diff --git a/src/algorithms/libs/rtklib/CMakeLists.txt b/src/algorithms/libs/rtklib/CMakeLists.txt
index f6dcb2827..3640f45e4 100644
--- a/src/algorithms/libs/rtklib/CMakeLists.txt
+++ b/src/algorithms/libs/rtklib/CMakeLists.txt
@@ -33,6 +33,9 @@ set(RTKLIB_LIB_SOURCES
      rtklib_stream.cc
      rtklib_rtksvr.cc
      rtklib_solution.cc
+     rtklib_rtcm.cc
+     rtklib_rtcm2.cc
+     rtklib_rtcm3.cc
 )
 
 include_directories(
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
index 3e036e3c3..ea987e50d 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc
@@ -61,35 +61,35 @@
 /* adjust hourly rollover of rtcm 2 time -------------------------------------*/
 void adjhour(rtcm_t *rtcm, double zcnt)
 {
-    double tow,hour,sec;
+    double tow, hour, sec;
     int week;
 
     /* if no time, get cpu time */
     if (rtcm->time.time == 0) rtcm->time = utc2gpst(timeget());
-    tow = time2gpst(rtcm->time,&week);
+    tow = time2gpst(rtcm->time, &week);
     hour = floor(tow/3600.0);
     sec = tow-hour*3600.0;
     if      (zcnt<sec-1800.0) zcnt += 3600.0;
     else if (zcnt>sec+1800.0) zcnt-=3600.0;
-    rtcm->time = gpst2time(week,hour*3600+zcnt);
+    rtcm->time = gpst2time(week, hour*3600+zcnt);
 }
 
 
 /* get observation data index ------------------------------------------------*/
 int obsindex(obs_t *obs, gtime_t time, int sat)
 {
-    int i,j;
+    int i, j;
 
-    for (i = 0;i<obs->n;i++)
+    for (i = 0; i<obs->n; i++)
         {
             if (obs->data[i].sat == sat) return i; /* field already exists */
         }
-    if (i>=MAXOBS) return -1; /* overflow */
+    if (i >= MAXOBS) return -1; /* overflow */
 
     /* add new field */
     obs->data[i].time = time;
     obs->data[i].sat = sat;
-    for (j = 0;j<NFREQ;j++)
+    for (j = 0; j<NFREQ; j++)
         {
             obs->data[i].L[j] = obs->data[i].P[j] = 0.0;
             obs->data[i].D[j] = 0.0;
@@ -103,28 +103,28 @@ int obsindex(obs_t *obs, gtime_t time, int sat)
 /* decode type 1/9: differential gps correction/partial correction set -------*/
 int decode_type1(rtcm_t *rtcm)
 {
-    int i = 48,fact,udre,prn,sat,iod;
-    double prc,rrc;
+    int i = 48, fact, udre, prn, sat, iod;
+    double prc, rrc;
 
-    trace(4,"decode_type1: len=%d\n",rtcm->len);
+    trace(4, "decode_type1: len=%d\n", rtcm->len);
 
-    while (i+40<=rtcm->len*8)
+    while (i+40 <= rtcm->len*8)
         {
-            fact = getbitu(rtcm->buff,i, 1); i += 1;
-            udre = getbitu(rtcm->buff,i, 2); i  += 2;
-            prn = getbitu(rtcm->buff,i, 5); i += 5;
-            prc = getbits(rtcm->buff,i,16); i += 16;
-            rrc = getbits(rtcm->buff,i, 8); i += 8;
-            iod = getbits(rtcm->buff,i, 8); i += 8;
+            fact = getbitu(rtcm->buff, i, 1); i += 1;
+            udre = getbitu(rtcm->buff, i, 2); i  += 2;
+            prn = getbitu(rtcm->buff, i, 5); i += 5;
+            prc = getbits(rtcm->buff, i, 16); i += 16;
+            rrc = getbits(rtcm->buff, i, 8); i += 8;
+            iod = getbits(rtcm->buff, i, 8); i += 8;
             if (prn == 0) prn = 32;
             if (prc == 0x80000000||rrc == 0xFFFF8000)
                 {
-                    trace(2,"rtcm2 1 prc/rrc indicates satellite problem: prn=%d\n",prn);
+                    trace(2, "rtcm2 1 prc/rrc indicates satellite problem: prn=%d\n", prn);
                     continue;
                 }
             if (rtcm->dgps)
                 {
-                    sat = satno(SYS_GPS,prn);
+                    sat = satno(SYS_GPS, prn);
                     rtcm->dgps[sat-1].t0 = rtcm->time;
                     rtcm->dgps[sat-1].prc = prc*(fact?0.32:0.02);
                     rtcm->dgps[sat-1].rrc = rrc*(fact?0.032:0.002);
@@ -141,17 +141,17 @@ int decode_type3(rtcm_t *rtcm)
 {
     int i = 48;
 
-    trace(4,"decode_type3: len=%d\n",rtcm->len);
+    trace(4, "decode_type3: len=%d\n", rtcm->len);
 
-    if (i+96<=rtcm->len*8)
+    if (i+96 <= rtcm->len*8)
         {
-            rtcm->sta.pos[0] = getbits(rtcm->buff,i,32)*0.01; i += 32;
-            rtcm->sta.pos[1] = getbits(rtcm->buff,i,32)*0.01; i += 32;
-            rtcm->sta.pos[2] = getbits(rtcm->buff,i,32)*0.01;
+            rtcm->sta.pos[0] = getbits(rtcm->buff, i, 32)*0.01; i += 32;
+            rtcm->sta.pos[1] = getbits(rtcm->buff, i, 32)*0.01; i += 32;
+            rtcm->sta.pos[2] = getbits(rtcm->buff, i, 32)*0.01;
         }
     else
         {
-            trace(2,"rtcm2 3 length error: len=%d\n",rtcm->len);
+            trace(2, "rtcm2 3 length error: len=%d\n", rtcm->len);
             return -1;
         }
     return 5;
@@ -162,24 +162,24 @@ int decode_type3(rtcm_t *rtcm)
 int decode_type14(rtcm_t *rtcm)
 {
     double zcnt;
-    int i = 48,week,hour,leaps;
+    int i = 48, week, hour, leaps;
 
-    trace(4,"decode_type14: len=%d\n",rtcm->len);
+    trace(4, "decode_type14: len=%d\n", rtcm->len);
 
-    zcnt = getbitu(rtcm->buff,24,13);
-    if (i+24<=rtcm->len*8)
+    zcnt = getbitu(rtcm->buff, 24, 13);
+    if (i+24 <= rtcm->len*8)
         {
-            week = getbitu(rtcm->buff,i,10); i += 10;
-            hour = getbitu(rtcm->buff,i, 8); i += 8;
-            leaps = getbitu(rtcm->buff,i, 6);
+            week = getbitu(rtcm->buff, i, 10); i += 10;
+            hour = getbitu(rtcm->buff, i, 8); i += 8;
+            leaps = getbitu(rtcm->buff, i, 6);
         }
     else
         {
-            trace(2,"rtcm2 14 length error: len=%d\n",rtcm->len);
+            trace(2, "rtcm2 14 length error: len=%d\n", rtcm->len);
             return -1;
         }
     week = adjgpsweek(week);
-    rtcm->time = gpst2time(week,hour*3600.0+zcnt*0.6);
+    rtcm->time = gpst2time(week, hour*3600.0+zcnt*0.6);
     rtcm->nav.leaps = leaps;
     return 6;
 }
@@ -188,17 +188,17 @@ int decode_type14(rtcm_t *rtcm)
 /* decode type 16: gps special message ---------------------------------------*/
 int decode_type16(rtcm_t *rtcm)
 {
-    int i = 48,n = 0;
+    int i = 48, n = 0;
 
-    trace(4,"decode_type16: len=%d\n",rtcm->len);
+    trace(4, "decode_type16: len=%d\n", rtcm->len);
 
-    while (i+8<=rtcm->len*8&&n<90)
+    while (i+8 <= rtcm->len*8 && n<90)
         {
-            rtcm->msg[n++] = getbitu(rtcm->buff,i,8); i += 8;
+            rtcm->msg[n++] = getbitu(rtcm->buff, i, 8); i += 8;
         }
     rtcm->msg[n] = '\0';
 
-    trace(3,"rtcm2 16 message: %s\n",rtcm->msg);
+    trace(3, "rtcm2 16 message: %s\n", rtcm->msg);
     return 9;
 }
 
@@ -207,54 +207,54 @@ int decode_type16(rtcm_t *rtcm)
 int decode_type17(rtcm_t *rtcm)
 {
     eph_t eph = {0};
-    double toc,sqrtA;
-    int i = 48,week,prn,sat;
+    double toc, sqrtA;
+    int i = 48, week, prn, sat;
 
-    trace(4,"decode_type17: len=%d\n",rtcm->len);
+    trace(4, "decode_type17: len=%d\n", rtcm->len);
 
-    if (i+480<=rtcm->len*8)
+    if (i+480 <= rtcm->len*8)
         {
-            week       = getbitu(rtcm->buff,i,10);              i += 10;
-            eph.idot   = getbits(rtcm->buff,i,14)*TWO_N43*SC2RAD; i += 14;
-            eph.iode   = getbitu(rtcm->buff,i, 8);              i +=  8;
-            toc        = getbitu(rtcm->buff,i,16)*16.0;         i += 16;
-            eph.f1     = getbits(rtcm->buff,i,16)*TWO_N43;        i += 16;
-            eph.f2     = getbits(rtcm->buff,i, 8)*TWO_N55;        i +=  8;
-            eph.crs    = getbits(rtcm->buff,i,16)*TWO_N5;         i += 16;
-            eph.deln   = getbits(rtcm->buff,i,16)*TWO_N43*SC2RAD; i += 16;
-            eph.cuc    = getbits(rtcm->buff,i,16)*TWO_N29;        i += 16;
-            eph.e      = getbitu(rtcm->buff,i,32)*TWO_N33;        i += 32;
-            eph.cus    = getbits(rtcm->buff,i,16);              i += 16;
-            sqrtA      = getbitu(rtcm->buff,i,32)*TWO_N19;        i += 32;
-            eph.toes   = getbitu(rtcm->buff,i,16);              i += 16;
-            eph.OMG0   = getbits(rtcm->buff,i,32)*TWO_N31*SC2RAD; i += 32;
-            eph.cic    = getbits(rtcm->buff,i,16)*TWO_N29;        i += 16;
-            eph.i0     = getbits(rtcm->buff,i,32)*TWO_N31*SC2RAD; i += 32;
-            eph.cis    = getbits(rtcm->buff,i,16)*TWO_N29;        i += 16;
-            eph.omg    = getbits(rtcm->buff,i,32)*TWO_N31*SC2RAD; i += 32;
-            eph.crc    = getbits(rtcm->buff,i,16)*TWO_N5;         i += 16;
-            eph.OMGd   = getbits(rtcm->buff,i,24)*TWO_N43*SC2RAD; i += 24;
-            eph.M0     = getbits(rtcm->buff,i,32)*TWO_N31*SC2RAD; i += 32;
-            eph.iodc   = getbitu(rtcm->buff,i,10);              i += 10;
-            eph.f0     = getbits(rtcm->buff,i,22)*TWO_N31;        i += 22;
-            prn        = getbitu(rtcm->buff,i, 5);              i +=  5+3;
-            eph.tgd[0] = getbits(rtcm->buff,i, 8)*TWO_N31;        i +=  8;
-            eph.code   = getbitu(rtcm->buff,i, 2);              i +=  2;
-            eph.sva    = getbitu(rtcm->buff,i, 4);              i +=  4;
-            eph.svh    = getbitu(rtcm->buff,i, 6);              i +=  6;
-            eph.flag   = getbitu(rtcm->buff,i, 1);
+            week       = getbitu(rtcm->buff, i, 10);                i += 10;
+            eph.idot   = getbits(rtcm->buff, i, 14)*TWO_N43*SC2RAD; i += 14;
+            eph.iode   = getbitu(rtcm->buff, i, 8);                 i +=  8;
+            toc        = getbitu(rtcm->buff, i, 16)*16.0;           i += 16;
+            eph.f1     = getbits(rtcm->buff, i, 16)*TWO_N43;        i += 16;
+            eph.f2     = getbits(rtcm->buff, i, 8)*TWO_N55;         i +=  8;
+            eph.crs    = getbits(rtcm->buff, i, 16)*TWO_N5;         i += 16;
+            eph.deln   = getbits(rtcm->buff, i, 16)*TWO_N43*SC2RAD; i += 16;
+            eph.cuc    = getbits(rtcm->buff, i, 16)*TWO_N29;        i += 16;
+            eph.e      = getbitu(rtcm->buff, i, 32)*TWO_N33;        i += 32;
+            eph.cus    = getbits(rtcm->buff, i, 16);                i += 16;
+            sqrtA      = getbitu(rtcm->buff, i, 32)*TWO_N19;        i += 32;
+            eph.toes   = getbitu(rtcm->buff, i, 16);                i += 16;
+            eph.OMG0   = getbits(rtcm->buff, i, 32)*TWO_N31*SC2RAD; i += 32;
+            eph.cic    = getbits(rtcm->buff, i, 16)*TWO_N29;        i += 16;
+            eph.i0     = getbits(rtcm->buff, i, 32)*TWO_N31*SC2RAD; i += 32;
+            eph.cis    = getbits(rtcm->buff, i, 16)*TWO_N29;        i += 16;
+            eph.omg    = getbits(rtcm->buff, i, 32)*TWO_N31*SC2RAD; i += 32;
+            eph.crc    = getbits(rtcm->buff, i, 16)*TWO_N5;         i += 16;
+            eph.OMGd   = getbits(rtcm->buff, i, 24)*TWO_N43*SC2RAD; i += 24;
+            eph.M0     = getbits(rtcm->buff, i, 32)*TWO_N31*SC2RAD; i += 32;
+            eph.iodc   = getbitu(rtcm->buff, i, 10);                i += 10;
+            eph.f0     = getbits(rtcm->buff, i, 22)*TWO_N31;        i += 22;
+            prn        = getbitu(rtcm->buff, i, 5);                 i +=  5+3;
+            eph.tgd[0] = getbits(rtcm->buff, i, 8)*TWO_N31;         i +=  8;
+            eph.code   = getbitu(rtcm->buff, i, 2);                 i +=  2;
+            eph.sva    = getbitu(rtcm->buff, i, 4);                 i +=  4;
+            eph.svh    = getbitu(rtcm->buff, i, 6);                 i +=  6;
+            eph.flag   = getbitu(rtcm->buff, i, 1);
         }
     else
         {
-            trace(2,"rtcm2 17 length error: len=%d\n",rtcm->len);
+            trace(2, "rtcm2 17 length error: len=%d\n", rtcm->len);
             return -1;
         }
     if (prn == 0) prn = 32;
-    sat = satno(SYS_GPS,prn);
+    sat = satno(SYS_GPS, prn);
     eph.sat = sat;
     eph.week = adjgpsweek(week);
-    eph.toe = gpst2time(eph.week,eph.toes);
-    eph.toc = gpst2time(eph.week,toc);
+    eph.toe = gpst2time(eph.week, eph.toes);
+    eph.toc = gpst2time(eph.week, toc);
     eph.ttr = rtcm->time;
     eph.A = sqrtA*sqrtA;
     rtcm->nav.eph[sat-1] = eph;
@@ -267,54 +267,54 @@ int decode_type17(rtcm_t *rtcm)
 int decode_type18(rtcm_t *rtcm)
 {
     gtime_t time;
-    double usec,cp,tt;
-    int i = 48,index,freq,sync = 1,code,sys,prn,sat,loss;
+    double usec, cp, tt;
+    int i = 48, index, freq, sync = 1, code, sys, prn, sat, loss;
 
-    trace(4,"decode_type18: len=%d\n",rtcm->len);
+    trace(4, "decode_type18: len=%d\n", rtcm->len);
 
-    if (i+24<=rtcm->len*8)
+    if (i+24 <= rtcm->len*8)
         {
-            freq = getbitu(rtcm->buff,i, 2); i += 2+2;
-            usec = getbitu(rtcm->buff,i,20); i += 20;
+            freq = getbitu(rtcm->buff, i, 2); i += 2+2;
+            usec = getbitu(rtcm->buff, i, 20); i += 20;
         }
     else
         {
-            trace(2,"rtcm2 18 length error: len=%d\n",rtcm->len);
+            trace(2, "rtcm2 18 length error: len=%d\n", rtcm->len);
             return -1;
         }
     if (freq&0x1)
         {
-            trace(2,"rtcm2 18 not supported frequency: freq=%d\n",freq);
+            trace(2, "rtcm2 18 not supported frequency: freq=%d\n", freq);
             return -1;
         }
-    freq>>=1;
+    freq>>= 1;
 
-    while (i+48<=rtcm->len*8&&rtcm->obs.n<MAXOBS)
+    while (i+48 <= rtcm->len*8 && rtcm->obs.n<MAXOBS)
         {
-            sync = getbitu(rtcm->buff,i, 1); i += 1;
-            code = getbitu(rtcm->buff,i, 1); i += 1;
-            sys  = getbitu(rtcm->buff,i, 1); i += 1;
-            prn  = getbitu(rtcm->buff,i, 5); i += 5+3;
-            loss = getbitu(rtcm->buff,i, 5); i += 5;
-            cp   = getbits(rtcm->buff,i,32); i += 32;
+            sync = getbitu(rtcm->buff, i, 1); i += 1;
+            code = getbitu(rtcm->buff, i, 1); i += 1;
+            sys  = getbitu(rtcm->buff, i, 1); i += 1;
+            prn  = getbitu(rtcm->buff, i, 5); i += 5+3;
+            loss = getbitu(rtcm->buff, i, 5); i += 5;
+            cp   = getbits(rtcm->buff, i, 32); i += 32;
             if (prn == 0) prn = 32;
-            if (!(sat = satno(sys?SYS_GLO:SYS_GPS,prn)))
+            if (!(sat = satno(sys?SYS_GLO:SYS_GPS, prn)))
                 {
-                    trace(2,"rtcm2 18 satellite number error: sys=%d prn=%d\n",sys,prn);
+                    trace(2, "rtcm2 18 satellite number error: sys=%d prn=%d\n", sys, prn);
                     continue;
                 }
-            time = timeadd(rtcm->time,usec*1E-6);
+            time = timeadd(rtcm->time, usec*1E-6);
             if (sys) time = utc2gpst(time); /* convert glonass time to gpst */
 
-            tt = timediff(rtcm->obs.data[0].time,time);
+            tt = timediff(rtcm->obs.data[0].time, time);
             if (rtcm->obsflag||fabs(tt)>1E-9)
                 {
                     rtcm->obs.n = rtcm->obsflag = 0;
                 }
-            if ((index = obsindex(&rtcm->obs,time,sat)) >= 0)
+            if ((index = obsindex(&rtcm->obs, time, sat)) >= 0)
                 {
                     rtcm->obs.data[index].L[freq] = -cp/256.0;
-                    rtcm->obs.data[index].LLI[freq] = rtcm->loss[sat-1][freq]!=loss;
+                    rtcm->obs.data[index].LLI[freq] = rtcm->loss[sat-1][freq] != loss;
                     rtcm->obs.data[index].code[freq] =
                             !freq?(code?CODE_L1P:CODE_L1C):(code?CODE_L2P:CODE_L2C);
                     rtcm->loss[sat-1][freq] = loss;
@@ -329,50 +329,50 @@ int decode_type18(rtcm_t *rtcm)
 int decode_type19(rtcm_t *rtcm)
 {
     gtime_t time;
-    double usec,pr,tt;
-    int i = 48,index,freq,sync = 1,code,sys,prn,sat;
+    double usec, pr, tt;
+    int i = 48, index, freq, sync = 1, code, sys, prn, sat;
 
-    trace(4,"decode_type19: len=%d\n",rtcm->len);
+    trace(4, "decode_type19: len=%d\n", rtcm->len);
 
-    if (i+24<=rtcm->len*8)
+    if (i+24 <= rtcm->len*8)
         {
-            freq = getbitu(rtcm->buff,i, 2); i += 2+2;
-            usec = getbitu(rtcm->buff,i,20); i += 20;
+            freq = getbitu(rtcm->buff, i, 2); i += 2+2;
+            usec = getbitu(rtcm->buff, i, 20); i += 20;
         }
     else
         {
-            trace(2,"rtcm2 19 length error: len=%d\n",rtcm->len);
+            trace(2, "rtcm2 19 length error: len=%d\n", rtcm->len);
             return -1;
         }
     if (freq&0x1)
         {
-            trace(2,"rtcm2 19 not supported frequency: freq=%d\n",freq);
+            trace(2, "rtcm2 19 not supported frequency: freq=%d\n", freq);
             return -1;
         }
     freq>>=1;
 
-    while (i+48<=rtcm->len*8&&rtcm->obs.n<MAXOBS)
+    while (i+48 <= rtcm->len*8 && rtcm->obs.n<MAXOBS)
         {
-            sync = getbitu(rtcm->buff,i, 1); i += 1;
-            code = getbitu(rtcm->buff,i, 1); i += 1;
-            sys  = getbitu(rtcm->buff,i, 1); i += 1;
-            prn  = getbitu(rtcm->buff,i, 5); i += 5+8;
-            pr   = getbitu(rtcm->buff,i,32); i += 32;
+            sync = getbitu(rtcm->buff, i, 1); i += 1;
+            code = getbitu(rtcm->buff, i, 1); i += 1;
+            sys  = getbitu(rtcm->buff, i, 1); i += 1;
+            prn  = getbitu(rtcm->buff, i, 5); i += 5+8;
+            pr   = getbitu(rtcm->buff, i, 32); i += 32;
             if (prn == 0) prn = 32;
-            if (!(sat = satno(sys?SYS_GLO:SYS_GPS,prn)))
+            if (!(sat = satno(sys?SYS_GLO:SYS_GPS, prn)))
                 {
-                    trace(2,"rtcm2 19 satellite number error: sys=%d prn=%d\n",sys,prn);
+                    trace(2, "rtcm2 19 satellite number error: sys=%d prn=%d\n", sys, prn);
                     continue;
                 }
-            time = timeadd(rtcm->time,usec*1E-6);
+            time = timeadd(rtcm->time, usec*1E-6);
             if (sys) time = utc2gpst(time); /* convert glonass time to gpst */
 
-            tt = timediff(rtcm->obs.data[0].time,time);
+            tt = timediff(rtcm->obs.data[0].time, time);
             if (rtcm->obsflag||fabs(tt)>1E-9)
                 {
                     rtcm->obs.n = rtcm->obsflag = 0;
                 }
-            if ((index = obsindex(&rtcm->obs,time,sat))>=0)
+            if ((index = obsindex(&rtcm->obs, time, sat)) >= 0)
                 {
                     rtcm->obs.data[index].P[freq] = pr*0.02;
                     rtcm->obs.data[index].code[freq] =
@@ -387,36 +387,36 @@ int decode_type19(rtcm_t *rtcm)
 /* decode type 22: extended reference station parameter ----------------------*/
 int decode_type22(rtcm_t *rtcm)
 {
-    double del[2][3] = {{0}},hgt = 0.0;
-    int i = 48,j,noh;
+    double del[2][3] = {{0}}, hgt = 0.0;
+    int i = 48, j, noh;
 
-    trace(4,"decode_type22: len=%d\n",rtcm->len);
+    trace(4, "decode_type22: len=%d\n", rtcm->len);
 
-    if (i+24<=rtcm->len*8)
+    if (i+24 <= rtcm->len*8)
         {
-            del[0][0] = getbits(rtcm->buff,i,8)/25600.0; i += 8;
-            del[0][1] = getbits(rtcm->buff,i,8)/25600.0; i += 8;
-            del[0][2] = getbits(rtcm->buff,i,8)/25600.0; i += 8;
+            del[0][0] = getbits(rtcm->buff, i, 8)/25600.0; i += 8;
+            del[0][1] = getbits(rtcm->buff, i, 8)/25600.0; i += 8;
+            del[0][2] = getbits(rtcm->buff, i, 8)/25600.0; i += 8;
         }
     else
         {
-            trace(2,"rtcm2 22 length error: len=%d\n",rtcm->len);
+            trace(2, "rtcm2 22 length error: len=%d\n", rtcm->len);
             return -1;
         }
-    if (i+24<=rtcm->len*8)
+    if (i+24 <= rtcm->len*8)
         {
-            i += 5; noh = getbits(rtcm->buff,i,1); i += 1;
-            hgt = noh?0.0:getbitu(rtcm->buff,i,18)/25600.0;
+            i += 5; noh = getbits(rtcm->buff, i, 1); i += 1;
+            hgt = noh?0.0:getbitu(rtcm->buff, i, 18)/25600.0;
             i += 18;
         }
-    if (i+24<=rtcm->len*8)
+    if (i+24 <= rtcm->len*8)
         {
-            del[1][0] = getbits(rtcm->buff,i,8)/1600.0; i += 8;
-            del[1][1] = getbits(rtcm->buff,i,8)/1600.0; i += 8;
-            del[1][2] = getbits(rtcm->buff,i,8)/1600.0;
+            del[1][0] = getbits(rtcm->buff, i, 8)/1600.0; i += 8;
+            del[1][1] = getbits(rtcm->buff, i, 8)/1600.0; i += 8;
+            del[1][2] = getbits(rtcm->buff, i, 8)/1600.0;
         }
     rtcm->sta.deltype = 1; /* xyz */
-    for (j = 0;j<3;j++) rtcm->sta.del[j] = del[0][j];
+    for (j = 0; j<3; j++) rtcm->sta.del[j] = del[0][j];
     rtcm->sta.hgt = hgt;
     return 5;
 }
@@ -482,42 +482,42 @@ int decode_type59(rtcm_t *rtcm)
 int decode_rtcm2(rtcm_t *rtcm)
 {
     double zcnt;
-    int staid,seqno,stah,ret = 0,type = getbitu(rtcm->buff,8,6);
+    int staid, seqno, stah, ret = 0, type = getbitu(rtcm->buff, 8, 6);
 
-    trace(3,"decode_rtcm2: type=%2d len=%3d\n",type,rtcm->len);
+    trace(3, "decode_rtcm2: type=%2d len=%3d\n", type, rtcm->len);
 
-    if ((zcnt = getbitu(rtcm->buff,24,13)*0.6)>=3600.0)
+    if ((zcnt = getbitu(rtcm->buff, 24, 13)*0.6) >= 3600.0)
         {
-            trace(2,"rtcm2 modified z-count error: zcnt=%.1f\n",zcnt);
+            trace(2, "rtcm2 modified z-count error: zcnt=%.1f\n", zcnt);
             return -1;
         }
-    adjhour(rtcm,zcnt);
-    staid = getbitu(rtcm->buff,14,10);
-    seqno = getbitu(rtcm->buff,37, 3);
-    stah  = getbitu(rtcm->buff,45, 3);
-    if (seqno-rtcm->seqno!=1&&seqno-rtcm->seqno!=-7)
+    adjhour(rtcm, zcnt);
+    staid = getbitu(rtcm->buff, 14, 10);
+    seqno = getbitu(rtcm->buff, 37, 3);
+    stah  = getbitu(rtcm->buff, 45, 3);
+    if (seqno-rtcm->seqno != 1 && seqno-rtcm->seqno != -7)
         {
-            trace(2,"rtcm2 message outage: seqno=%d->%d\n",rtcm->seqno,seqno);
+            trace(2, "rtcm2 message outage: seqno=%d->%d\n", rtcm->seqno, seqno);
         }
     rtcm->seqno = seqno;
     rtcm->stah  = stah;
 
     if (rtcm->outtype)
         {
-            sprintf(rtcm->msgtype,"RTCM %2d (%4d) zcnt=%7.1f staid=%3d seqno=%d",
-                    type,rtcm->len,zcnt,staid,seqno);
+            sprintf(rtcm->msgtype, "RTCM %2d (%4d) zcnt=%7.1f staid=%3d seqno=%d",
+                    type, rtcm->len, zcnt, staid, seqno);
         }
     if (type == 3||type == 22||type == 23||type == 24)
         {
-            if (rtcm->staid!=0&&staid!=rtcm->staid)
+            if (rtcm->staid != 0 && staid != rtcm->staid)
                 {
-                    trace(2,"rtcm2 station id changed: %d->%d\n",rtcm->staid,staid);
+                    trace(2, "rtcm2 station id changed: %d->%d\n", rtcm->staid, staid);
                 }
             rtcm->staid = staid;
         }
-    if (rtcm->staid!=0&&staid!=rtcm->staid)
+    if (rtcm->staid != 0 && staid != rtcm->staid)
         {
-            trace(2,"rtcm2 station id invalid: %d %d\n",staid,rtcm->staid);
+            trace(2, "rtcm2 station id invalid: %d %d\n", staid, rtcm->staid);
             return -1;
         }
     switch (type)
@@ -540,9 +540,9 @@ int decode_rtcm2(rtcm_t *rtcm)
     case 37: ret = decode_type37(rtcm); break; /* not supported */
     case 59: ret = decode_type59(rtcm); break; /* not supported */
     }
-    if (ret>=0)
+    if (ret >= 0)
         {
-            if (1<=type&&type<=99) rtcm->nmsg2[type]++; else rtcm->nmsg2[0]++;
+            if (1 <= type && type <= 99) rtcm->nmsg2[type]++; else rtcm->nmsg2[0]++;
         }
     return ret;
 }
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
index 90548e890..e5b53a432 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc
@@ -132,7 +132,7 @@ int lossoflock(rtcm_t *rtcm, int sat, int freq, int lock)
 /* s/n ratio -----------------------------------------------------------------*/
 unsigned char snratio(double snr)
 {
-    return (unsigned char)(snr <= 0.0 || 255.5 <= snr?0.0:snr*4.0+0.5);
+    return (unsigned char)(snr <= 0.0 || 255.5 <= snr ? 0.0:snr*4.0+0.5);
 }
 
 
@@ -141,7 +141,7 @@ int obsindex(obs_t *obs, gtime_t time, int sat)
 {
     int i, j;
 
-    for (i = 0;i < obs->n;i++)
+    for (i = 0; i < obs->n; i++)
         {
             if (obs->data[i].sat == sat) return i; /* field already exists */
         }
@@ -150,7 +150,7 @@ int obsindex(obs_t *obs, gtime_t time, int sat)
     /* add new field */
     obs->data[i].time = time;
     obs->data[i].sat = sat;
-    for (j = 0;j < NFREQ+NEXOBS;j++)
+    for (j = 0; j < NFREQ+NEXOBS; j++)
         {
             obs->data[i].L[j] = obs->data[i].P[j] = 0.0;
             obs->data[i].D[j] = 0.0;
@@ -235,7 +235,7 @@ int decode_type1001(rtcm_t *rtcm)
     int sync;
     if (decode_head1001(rtcm, &sync) < 0) return -1;
     rtcm->obsflag=!sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -247,7 +247,7 @@ int decode_type1002(rtcm_t *rtcm)
 
     if ((nsat = decode_head1001(rtcm, &sync)) < 0) return -1;
 
-    for (j = 0;j < nsat && rtcm->obs.n < MAXOBS && i+74 <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && rtcm->obs.n < MAXOBS && i+74 <= rtcm->len*8; j++)
         {
             prn   = getbitu(rtcm->buff, i, 6);  i +=  6;
             code  = getbitu(rtcm->buff, i, 1);  i +=  1;
@@ -284,9 +284,9 @@ int decode_type1002(rtcm_t *rtcm)
                 }
             rtcm->obs.data[index].LLI[0] = lossoflock(rtcm, sat, 0, lock1);
             rtcm->obs.data[index].SNR[0] = snratio(cnr1*0.25);
-            rtcm->obs.data[index].code[0] = code?CODE_L1P:CODE_L1C;
+            rtcm->obs.data[index].code[0] = code ? CODE_L1P:CODE_L1C;
         }
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -296,7 +296,7 @@ int decode_type1003(rtcm_t *rtcm)
     int sync;
     if (decode_head1001(rtcm, &sync) < 0) return -1;
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -310,7 +310,7 @@ int decode_type1004(rtcm_t *rtcm)
 
     if ((nsat = decode_head1001(rtcm, &sync)) < 0) return -1;
 
-    for (j = 0;j < nsat && rtcm->obs.n < MAXOBS && i+125 <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && rtcm->obs.n < MAXOBS && i+125 <= rtcm->len*8; j++)
         {
             prn   = getbitu(rtcm->buff, i, 6);  i +=  6;
             code1 = getbitu(rtcm->buff, i, 1);  i +=  1;
@@ -352,7 +352,7 @@ int decode_type1004(rtcm_t *rtcm)
                 }
             rtcm->obs.data[index].LLI[0] = lossoflock(rtcm, sat, 0, lock1);
             rtcm->obs.data[index].SNR[0] = snratio(cnr1*0.25);
-            rtcm->obs.data[index].code[0] = code1?CODE_L1P:CODE_L1C;
+            rtcm->obs.data[index].code[0] = code1 ? CODE_L1P:CODE_L1C;
 
             if (pr21 != (int)0xFFFFE000)
                 {
@@ -368,7 +368,7 @@ int decode_type1004(rtcm_t *rtcm)
             rtcm->obs.data[index].code[1] = L2codes[code2];
         }
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -402,7 +402,7 @@ int decode_type1005(rtcm_t *rtcm)
     if (rtcm->outtype)
         {
             msg = rtcm->msgtype+strlen(rtcm->msgtype);
-            for (j = 0;j < 3;j++) re[j] = rr[j]*0.0001;
+            for (j = 0; j < 3; j++) re[j] = rr[j]*0.0001;
             ecef2pos(re, pos);
             sprintf(msg, " staid=%4d pos=%.8f %.8f %.3f", staid, pos[0]*R2D, pos[1]*R2D,
                     pos[2]);
@@ -411,7 +411,7 @@ int decode_type1005(rtcm_t *rtcm)
     if (!test_staid(rtcm, staid)) return -1;
 
     rtcm->sta.deltype = 0; /* xyz */
-    for (j = 0;j < 3;j++)
+    for (j = 0; j < 3; j++)
         {
             rtcm->sta.pos[j] = rr[j]*0.0001;
             rtcm->sta.del[j] = 0.0;
@@ -446,7 +446,7 @@ int decode_type1006(rtcm_t *rtcm)
     if (rtcm->outtype)
         {
             msg = rtcm->msgtype+strlen(rtcm->msgtype);
-            for (j = 0;j < 3;j++) re[j] = rr[j]*0.0001;
+            for (j = 0; j < 3; j++) re[j] = rr[j]*0.0001;
             ecef2pos(re, pos);
             sprintf(msg, " staid=%4d pos=%.8f %.8f %.3f anth=%.3f", staid, pos[0]*R2D,
                     pos[1]*R2D, pos[2], anth);
@@ -455,7 +455,7 @@ int decode_type1006(rtcm_t *rtcm)
     if (!test_staid(rtcm, staid)) return -1;
 
     rtcm->sta.deltype = 1; /* xyz */
-    for (j = 0;j < 3;j++)
+    for (j = 0; j < 3; j++)
         {
             rtcm->sta.pos[j] = rr[j]*0.0001;
             rtcm->sta.del[j] = 0.0;
@@ -478,7 +478,7 @@ int decode_type1007(rtcm_t *rtcm)
     if (i+28+8*n <= rtcm->len*8)
         {
             staid = getbitu(rtcm->buff, i, 12); i += 12+8;
-            for (j = 0;j < n && j < 31;j++)
+            for (j = 0; j < n && j < 31; j++)
                 {
                     des[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
@@ -517,12 +517,12 @@ int decode_type1008(rtcm_t *rtcm)
     if (i+36+8*(n+m) <= rtcm->len*8)
         {
             staid = getbitu(rtcm->buff, i, 12); i += 12+8;
-            for (j = 0;j < n && j < 31;j++)
+            for (j = 0; j < n && j < 31; j++)
                 {
                     des[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
             setup = getbitu(rtcm->buff, i, 8); i += 8+8;
-            for (j = 0;j < m && j < 31;j++)
+            for (j = 0; j < m && j < 31; j++)
                 {
                     sno[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
@@ -592,7 +592,7 @@ int decode_type1009(rtcm_t *rtcm)
     int sync;
     if (decode_head1009(rtcm, &sync) < 0) return -1;
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -604,7 +604,7 @@ int decode_type1010(rtcm_t *rtcm)
 
     if ((nsat = decode_head1009(rtcm, &sync)) < 0) return -1;
 
-    for (j = 0;j < nsat && rtcm->obs.n < MAXOBS && i+79 <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && rtcm->obs.n < MAXOBS && i+79 <= rtcm->len*8; j++)
         {
             prn   = getbitu(rtcm->buff, i, 6); i +=  6;
             code  = getbitu(rtcm->buff, i, 1); i +=  1;
@@ -635,9 +635,9 @@ int decode_type1010(rtcm_t *rtcm)
                 }
             rtcm->obs.data[index].LLI[0] = lossoflock(rtcm, sat, 0, lock1);
             rtcm->obs.data[index].SNR[0] = snratio(cnr1*0.25);
-            rtcm->obs.data[index].code[0] = code?CODE_L1P:CODE_L1C;
+            rtcm->obs.data[index].code[0] = code ? CODE_L1P:CODE_L1C;
         }
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -647,7 +647,7 @@ int decode_type1011(rtcm_t *rtcm)
     int sync;
     if (decode_head1009(rtcm, &sync) < 0) return -1;
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -660,7 +660,7 @@ int decode_type1012(rtcm_t *rtcm)
 
     if ((nsat = decode_head1009(rtcm, &sync)) < 0) return -1;
 
-    for (j = 0;j < nsat && rtcm->obs.n < MAXOBS && i+130 <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && rtcm->obs.n < MAXOBS && i+130 <= rtcm->len*8; j++)
         {
             prn   = getbitu(rtcm->buff, i, 6); i +=  6;
             code1 = getbitu(rtcm->buff, i, 1); i +=  1;
@@ -696,7 +696,7 @@ int decode_type1012(rtcm_t *rtcm)
                 }
             rtcm->obs.data[index].LLI[0] = lossoflock(rtcm, sat, 0, lock1);
             rtcm->obs.data[index].SNR[0] = snratio(cnr1*0.25);
-            rtcm->obs.data[index].code[0] = code1?CODE_L1P:CODE_L1C;
+            rtcm->obs.data[index].code[0] = code1 ? CODE_L1P:CODE_L1C;
 
             if (pr21 != (int)0xFFFFE000)
                 {
@@ -710,10 +710,10 @@ int decode_type1012(rtcm_t *rtcm)
                 }
             rtcm->obs.data[index].LLI[1] = lossoflock(rtcm, sat, 1, lock2);
             rtcm->obs.data[index].SNR[1] = snratio(cnr2*0.25);
-            rtcm->obs.data[index].code[1] = code2?CODE_L2P:CODE_L2C;
+            rtcm->obs.data[index].code[1] = code2 ? CODE_L2P:CODE_L2C;
         }
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -763,7 +763,7 @@ int decode_type1019(rtcm_t *rtcm)
             eph.tgd[0] = getbits(rtcm->buff, i, 8)*TWO_N31;      i +=  8;
             eph.svh    = getbitu(rtcm->buff, i, 6);              i +=  6;
             eph.flag   = getbitu(rtcm->buff, i, 1);              i +=  1;
-            eph.fit    = getbitu(rtcm->buff, i, 1)?0.0:4.0; /* 0:4hr, 1:>4hr */
+            eph.fit    = getbitu(rtcm->buff, i, 1) ? 0.0:4.0; /* 0:4hr, 1:>4hr */
         }
     else
         {
@@ -956,7 +956,7 @@ int decode_type1029(rtcm_t *rtcm)
             trace(2, "rtcm3 1029 length error: len=%d nchar=%d\n", rtcm->len, nchar);
             return -1;
         }
-    for (j = 0;j < nchar && j < 126;j++)
+    for (j = 0; j < nchar && j < 126; j++)
         {
             rtcm->msg[j] = getbitu(rtcm->buff, i, 8); i += 8;
         }
@@ -1011,27 +1011,27 @@ int decode_type1033(rtcm_t *rtcm)
     if (i+60+8*(n+m+n1+n2+n3) <= rtcm->len*8)
         {
             staid =  getbitu(rtcm->buff, i, 12); i += 12+8;
-            for (j = 0;j < n && j < 31;j++)
+            for (j = 0; j < n && j < 31; j++)
                 {
                     des[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
             setup =  getbitu(rtcm->buff, i, 8); i += 8+8;
-            for (j = 0;j < m && j < 31;j++)
+            for (j = 0; j < m && j < 31; j++)
                 {
                     sno[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
             i += 8;
-            for (j = 0;j < n1 && j < 31;j++)
+            for (j = 0; j < n1 && j < 31; j++)
                 {
                     rec[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
             i += 8;
-            for (j = 0;j < n2 && j < 31;j++)
+            for (j = 0; j < n2 && j < 31; j++)
                 {
                     ver[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
             i += 8;
-            for (j = 0;j < n3 && j < 31;j++)
+            for (j = 0; j < n3 && j < 31; j++)
                 {
                     rsn[j] = (char)getbitu(rtcm->buff, i, 8); i += 8;
                 }
@@ -1139,7 +1139,7 @@ int decode_type1044(rtcm_t *rtcm)
             eph.svh   = getbitu(rtcm->buff, i, 6);              i +=  6;
             eph.tgd[0] = getbits(rtcm->buff, i, 8)*TWO_N31;        i +=  8;
             eph.iodc  = getbitu(rtcm->buff, i, 10);              i += 10;
-            eph.fit   = getbitu(rtcm->buff, i, 1)?0.0:2.0; /* 0:2hr, 1:>2hr */
+            eph.fit   = getbitu(rtcm->buff, i, 1) ? 0.0:2.0; /* 0:2hr, 1:>2hr */
         }
     else
         {
@@ -1365,7 +1365,7 @@ int decode_type1047(rtcm_t *rtcm)
             eph.tgd[0] = getbits(rtcm->buff, i, 8)*TWO_N31;        i +=  8;
             eph.svh    = getbitu(rtcm->buff, i, 6);              i +=  6;
             eph.flag   = getbitu(rtcm->buff, i, 1);              i +=  1;
-            eph.fit    = getbitu(rtcm->buff, i, 1)?0.0:4.0; /* 0:4hr, 1:>4hr */
+            eph.fit    = getbitu(rtcm->buff, i, 1) ? 0.0:4.0; /* 0:4hr, 1:>4hr */
         }
     else
         {
@@ -1488,9 +1488,9 @@ int decode_ssr1_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
     int i = 24+12, nsat, udi, provid = 0, solid = 0, ns = 6;
 
 #ifndef SSR_QZSS_DRAFT_V05
-    ns = sys == SYS_QZS?4:6;
+    ns = sys == SYS_QZS ? 4:6;
 #endif
-    if (i+(sys == SYS_GLO?53:50+ns)>rtcm->len*8) return -1;
+    if (i+(sys == SYS_GLO ? 53:50+ns)>rtcm->len*8) return -1;
 
     if (sys == SYS_GLO)
         {
@@ -1534,9 +1534,9 @@ int decode_ssr2_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
     int i = 24+12, nsat, udi, provid = 0, solid = 0, ns = 6;
 
 #ifndef SSR_QZSS_DRAFT_V05
-    ns = sys == SYS_QZS?4:6;
+    ns = sys == SYS_QZS ? 4:6;
 #endif
-    if (i+(sys == SYS_GLO?52:49+ns)>rtcm->len*8) return -1;
+    if (i+(sys == SYS_GLO ? 52:49+ns)>rtcm->len*8) return -1;
 
     if (sys == SYS_GLO)
         {
@@ -1579,9 +1579,9 @@ int decode_ssr7_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
     int i = 24+12, nsat, udi, provid = 0, solid = 0, ns = 6;
 
 #ifndef SSR_QZSS_DRAFT_V05
-    ns = sys == SYS_QZS?4:6;
+    ns = sys == SYS_QZS ? 4:6;
 #endif
-    if (i+(sys == SYS_GLO?54:51+ns)>rtcm->len*8) return -1;
+    if (i+(sys == SYS_GLO ? 54:51+ns)>rtcm->len*8) return -1;
 
     if (sys == SYS_GLO)
         {
@@ -1640,9 +1640,9 @@ int decode_ssr1(rtcm_t *rtcm, int sys)
     case SYS_QZS: np = 4; ni =  8; nj =  0; offp = 192; break;
     case SYS_BDS: np = 6; ni = 10; nj = 24; offp =   1; break;
     case SYS_SBS: np = 6; ni =  9; nj = 24; offp = 120; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+121+np+ni+nj <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+121+np+ni+nj <= rtcm->len*8; j++)
         {
             prn      = getbitu(rtcm->buff, i, np)+offp; i += np;
             iode     = getbitu(rtcm->buff, i, ni);      i += ni;
@@ -1673,7 +1673,7 @@ int decode_ssr1(rtcm_t *rtcm, int sys)
                 }
             rtcm->ssr[sat-1].update = 1;
         }
-    return sync?0:10;
+    return sync ? 0:10;
 }
 
 
@@ -1698,9 +1698,9 @@ int decode_ssr2(rtcm_t *rtcm, int sys)
     case SYS_QZS: np = 4; offp = 192; break;
     case SYS_BDS: np = 6; offp =   1; break;
     case SYS_SBS: np = 6; offp = 120; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+70+np <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+70+np <= rtcm->len*8; j++)
         {
             prn     = getbitu(rtcm->buff, i, np)+offp; i += np;
             dclk[0] = getbits(rtcm->buff, i, 22)*1E-4; i += 22;
@@ -1722,7 +1722,7 @@ int decode_ssr2(rtcm_t *rtcm, int sys)
                 }
             rtcm->ssr[sat-1].update = 1;
         }
-    return sync?0:10;
+    return sync ? 0:10;
 }
 
 
@@ -1748,9 +1748,9 @@ int decode_ssr3(rtcm_t *rtcm, int sys)
     case SYS_QZS: np = 4; offp = 192; codes = codes_qzs; ncode = 13; break;
     case SYS_BDS: np = 6; offp =   1; codes = codes_bds; ncode =  9; break;
     case SYS_SBS: np = 6; offp = 120; codes = codes_sbs; ncode =  4; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+5+np <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+5+np <= rtcm->len*8; j++)
         {
             prn   = getbitu(rtcm->buff, i, np)+offp; i += np;
             nbias = getbitu(rtcm->buff, i, 5);      i +=  5;
@@ -1784,7 +1784,7 @@ int decode_ssr3(rtcm_t *rtcm, int sys)
                 }
             rtcm->ssr[sat-1].update = 1;
         }
-    return sync?0:10;
+    return sync ? 0:10;
 }
 
 
@@ -1809,9 +1809,9 @@ int decode_ssr4(rtcm_t *rtcm, int sys)
     case SYS_QZS: np = 4; ni =  8; nj =  0; offp = 192; break;
     case SYS_BDS: np = 6; ni = 10; nj = 24; offp =   1; break;
     case SYS_SBS: np = 6; ni =  9; nj = 24; offp = 120; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+191+np+ni+nj <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+191+np+ni+nj <= rtcm->len*8; j++)
         {
             prn      = getbitu(rtcm->buff, i, np)+offp; i += np;
             iode     = getbitu(rtcm->buff, i, ni);      i += ni;
@@ -1847,7 +1847,7 @@ int decode_ssr4(rtcm_t *rtcm, int sys)
                 }
             rtcm->ssr[sat-1].update = 1;
         }
-    return sync?0:10;
+    return sync ? 0:10;
 }
 
 
@@ -1872,9 +1872,9 @@ int decode_ssr5(rtcm_t *rtcm, int sys)
     case SYS_QZS: np = 4; offp = 192; break;
     case SYS_BDS: np = 6; offp =   1; break;
     case SYS_SBS: np = 6; offp = 120; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+6+np <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+6+np <= rtcm->len*8; j++)
         {
             prn = getbitu(rtcm->buff, i, np)+offp; i += np;
             ura = getbitu(rtcm->buff, i, 6);      i +=  6;
@@ -1890,7 +1890,7 @@ int decode_ssr5(rtcm_t *rtcm, int sys)
             rtcm->ssr[sat-1].ura = ura;
             rtcm->ssr[sat-1].update = 1;
         }
-    return sync?0:10;
+    return sync ? 0:10;
 }
 
 
@@ -1915,9 +1915,9 @@ int decode_ssr6(rtcm_t *rtcm, int sys)
     case SYS_QZS: np = 4; offp = 192; break;
     case SYS_BDS: np = 6; offp =   1; break;
     case SYS_SBS: np = 6; offp = 120; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+22+np <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+22+np <= rtcm->len*8; j++)
         {
             prn   = getbitu(rtcm->buff, i, np)+offp; i += np;
             hrclk = getbits(rtcm->buff, i, 22)*1E-4; i += 22;
@@ -1933,7 +1933,7 @@ int decode_ssr6(rtcm_t *rtcm, int sys)
             rtcm->ssr[sat-1].hrclk = hrclk;
             rtcm->ssr[sat-1].update = 1;
         }
-    return sync?0:10;
+    return sync ? 0:10;
 }
 
 
@@ -1959,9 +1959,9 @@ int decode_ssr7(rtcm_t *rtcm, int sys)
     case SYS_GAL: np = 6; offp =   0; codes = codes_gal; ncode = 19; break;
     case SYS_QZS: np = 4; offp = 192; codes = codes_qzs; ncode = 13; break;
     case SYS_BDS: np = 6; offp =   1; codes = codes_bds; ncode =  9; break;
-    default: return sync?0:10;
+    default: return sync ? 0:10;
     }
-    for (j = 0;j < nsat && i+5+17+np <= rtcm->len*8;j++)
+    for (j = 0; j < nsat && i+5+17+np <= rtcm->len*8; j++)
         {
             prn      = getbitu(rtcm->buff, i, np)+offp; i += np;
             nbias    = getbitu(rtcm->buff, i, 5);      i +=  5;
@@ -2015,7 +2015,7 @@ void sigindex(int sys, const unsigned char *code, const int *freq, int n,
     int i, nex, pri, pri_h[8] = {0}, index[8] = {0}, ex[32] = {0};
 
     /* test code priority */
-    for (i = 0;i < n;i++)
+    for (i = 0; i < n; i++)
         {
             if (!code[i]) continue;
 
@@ -2037,7 +2037,7 @@ void sigindex(int sys, const unsigned char *code, const int *freq, int n,
             else ex[i] = 1;
         }
     /* signal index in obs data */
-    for (i = nex = 0;i < n;i++)
+    for (i = nex = 0; i < n; i++)
         {
             if (ex[i] == 0) ind[i] = freq[i]-1;
             else if (nex < NEXOBS) ind[i] = NFREQ+nex++;
@@ -2077,7 +2077,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
     case SYS_BDS: msm_type = q = rtcm->msmtype[5]; break;
     }
     /* id to signal */
-    for (i = 0;i < h->nsig;i++)
+    for (i = 0; i < h->nsig; i++)
         {
             switch (sys)
             {
@@ -2100,11 +2100,11 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                 }
             if (code[i] != CODE_NONE)
                 {
-                    if (q) q += sprintf(q, "L%s%s", sig[i], i < h->nsig-1?", ":"");
+                    if (q) q += sprintf(q, "L%s%s", sig[i], i < h->nsig-1 ? ", ":"");
                 }
             else
                 {
-                    if (q) q += sprintf(q, "(%d)%s", h->sigs[i], i < h->nsig-1?", ":"");
+                    if (q) q += sprintf(q, "(%d)%s", h->sigs[i], i < h->nsig-1 ? ", ":"");
 
                     trace(2, "rtcm3 %d: unknown signal id=%2d\n", type, h->sigs[i]);
                 }
@@ -2114,7 +2114,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
     /* get signal index */
     sigindex(sys, code, freq, h->nsig, rtcm->opt, ind);
 
-    for (i = j = 0;i < h->nsat;i++)
+    for (i = j = 0; i < h->nsat; i++)
         {
             prn = h->sats[i];
             if      (sys == SYS_QZS) prn += MINPRNQZS-1;
@@ -2146,8 +2146,8 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                             if (sys == SYS_GLO && ex && ex[i] <= 13)
                                 {
                                     fn = ex[i]-7;
-                                    wl = SPEED_OF_LIGHT/((freq[k] == 2?FREQ2_GLO:FREQ1_GLO)+
-                                            (freq[k] == 2?DFRQ2_GLO:DFRQ1_GLO)*fn);
+                                    wl = SPEED_OF_LIGHT/((freq[k] == 2 ? FREQ2_GLO : FREQ1_GLO)+
+                                            (freq[k] == 2 ? DFRQ2_GLO:DFRQ1_GLO)*fn);
                                 }
                             /* pseudorange (m) */
                             if (r[i] != 0.0 && pr[j]>-1E12)
@@ -2165,7 +2165,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                                     rtcm->obs.data[index].D[ind[k]] = (float)(-(rr[i]+rrf[j])/wl);
                                 }
                             rtcm->obs.data[index].LLI[ind[k]] =
-                                    lossoflock(rtcm, sat, ind[k], lock[j])+(half[j]?3:0);
+                                    lossoflock(rtcm, sat, ind[k], lock[j])+(half[j] ? 3 : 0);
                             rtcm->obs.data[index].SNR [ind[k]] = (unsigned char)(cnr[j]*4.0);
                             rtcm->obs.data[index].code[ind[k]] = code[k];
                         }
@@ -2216,12 +2216,12 @@ int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
             h->clk_ext = getbitu(rtcm->buff, i, 2);       i += 2;
             h->smooth  = getbitu(rtcm->buff, i, 1);       i += 1;
             h->tint_s  = getbitu(rtcm->buff, i, 3);       i += 3;
-            for (j = 1;j <= 64;j++)
+            for (j = 1; j <= 64; j++)
                 {
                     mask = getbitu(rtcm->buff, i, 1); i += 1;
                     if (mask) h->sats[h->nsat++] = j;
                 }
-            for (j = 1;j <= 32;j++)
+            for (j = 1; j <= 32; j++)
                 {
                     mask = getbitu(rtcm->buff, i, 1); i += 1;
                     if (mask) h->sigs[h->nsig++] = j;
@@ -2247,7 +2247,7 @@ int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
                     rtcm->len, h->nsat, h->nsig);
             return -1;
         }
-    for (j = 0;j < h->nsat*h->nsig;j++)
+    for (j = 0; j < h->nsat*h->nsig; j++)
         {
             h->cellmask[j] = getbitu(rtcm->buff, i, 1); i += 1;
             if (h->cellmask[j]) ncell++;
@@ -2274,7 +2274,7 @@ int decode_msm0(rtcm_t *rtcm, int sys)
     int i, sync, iod;
     if (decode_msm_head(rtcm, sys, &sync, &iod, &h, &i) < 0) return -1;
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -2296,40 +2296,40 @@ int decode_msm4(rtcm_t *rtcm, int sys)
                     ncell, rtcm->len);
             return -1;
         }
-    for (j = 0;j < h.nsat;j++) r[j] = 0.0;
-    for (j = 0;j < ncell;j++) pr[j] = cp[j] = -1E16;
+    for (j = 0; j < h.nsat; j++) r[j] = 0.0;
+    for (j = 0; j < ncell; j++) pr[j] = cp[j] = -1E16;
 
     /* decode satellite data */
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* range */
             rng   = getbitu(rtcm->buff, i, 8); i +=  8;
             if (rng != 255) r[j] = rng*RANGE_MS;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         {
             rng_m = getbitu(rtcm->buff, i, 10); i += 10;
-            if (r[j] != 0.0) r[j] += rng_m*P2_10*RANGE_MS;
+            if (r[j] != 0.0) r[j] += rng_m*TWO_N10*RANGE_MS;
         }
     /* decode signal data */
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* pseudorange */
             prv = getbits(rtcm->buff, i, 15); i += 15;
             if (prv != -16384) pr[j] = prv*TWO_N24*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* phaserange */
             cpv = getbits(rtcm->buff, i, 22); i += 22;
             if (cpv != -2097152) cp[j] = cpv*TWO_N29*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* lock time */
             lock[j] = getbitu(rtcm->buff, i, 4); i += 4;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* half-cycle ambiguity */
             half[j] = getbitu(rtcm->buff, i, 1); i += 1;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* cnr */
             cnr[j] = getbitu(rtcm->buff, i, 6)*1.0; i += 6;
         }
@@ -2337,7 +2337,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
     save_msm_obs(rtcm, sys, &h, r, pr, cp, NULL, NULL, cnr, lock, NULL, half);
 
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -2360,56 +2360,56 @@ int decode_msm5(rtcm_t *rtcm, int sys)
                     ncell, rtcm->len);
             return -1;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         {
             r[j] = rr[j] = 0.0; ex[j] = 15;
         }
-    for (j = 0;j < ncell;j++) pr[j] = cp[j] = rrf[j] = -1E16;
+    for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
 
     /* decode satellite data */
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* range */
             rng   = getbitu(rtcm->buff, i, 8); i +=  8;
             if (rng != 255) r[j] = rng*RANGE_MS;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* extended info */
             ex[j] = getbitu(rtcm->buff, i, 4); i +=  4;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         {
             rng_m = getbitu(rtcm->buff, i, 10); i += 10;
-            if (r[j] != 0.0) r[j] += rng_m*P2_10*RANGE_MS;
+            if (r[j] != 0.0) r[j] += rng_m*TWO_N10*RANGE_MS;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* phaserangerate */
             rate  = getbits(rtcm->buff, i, 14); i += 14;
             if (rate != -8192) rr[j] = rate*1.0;
         }
     /* decode signal data */
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* pseudorange */
             prv = getbits(rtcm->buff, i, 15); i += 15;
             if (prv != -16384) pr[j] = prv*TWO_N24*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* phaserange */
             cpv = getbits(rtcm->buff, i, 22); i += 22;
             if (cpv != -2097152) cp[j] = cpv*TWO_N29*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* lock time */
             lock[j] = getbitu(rtcm->buff, i, 4); i += 4;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* half-cycle ambiguity */
             half[j] = getbitu(rtcm->buff, i, 1); i += 1;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* cnr */
             cnr[j] = getbitu(rtcm->buff, i, 6)*1.0; i += 6;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* phaserangerate */
             rrv = getbits(rtcm->buff, i, 15); i += 15;
             if (rrv != -16384) rrf[j] = rrv*0.0001;
@@ -2418,7 +2418,7 @@ int decode_msm5(rtcm_t *rtcm, int sys)
     save_msm_obs(rtcm, sys, &h, r, pr, cp, rr, rrf, cnr, lock, ex, half);
 
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -2440,40 +2440,40 @@ int decode_msm6(rtcm_t *rtcm, int sys)
                     ncell, rtcm->len);
             return -1;
         }
-    for (j = 0;j < h.nsat;j++) r[j] = 0.0;
-    for (j = 0;j < ncell;j++) pr[j] = cp[j] = -1E16;
+    for (j = 0; j < h.nsat; j++) r[j] = 0.0;
+    for (j = 0; j < ncell; j++) pr[j] = cp[j] = -1E16;
 
     /* decode satellite data */
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* range */
             rng   = getbitu(rtcm->buff, i, 8); i +=  8;
             if (rng != 255) r[j] = rng*RANGE_MS;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         {
             rng_m = getbitu(rtcm->buff, i, 10); i += 10;
-            if (r[j] != 0.0) r[j] += rng_m*P2_10*RANGE_MS;
+            if (r[j] != 0.0) r[j] += rng_m*TWO_N10*RANGE_MS;
         }
     /* decode signal data */
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* pseudorange */
             prv = getbits(rtcm->buff, i, 20); i += 20;
             if (prv != -524288) pr[j] = prv*TWO_N29*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* phaserange */
             cpv = getbits(rtcm->buff, i, 24); i += 24;
             if (cpv != -8388608) cp[j] = cpv*TWO_N31*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* lock time */
             lock[j] = getbitu(rtcm->buff, i, 10); i += 10;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* half-cycle ambiguity */
             half[j] = getbitu(rtcm->buff, i, 1); i += 1;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* cnr */
             cnr[j] = getbitu(rtcm->buff, i, 10)*0.0625; i += 10;
         }
@@ -2481,7 +2481,7 @@ int decode_msm6(rtcm_t *rtcm, int sys)
     save_msm_obs(rtcm, sys, &h, r, pr, cp, NULL, NULL, cnr, lock, NULL, half);
 
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
@@ -2504,56 +2504,56 @@ int decode_msm7(rtcm_t *rtcm, int sys)
                     ncell, rtcm->len);
             return -1;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         {
             r[j] = rr[j] = 0.0; ex[j] = 15;
         }
-    for (j = 0;j < ncell;j++) pr[j] = cp[j] = rrf[j] = -1E16;
+    for (j = 0; j < ncell; j++) pr[j] = cp[j] = rrf[j] = -1E16;
 
     /* decode satellite data */
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* range */
             rng   = getbitu(rtcm->buff, i, 8); i +=  8;
             if (rng != 255) r[j] = rng*RANGE_MS;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* extended info */
             ex[j] = getbitu(rtcm->buff, i, 4); i +=  4;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         {
             rng_m = getbitu(rtcm->buff, i, 10); i += 10;
-            if (r[j] != 0.0) r[j] += rng_m*P2_10*RANGE_MS;
+            if (r[j] != 0.0) r[j] += rng_m*TWO_N10*RANGE_MS;
         }
-    for (j = 0;j < h.nsat;j++)
+    for (j = 0; j < h.nsat; j++)
         { /* phaserangerate */
             rate  = getbits(rtcm->buff, i, 14); i += 14;
             if (rate != -8192) rr[j] = rate*1.0;
         }
     /* decode signal data */
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* pseudorange */
             prv = getbits(rtcm->buff, i, 20); i += 20;
             if (prv != -524288) pr[j] = prv*TWO_N29*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* phaserange */
             cpv = getbits(rtcm->buff, i, 24); i += 24;
             if (cpv != -8388608) cp[j] = cpv*TWO_N31*RANGE_MS;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* lock time */
             lock[j] = getbitu(rtcm->buff, i, 10); i += 10;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* half-cycle amiguity */
             half[j] = getbitu(rtcm->buff, i, 1); i += 1;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* cnr */
             cnr[j] = getbitu(rtcm->buff, i, 10)*0.0625; i += 10;
         }
-    for (j = 0;j < ncell;j++)
+    for (j = 0; j < ncell; j++)
         { /* phaserangerate */
             rrv = getbits(rtcm->buff, i, 15); i += 15;
             if (rrv != -16384) rrf[j] = rrv*0.0001;
@@ -2562,7 +2562,7 @@ int decode_msm7(rtcm_t *rtcm, int sys)
     save_msm_obs(rtcm, sys, &h, r, pr, cp, rr, rrf, cnr, lock, ex, half);
 
     rtcm->obsflag = !sync;
-    return sync?0:1;
+    return sync ? 0:1;
 }
 
 
diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm3.h b/src/algorithms/libs/rtklib/rtklib_rtcm3.h
index ff179a9de..58ae71fb0 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtcm3.h
+++ b/src/algorithms/libs/rtklib/rtklib_rtcm3.h
@@ -59,14 +59,14 @@
 /* constants -----------------------------------------------------------------*/
 
 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 */
+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 */
+//#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 -----------------------------------------------------------*/
 
@@ -84,176 +84,239 @@ typedef struct {                    /* multi-signal-message header type */
 } msm_h_t;
 
 /* msm signal id table -------------------------------------------------------*/
-const char *msm_sig_gps[32]={
+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 */
+    ""  , "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_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]={
+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",
-    ""  ,""  ,""  ,""  ,""  ,""  ,""  ,""
+    ""  , "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]={
+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"
+    ""  , "1C", ""  , ""  , ""  , ""  , ""  , ""  , "6S", "6L", "6X", ""  ,
+    ""  , ""  , "2S", "2L", "2X", ""  , ""  , ""  , ""  , "5I", "5Q", "5X",
+    ""  , ""  , ""  , ""  , ""  , "1S", "1L", "1X"
 };
 
 
-const char *msm_sig_sbs[32]={
+const char *msm_sig_sbs[32] = {
     /* SBAS: ref [13] table 3.5-T+005 */
-    ""  ,"1C",""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,
-    ""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,"5I","5Q","5X",
-    ""  ,""  ,""  ,""  ,""  ,""  ,""  ,""
+    ""  , "1C", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  , "5I", "5Q", "5X",
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
 };
 
 
-const char *msm_sig_cmp[32]={
+const char *msm_sig_cmp[32] = {
     /* BeiDou: ref [15] table 3.5-106 */
-    ""  ,"1I","1Q","1X",""  ,""  ,""  ,"6I","6Q","6X",""  ,""  ,
-    ""  ,"7I","7Q","7X",""  ,""  ,""  ,""  ,""  ,""  ,""  ,""  ,
-    ""  ,""  ,""  ,""  ,""  ,""  ,""  ,""
+    ""  , "1I", "1Q", "1X", ""  , ""  , ""  , "6I", "6Q", "6X", ""  , ""  ,
+    ""  , "7I", "7Q", "7X", ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""  ,
+    ""  , ""  , ""  , ""  , ""  , ""  , ""  , ""
 };
 
 
 /* ssr update intervals ------------------------------------------------------*/
-const double ssrudint[16]={
-    1,2,5,10,15,30,60,120,240,300,600,900,1800,3600,7200,10800
+const double ssrudint[16] = {
+    1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600, 900, 1800, 3600, 7200, 10800
 };
 
 
 /* ssr 3 and 7 signal and tracking mode ids ----------------------------------*/
-const int codes_gps[]={
-    CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1Y,CODE_L1M,CODE_L2C,CODE_L2D,CODE_L2S,
-    CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W,CODE_L2Y,CODE_L2M,CODE_L5I,CODE_L5Q,
+const int codes_gps[] = {
+    CODE_L1C, CODE_L1P, CODE_L1W, CODE_L1Y, CODE_L1M, CODE_L2C, CODE_L2D, CODE_L2S,
+    CODE_L2L, CODE_L2X, CODE_L2P, CODE_L2W, CODE_L2Y, CODE_L2M, CODE_L5I, CODE_L5Q,
     CODE_L5X
 };
 
 
-const int codes_glo[]={
-    CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P
+const int codes_glo[] = {
+    CODE_L1C, CODE_L1P, CODE_L2C, CODE_L2P
 };
 
 
-const int codes_gal[]={
-    CODE_L1A,CODE_L1B,CODE_L1C,CODE_L1X,CODE_L1Z,CODE_L5I,CODE_L5Q,CODE_L5X,
-    CODE_L7I,CODE_L7Q,CODE_L7X,CODE_L8I,CODE_L8Q,CODE_L8X,CODE_L6A,CODE_L6B,
-    CODE_L6C,CODE_L6X,CODE_L6Z
+const int codes_gal[] = {
+    CODE_L1A, CODE_L1B, CODE_L1C, CODE_L1X, CODE_L1Z, CODE_L5I, CODE_L5Q, CODE_L5X,
+    CODE_L7I, CODE_L7Q, CODE_L7X, CODE_L8I, CODE_L8Q, CODE_L8X, CODE_L6A, CODE_L6B,
+    CODE_L6C, CODE_L6X, CODE_L6Z
 };
 
 
-const int codes_qzs[]={
-    CODE_L1C,CODE_L1S,CODE_L1L,CODE_L2S,CODE_L2L,CODE_L2X,CODE_L5I,CODE_L5Q,
-    CODE_L5X,CODE_L6S,CODE_L6L,CODE_L6X,CODE_L1X
+const int codes_qzs[] = {
+    CODE_L1C, CODE_L1S, CODE_L1L, CODE_L2S, CODE_L2L, CODE_L2X, CODE_L5I, CODE_L5Q,
+    CODE_L5X, CODE_L6S, CODE_L6L, CODE_L6X, CODE_L1X
 };
 
 
-const int codes_bds[]={
-    CODE_L1I,CODE_L1Q,CODE_L1X,CODE_L7I,CODE_L7Q,CODE_L7X,CODE_L6I,CODE_L6Q,
+const int codes_bds[] = {
+    CODE_L1I, CODE_L1Q, CODE_L1X, CODE_L7I, CODE_L7Q, CODE_L7X, CODE_L6I, CODE_L6Q,
     CODE_L6X
 };
 
 
-const int codes_sbs[]={
-    CODE_L1C,CODE_L5I,CODE_L5Q,CODE_L5X
+const int codes_sbs[] = {
+    CODE_L1C, CODE_L5I, CODE_L5Q, CODE_L5X
 };
 
 
-double getbitg(const unsigned char *buff, int pos, int len);
+double getbitg(const unsigned char *buff,  int pos, int len);
+
 void adjweek(rtcm_t *rtcm, double tow);
+
 int adjbdtweek(int week);
+
 void adjday_glot(rtcm_t *rtcm, double tod);
+
 double adjcp(rtcm_t *rtcm, int sat, int freq, double cp);
+
 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 test_staid(rtcm_t *rtcm, int staid);
 
 int decode_head1001(rtcm_t *rtcm, int *sync);
+
 int decode_type1001(rtcm_t *rtcm);
+
 int decode_type1002(rtcm_t *rtcm);
+
 int decode_type1003(rtcm_t *rtcm);
+
 int decode_type1004(rtcm_t *rtcm);
+
 double getbits_38(const unsigned char *buff, int pos);
+
 int decode_type1005(rtcm_t *rtcm);
 
 int decode_type1006(rtcm_t *rtcm);
+
 int decode_type1007(rtcm_t *rtcm);
+
 int decode_type1008(rtcm_t *rtcm);
+
 int decode_head1009(rtcm_t *rtcm, int *sync);
 
 int decode_type1009(rtcm_t *rtcm);
+
 int decode_type1010(rtcm_t *rtcm);
+
 int decode_type1011(rtcm_t *rtcm);
+
 int decode_type1012(rtcm_t *rtcm);
+
 int decode_type1013(rtcm_t *rtcm);
+
 int decode_type1019(rtcm_t *rtcm);
+
 int decode_type1020(rtcm_t *rtcm);
+
 int decode_type1021(rtcm_t *rtcm);
+
 int decode_type1022(rtcm_t *rtcm);
+
 int decode_type1023(rtcm_t *rtcm);
+
 int decode_type1024(rtcm_t *rtcm);
+
 int decode_type1025(rtcm_t *rtcm);
+
 int decode_type1026(rtcm_t *rtcm);
+
 int decode_type1027(rtcm_t *rtcm);
+
 int decode_type1029(rtcm_t *rtcm);
+
 int decode_type1030(rtcm_t *rtcm);
+
 int decode_type1031(rtcm_t *rtcm);
+
 int decode_type1032(rtcm_t *rtcm);
+
 int decode_type1033(rtcm_t *rtcm);
+
 int decode_type1034(rtcm_t *rtcm);
+
 int decode_type1035(rtcm_t *rtcm);
+
 int decode_type1037(rtcm_t *rtcm);
+
 int decode_type1038(rtcm_t *rtcm);
+
 int decode_type1039(rtcm_t *rtcm);
+
 int decode_type1044(rtcm_t *rtcm);
+
 int decode_type1045(rtcm_t *rtcm);
+
 int decode_type1046(rtcm_t *rtcm);
+
 int decode_type1047(rtcm_t *rtcm);
+
 int decode_type1063(rtcm_t *rtcm);
+
 int decode_ssr1_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
                             double *udint, int *refd, int *hsize);
+
 int decode_ssr2_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
                             double *udint, int *hsize);
+
 int decode_ssr7_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
                             double *udint, int *dispe, int *mw, int *hsize);
+
 int decode_ssr1(rtcm_t *rtcm, int sys);
+
 int decode_ssr2(rtcm_t *rtcm, int sys);
+
 int decode_ssr3(rtcm_t *rtcm, int sys);
+
 int decode_ssr4(rtcm_t *rtcm, int sys);
+
 int decode_ssr5(rtcm_t *rtcm, int sys);
+
 int decode_ssr6(rtcm_t *rtcm, int sys);
+
 int decode_ssr7(rtcm_t *rtcm, int sys);
+
 void sigindex(int sys, const unsigned char *code, const int *freq, int n,
                      const char *opt, int *ind);
+
 void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                          const double *pr, const double *cp, const double *rr,
                          const double *rrf, const double *cnr, const int *lock,
                          const int *ex, const int *half);
+
 int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
                            msm_h_t *h, int *hsize);
 
 int decode_msm0(rtcm_t *rtcm, int sys);
+
 int decode_msm4(rtcm_t *rtcm, int sys);
+
 int decode_msm5(rtcm_t *rtcm, int sys);
+
 int decode_msm6(rtcm_t *rtcm, int sys);
+
 int decode_msm7(rtcm_t *rtcm, int sys);
+
 int decode_type1230(rtcm_t *rtcm);
 
 int decode_rtcm3(rtcm_t *rtcm);