib/rtklib_rtcm.cc
index e49f98831..5221e5f6a 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm.cc
@@ -67,11 +67,14 @@
  *-----------------------------------------------------------------------------*/
 int init_rtcm(rtcm_t *rtcm)
 {
-    gtime_t time0 = {0};
-    obsd_t data0 = {{0}};
-    eph_t  eph0  = {0, -1, -1};
-    geph_t geph0 = {0, -1};
-    ssr_t ssr0 = {{{0}}};
+    gtime_t time0 = {0, 0.0};
+    obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
+    eph_t  eph0  = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
+    geph_t geph0 = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
+            0.0, 0.0, 0.0};
+    ssr_t ssr0 = { {{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, 0.0, '0' };
     int i, j;
 
     trace(3, "init_rtcm:\n");
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
index ea987e50d..0494b4471 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
@@ -206,7 +206,9 @@ int decode_type16(rtcm_t *rtcm)
 /* decode type 17: gps ephemerides -------------------------------------------*/
 int decode_type17(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     int i = 48, week, prn, sat;
 
@@ -423,56 +425,56 @@ int decode_type22(rtcm_t *rtcm)
 
 
 /* decode type 23: antenna type definition record ----------------------------*/
-int decode_type23(rtcm_t *rtcm)
+int decode_type23(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 24: antenna reference point (arp) -----------------------------*/
-int decode_type24(rtcm_t *rtcm)
+int decode_type24(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 31: differential glonass correction ---------------------------*/
-int decode_type31(rtcm_t *rtcm)
+int decode_type31(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 32: differential glonass reference station parameters ---------*/
-int decode_type32(rtcm_t *rtcm)
+int decode_type32(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 34: glonass partial differential correction set ---------------*/
-int decode_type34(rtcm_t *rtcm)
+int decode_type34(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 36: glonass special message -----------------------------------*/
-int decode_type36(rtcm_t *rtcm)
+int decode_type36(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 37: gnss system time offset -----------------------------------*/
-int decode_type37(rtcm_t *rtcm)
+int decode_type37(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
 
 
 /* decode type 59: proprietary message ---------------------------------------*/
-int decode_type59(rtcm_t *rtcm)
+int decode_type59(rtcm_t *rtcm __attribute((unused)))
 {
     return 0;
 }
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
index e5b53a432..e03457833 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
@@ -727,7 +727,9 @@ int decode_type1013(rtcm_t *rtcm)
 /* decode type 1019: gps ephemerides -----------------------------------------*/
 int decode_type1019(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24+12, prn, sat, week, sys = SYS_GPS;
@@ -806,7 +808,8 @@ int decode_type1019(rtcm_t *rtcm)
 /* decode type 1020: glonass ephemerides -------------------------------------*/
 int decode_type1020(rtcm_t *rtcm)
 {
-    geph_t geph = {0};
+    geph_t geph = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
+            0.0, 0.0, 0.0};
     double tk_h, tk_m, tk_s, toe, tow, tod, tof;
     char *msg;
     int i = 24+12, prn, sat, week, tb, bn, sys = SYS_GLO;
@@ -877,7 +880,7 @@ int decode_type1020(rtcm_t *rtcm)
 
 
 /* decode type 1021: helmert/abridged molodenski -----------------------------*/
-int decode_type1021(rtcm_t *rtcm)
+int decode_type1021(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1021: not supported message\n");
     return 0;
@@ -885,7 +888,7 @@ int decode_type1021(rtcm_t *rtcm)
 
 
 /* decode type 1022: moledenski-badekas transfromation -----------------------*/
-int decode_type1022(rtcm_t *rtcm)
+int decode_type1022(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1022: not supported message\n");
     return 0;
@@ -893,7 +896,7 @@ int decode_type1022(rtcm_t *rtcm)
 
 
 /* decode type 1023: residual, ellipoidal grid representation ----------------*/
-int decode_type1023(rtcm_t *rtcm)
+int decode_type1023(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1023: not supported message\n");
     return 0;
@@ -901,7 +904,7 @@ int decode_type1023(rtcm_t *rtcm)
 
 
 /* decode type 1024: residual, plane grid representation ---------------------*/
-int decode_type1024(rtcm_t *rtcm)
+int decode_type1024(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1024: not supported message\n");
     return 0;
@@ -909,7 +912,7 @@ int decode_type1024(rtcm_t *rtcm)
 
 
 /* decode type 1025: projection (types except LCC2SP, OM) ---------------------*/
-int decode_type1025(rtcm_t *rtcm)
+int decode_type1025(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1025: not supported message\n");
     return 0;
@@ -917,7 +920,7 @@ int decode_type1025(rtcm_t *rtcm)
 
 
 /* decode type 1026: projection (LCC2SP - lambert conic conformal (2sp)) -----*/
-int decode_type1026(rtcm_t *rtcm)
+int decode_type1026(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1026: not supported message\n");
     return 0;
@@ -925,7 +928,7 @@ int decode_type1026(rtcm_t *rtcm)
 
 
 /* decode type 1027: projection (type OM - oblique mercator) -----------------*/
-int decode_type1027(rtcm_t *rtcm)
+int decode_type1027(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1027: not supported message\n");
     return 0;
@@ -972,7 +975,7 @@ int decode_type1029(rtcm_t *rtcm)
 
 
 /* decode type 1030: network rtk residual ------------------------------------*/
-int decode_type1030(rtcm_t *rtcm)
+int decode_type1030(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1030: not supported message\n");
     return 0;
@@ -980,7 +983,7 @@ int decode_type1030(rtcm_t *rtcm)
 
 
 /* decode type 1031: glonass network rtk residual ----------------------------*/
-int decode_type1031(rtcm_t *rtcm)
+int decode_type1031(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1031: not supported message\n");
     return 0;
@@ -988,7 +991,7 @@ int decode_type1031(rtcm_t *rtcm)
 
 
 /* decode type 1032: physical reference station position information ---------*/
-int decode_type1032(rtcm_t *rtcm)
+int decode_type1032(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1032: not supported message\n");
     return 0;
@@ -1062,7 +1065,7 @@ int decode_type1033(rtcm_t *rtcm)
 
 
 /* decode type 1034: gps network fkp gradient --------------------------------*/
-int decode_type1034(rtcm_t *rtcm)
+int decode_type1034(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1034: not supported message\n");
     return 0;
@@ -1070,7 +1073,7 @@ int decode_type1034(rtcm_t *rtcm)
 
 
 /* decode type 1035: glonass network fkp gradient ----------------------------*/
-int decode_type1035(rtcm_t *rtcm)
+int decode_type1035(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1035: not supported message\n");
     return 0;
@@ -1078,7 +1081,7 @@ int decode_type1035(rtcm_t *rtcm)
 
 
 /* decode type 1037: glonass network rtk ionospheric correction difference ---*/
-int decode_type1037(rtcm_t *rtcm)
+int decode_type1037(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1037: not supported message\n");
     return 0;
@@ -1086,7 +1089,7 @@ int decode_type1037(rtcm_t *rtcm)
 
 
 /* decode type 1038: glonass network rtk geometic correction difference ------*/
-int decode_type1038(rtcm_t *rtcm)
+int decode_type1038(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1038: not supported message\n");
     return 0;
@@ -1094,7 +1097,7 @@ int decode_type1038(rtcm_t *rtcm)
 
 
 /* decode type 1039: glonass network rtk combined correction difference ------*/
-int decode_type1039(rtcm_t *rtcm)
+int decode_type1039(rtcm_t *rtcm __attribute__((unused)))
 {
     trace(2, "rtcm3 1039: not supported message\n");
     return 0;
@@ -1104,7 +1107,9 @@ int decode_type1039(rtcm_t *rtcm)
 /* decode type 1044: qzss ephemerides (ref [15]) -----------------------------*/
 int decode_type1044(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24+12, prn, sat, week, sys = SYS_QZS;
@@ -1179,7 +1184,9 @@ int decode_type1044(rtcm_t *rtcm)
 /* decode type 1045: galileo satellite ephemerides (ref [15]) ----------------*/
 int decode_type1045(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL;
@@ -1254,7 +1261,9 @@ int decode_type1045(rtcm_t *rtcm)
 /* decode type 1046: galileo satellite ephemerides (extension for IGS MGEX) --*/
 int decode_type1046(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL;
@@ -1329,7 +1338,9 @@ int decode_type1046(rtcm_t *rtcm)
 /* decode type 1047: beidou ephemerides (tentative mt and format) ------------*/
 int decode_type1047(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};;
     double toc, sqrtA;
     char *msg;
     int i = 24+12, prn, sat, week, sys = SYS_BDS;
@@ -1407,7 +1418,9 @@ int decode_type1047(rtcm_t *rtcm)
 /* decode type 63: beidou ephemerides (rtcm draft) ---------------------------*/
 int decode_type63(rtcm_t *rtcm)
 {
-    eph_t eph = {0};
+    eph_t eph = {0, -1, -1, 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, 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, 0.0, {0.0}, 0.0, 0.0};
     double toc, sqrtA;
     char *msg;
     int i = 24+12, prn, sat, week, sys = SYS_BDS;
@@ -2180,7 +2193,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
 int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
         msm_h_t *h, int *hsize)
 {
-    msm_h_t h0 = {0};
+    msm_h_t h0 = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
     double tow, tod;
     char *msg;
     int i = 24, j, dow, mask, staid, type, ncell = 0;
@@ -2270,7 +2283,7 @@ int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
 /* decode unsupported msm message --------------------------------------------*/
 int decode_msm0(rtcm_t *rtcm, int sys)
 {
-    msm_h_t h = {0};
+    msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
     int i, sync, iod;
     if (decode_msm_head(rtcm, sys, &sync, &iod, &h, &i) < 0) return -1;
     rtcm->obsflag = !sync;
@@ -2281,7 +2294,7 @@ int decode_msm0(rtcm_t *rtcm, int sys)
 /* decode msm 4: full pseudorange and phaserange plus cnr --------------------*/
 int decode_msm4(rtcm_t *rtcm, int sys)
 {
-    msm_h_t h = {0};
+    msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
     double r[64], pr[64], cp[64], cnr[64];
     int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64];
 
@@ -2290,7 +2303,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
     /* decode msm header */
     if ((ncell = decode_msm_head(rtcm, sys, &sync, &iod, &h, &i)) < 0) return -1;
 
-    if (i+h.nsat*18+ncell*48>rtcm->len*8)
+    if (i+h.nsat*18+ncell*48 > rtcm->len*8)
         {
             trace(2, "rtcm3 %d length error: nsat=%d ncell=%d len=%d\n", type, h.nsat,
                     ncell, rtcm->len);
@@ -2344,7 +2357,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
 /* decode msm 5: full pseudorange, phaserange, phaserangerate and cnr --------*/
 int decode_msm5(rtcm_t *rtcm, int sys)
 {
-    msm_h_t h = {0};
+    msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
     double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64];
     int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64];
     int ex[64], half[64];
@@ -2425,7 +2438,7 @@ int decode_msm5(rtcm_t *rtcm, int sys)
 /* decode msm 6: full pseudorange and phaserange plus cnr (high-res) ---------*/
 int decode_msm6(rtcm_t *rtcm, int sys)
 {
-    msm_h_t h = {0};
+    msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
     double r[64], pr[64], cp[64], cnr[64];
     int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64];
 
@@ -2488,7 +2501,7 @@ int decode_msm6(rtcm_t *rtcm, int sys)
 /* decode msm 7: full pseudorange, phaserange, phaserangerate and cnr (h-res) */
 int decode_msm7(rtcm_t *rtcm, int sys)
 {
-    msm_h_t h = {0};
+    msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
     double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64];
     int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64];
     int ex[64], half[64];
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm3.h b/src/algorithms/libs/rtklib/rtklib_rtcm3.h
index 58ae71fb0..8ddcc8f05 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm3.h
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm3.h
@@ -62,26 +62,6 @@ const double PRUNIT_GPS = 299792.458;  /* rtcm ver.3 unit of gps pseudorange (m)
 const double PRUNIT_GLO = 599584.916;  /* rtcm ver.3 unit of glonass pseudorange (m) */
 const double RANGE_MS = SPEED_OF_LIGHT * 0.001;      /* range in 1 ms */
 
-//#define P2_10       0.0009765625          /* 2^-10 */
-//#define P2_34       5.820766091346740E-11 /* 2^-34 */
-//#define P2_46       1.421085471520200E-14 /* 2^-46 */
-//#define P2_59       1.734723475976810E-18 /* 2^-59 */
-//#define P2_66       1.355252715606880E-20 /* 2^-66 */
-
-/* type definition -----------------------------------------------------------*/
-
-typedef struct {                    /* multi-signal-message header type */
-    unsigned char iod;              /* issue of data station */
-    unsigned char time_s;           /* cumulative session transmitting time */
-    unsigned char clk_str;          /* clock steering indicator */
-    unsigned char clk_ext;          /* external clock indicator */
-    unsigned char smooth;           /* divergence free smoothing indicator */
-    unsigned char tint_s;           /* soothing interval */
-    unsigned char nsat,nsig;        /* number of satellites/signals */
-    unsigned char sats[64];         /* satellites */
-    unsigned char sigs[32];         /* signals */
-    unsigned char cellmask[64];     /* cell mask */
-} msm_h_t;
 
 /* msm signal id table -------------------------------------------------------*/
 const char *msm_sig_gps[32] = {