diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9be84be8d..4d8d7cc94 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -523,7 +523,6 @@ if(NOT GNURADIO_RUNTIME_FOUND)
        message("You can install it easily via Macports:")
        message("  sudo port install gnuradio ")
        message("Alternatively, you can use homebrew:")
-       message("  brew tap odrisci/gnuradio")
        message("  brew install gnuradio" )
        message(FATAL_ERROR "GNU Radio ${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
    endif(OS_IS_MACOSX)
diff --git a/MANIFEST.md b/MANIFEST.md
index d98411e9f..ea64ec678 100644
--- a/MANIFEST.md
+++ b/MANIFEST.md
@@ -12,11 +12,17 @@ author:
   - et altri (see AUTHORS file for a list of contributors)
 copyright_owner:
   - The Authors
-dependencies: gnuradio (>= 3.7.3), armadillo, gflags, glog, gnutls, matio
+dependencies:
+  - gnuradio (>= 3.7.3)
+  - armadillo
+  - gflags
+  - glog
+  - gnutls
+  - matio
 license: GPLv3+
 repo: https://github.com/gnss-sdr/gnss-sdr
 website: https://gnss-sdr.org
-icon: https://raw.githubusercontent.com/gnss-sdr/gnss-sdr/master/docs/doxygen/images/gnss-sdr_logo.png
+icon: https://gnss-sdr.org/assets/images/logo400x400.jpg
 ---
 Global Navigation Satellite Systems receiver defined by software. It performs all the signal
 processing from raw signal samples up to the computation of the Position-Velocity-Time solution,
diff --git a/src/algorithms/libs/rtklib/rtklib.h b/src/algorithms/libs/rtklib/rtklib.h
index 5cdd94726..14d90b902 100644
--- a/src/algorithms/libs/rtklib/rtklib.h
+++ b/src/algorithms/libs/rtklib/rtklib.h
@@ -71,7 +71,6 @@
 #define socket_t int
 #define closesocket close
 #define lock_t pthread_mutex_t
-#define thread_t pthread_t
 #define initlock(f) pthread_mutex_init(f, NULL)
 #define rtk_lock(f) pthread_mutex_lock(f)
 #define rtk_unlock(f) pthread_mutex_unlock(f)
@@ -1211,7 +1210,7 @@ typedef struct
     char local[1024]; /* local file path */
     int topts[4];     /* time options {poff,tint,toff,tretry} (s) */
     gtime_t tnext;    /* next retry time (gpst) */
-    thread_t thread;  /* download thread */
+    pthread_t thread;  /* download thread */
 } ftp_t;
 
 
@@ -1284,7 +1283,7 @@ typedef struct
     stream_t stream[8];         /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
     stream_t *moni;             /* monitor stream */
     unsigned int tick;          /* start tick */
-    thread_t thread;            /* server thread */
+    pthread_t thread;            /* server thread */
     int cputime;                /* CPU time (ms) for a processing cycle */
     int prcout;                 /* missing observation data count */
     lock_t lock;                /* lock flag */
diff --git a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
index 88cc2ca38..f7e4e76c5 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
@@ -89,38 +89,6 @@ double leaps[MAXLEAPS + 1][7] = {/* leap seconds (y,m,d,h,m,s,utc-gpst) */
     {}};
 
 
-const prcopt_t prcopt_default = {            /* defaults processing options */
-    PMODE_SINGLE, 0, 2, SYS_GPS,             /* mode, soltype, nf, navsys */
-    15.0 * D2R, {{}, {{}, {}}},              /* elmin, snrmask */
-    0, 1, 1, 1,                              /* sateph, modear, glomodear, bdsmodear */
-    5, 0, 10, 1,                             /* maxout, minlock, minfix, armaxiter */
-    0, 0, 0, 0,                              /* estion, esttrop, dynamics, tidecorr */
-    1, 0, 0, 0, 0,                           /* niter, codesmooth, intpref, sbascorr, sbassatsel */
-    0, 0,                                    /* rovpos, refpos */
-    {100.0, 100.0, 100.0},                   /* eratio[] */
-    {100.0, 0.003, 0.003, 0.0, 1.0},         /* err[] */
-    {30.0, 0.03, 0.3},                       /* std[] */
-    {1e-4, 1e-3, 1e-4, 1e-1, 1e-2, 0.0},     /* prn[] */
-    5E-12,                                   /* sclkstab */
-    {3.0, 0.9999, 0.25, 0.1, 0.05, 0, 0, 0}, /* thresar */
-    0.0, 0.0, 0.05,                          /* elmaskar, almaskhold, thresslip */
-    30.0, 30.0, 30.0,                        /* maxtdif, maxinno, maxgdop */
-    {}, {}, {},                              /* baseline, ru, rb */
-    {"", ""},                                /* anttype */
-    {}, {}, {},                              /* antdel, pcv, exsats */
-    0, 0, 0, {"", ""}, {}, 0, {{}, {}}, {{}, {{}, {}}, {{}, {}}, {}, {}}, 0, {}};
-
-
-const solopt_t solopt_default = {
-    /* defaults solution output options */
-    SOLF_LLH, TIMES_GPST, 1, 3, /* posf, times, timef, timeu */
-    0, 1, 0, 0, 0, 0,           /* degf, outhead, outopt, datum, height, geoid */
-    0, 0, 0,                    /* solstatic, sstat, trace */
-    {0.0, 0.0},                 /* nmeaintv */
-    " ", "", 0                  /* separator/program name */
-};
-
-
 const char *formatstrs[32] = {/* stream format strings */
     "RTCM 2",                 /*  0 */
     "RTCM 3",                 /*  1 */
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_fast_resamplerxnpuppet_32f.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f.h
similarity index 74%
rename from src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_fast_resamplerxnpuppet_32f.h
rename to src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f.h
index d33629277..c6705adca 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_fast_resamplerxnpuppet_32f.h
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f.h
@@ -1,6 +1,6 @@
 /*!
- * \file volk_gnsssdr_32f_fast_resamplerxnpuppet_32f.h
- * \brief VOLK_GNSSSDR puppet for the multiple 32-bit float vector fast resampler kernel.
+ * \file volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f.h
+ * \brief VOLK_GNSSSDR puppet for the multiple 32-bit float vector high dynamics resampler kernel.
  * \authors <ul>
  *          <li> Cillian O'Driscoll 2017 cillian.odriscoll at gmail dot com
  *          <li> Javier Arribas, 2018. javiarribas(at)gmail.com
@@ -33,10 +33,10 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef INCLUDED_volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_H
-#define INCLUDED_volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_H
+#ifndef INCLUDED_volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_H
+#define INCLUDED_volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_H
 
-#include "volk_gnsssdr/volk_gnsssdr_32f_xn_fast_resampler_32f_xn.h"
+#include "volk_gnsssdr/volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn.h"
 #include <volk_gnsssdr/volk_gnsssdr_malloc.h>
 #include <volk_gnsssdr/volk_gnsssdr_complex.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
@@ -44,7 +44,7 @@
 
 
 #ifdef LV_HAVE_GENERIC
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_generic(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_generic(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -60,7 +60,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_generic(float* re
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_generic(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_generic(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -75,7 +75,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_generic(float* re
 
 
 #ifdef LV_HAVE_SSE3
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_sse3(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_a_sse3(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -91,7 +91,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_sse3(float* res
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_sse3(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_a_sse3(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -106,7 +106,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_sse3(float* res
 
 
 #ifdef LV_HAVE_SSE3
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_sse3(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_u_sse3(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -122,7 +122,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_sse3(float* res
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_sse3(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_u_sse3(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -137,7 +137,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_sse3(float* res
 
 
 #ifdef LV_HAVE_SSE4_1
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_sse4_1(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_u_sse4_1(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -153,7 +153,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_sse4_1(float* r
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_sse4_1(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_u_sse4_1(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -168,7 +168,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_sse4_1(float* r
 
 
 #ifdef LV_HAVE_SSE4_1
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_sse4_1(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_a_sse4_1(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -184,7 +184,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_sse4_1(float* r
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_sse4_1(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_a_sse4_1(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -199,7 +199,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_sse4_1(float* r
 
 
 #ifdef LV_HAVE_AVX
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_avx(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_a_avx(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -215,7 +215,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_avx(float* resu
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_avx(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_a_avx(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -229,7 +229,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_a_avx(float* resu
 
 
 #ifdef LV_HAVE_AVX
-static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_avx(float* result, const float* local_code, unsigned int num_points)
+static inline void volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f_u_avx(float* result, const float* local_code, unsigned int num_points)
 {
     int code_length_chips = 2046;
     float code_phase_step_chips = ((float)(code_length_chips) + 0.1) / ((float)num_points);
@@ -245,7 +245,7 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_avx(float* resu
             result_aux[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
         }
 
-    volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_avx(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
+    volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_u_avx(result_aux, local_code, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips, shifts_chips, code_length_chips, num_out_vectors, num_points);
 
     memcpy((float*)result, (float*)result_aux[0], sizeof(float) * num_points);
 
@@ -285,4 +285,4 @@ static inline void volk_gnsssdr_32f_fast_resamplerxnpuppet_32f_u_avx(float* resu
 //}
 //#endif
 
-#endif  // INCLUDED_volk_gnsssdr_32f_fast_resamplerpuppet_32f_H
+#endif  // INCLUDED_volk_gnsssdr_32f_high_dynamics_resamplerpuppet_32f_H
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_fast_resampler_32f_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn.h
similarity index 91%
rename from src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_fast_resampler_32f_xn.h
rename to src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn.h
index 283454bb1..8b666908b 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_fast_resampler_32f_xn.h
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn.h
@@ -1,5 +1,5 @@
 /*!
- * \file volk_gnsssdr_32f_xn_fast_resampler_32f_xn.h
+ * \file volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn.h
  * \brief VOLK_GNSSSDR kernel: Resamples 1 complex 32-bit float vectors using zero hold resample algorithm
  * and produces the delayed replicas by copying and rotating the resulting resampled signal.
  * \authors <ul>
@@ -38,7 +38,7 @@
  */
 
 /*!
- * \page volk_gnsssdr_32f_xn_fast_resampler_32f_xn
+ * \page volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn
  *
  * \b Overview
  *
@@ -46,7 +46,7 @@
  *
  * <b>Dispatcher Prototype</b>
  * \code
- * void volk_gnsssdr_32f_xn_fast_resampler_32f_xn(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+ * void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
  * \endcode
  *
  * \b Inputs
@@ -64,8 +64,8 @@
  *
  */
 
-#ifndef INCLUDED_volk_gnsssdr_32f_xn_fast_resampler_32f_xn_H
-#define INCLUDED_volk_gnsssdr_32f_xn_fast_resampler_32f_xn_H
+#ifndef INCLUDED_volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_H
+#define INCLUDED_volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_H
 
 #include <assert.h>
 #include <math.h>
@@ -78,7 +78,7 @@
 
 #ifdef LV_HAVE_GENERIC
 
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_generic(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_generic(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     int local_code_chip_index;
     int current_correlator_tap;
@@ -109,7 +109,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_generic(float** res
 
 #ifdef LV_HAVE_SSE3
 #include <pmmintrin.h>
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_sse3(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_a_sse3(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     float** _result = result;
     const unsigned int quarterPoints = num_points / 4;
@@ -194,7 +194,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_sse3(float** resu
 
 #ifdef LV_HAVE_SSE3
 #include <pmmintrin.h>
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_sse3(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_u_sse3(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     float** _result = result;
     const unsigned int quarterPoints = num_points / 4;
@@ -280,7 +280,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_sse3(float** resu
 
 #ifdef LV_HAVE_SSE4_1
 #include <smmintrin.h>
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_sse4_1(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_a_sse4_1(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     float** _result = result;
     const unsigned int quarterPoints = num_points / 4;
@@ -362,7 +362,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_sse4_1(float** re
 
 #ifdef LV_HAVE_SSE4_1
 #include <smmintrin.h>
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_sse4_1(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_u_sse4_1(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     float** _result = result;
     const unsigned int quarterPoints = num_points / 4;
@@ -444,7 +444,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_sse4_1(float** re
 
 #ifdef LV_HAVE_AVX
 #include <immintrin.h>
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_avx(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_a_avx(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     float** _result = result;
     const unsigned int avx_iters = num_points / 8;
@@ -532,7 +532,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_a_avx(float** resul
 
 #ifdef LV_HAVE_AVX
 #include <immintrin.h>
-static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_avx(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_u_avx(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 {
     float** _result = result;
     const unsigned int avx_iters = num_points / 8;
@@ -621,7 +621,7 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_avx(float** resul
 //#ifdef LV_HAVE_NEONV7
 //#include <arm_neon.h>
 //
-//static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_neon(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
+//static inline void volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_neon(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points)
 //{
 //    float** _result = result;
 //    const unsigned int neon_iters = num_points / 4;
@@ -704,4 +704,4 @@ static inline void volk_gnsssdr_32f_xn_fast_resampler_32f_xn_u_avx(float** resul
 //
 //#endif
 
-#endif /*INCLUDED_volk_gnsssdr_32f_xn_fast_resampler_32f_xn_H*/
+#endif /*INCLUDED_volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn_H*/
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/kernel_tests.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/kernel_tests.h
index 90281b32f..389e03b14 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/kernel_tests.h
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/kernel_tests.h
@@ -93,7 +93,7 @@ std::vector<volk_gnsssdr_test_case_t> init_test_list(volk_gnsssdr_test_params_t
     QA(VOLK_INIT_PUPP(volk_gnsssdr_16i_resamplerxnpuppet_16i, volk_gnsssdr_16i_xn_resampler_16i_xn, test_params))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_resamplerxnpuppet_32fc, volk_gnsssdr_32fc_xn_resampler_32fc_xn, test_params))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_32f_resamplerxnpuppet_32f, volk_gnsssdr_32f_xn_resampler_32f_xn, test_params))
-    QA(VOLK_INIT_PUPP(volk_gnsssdr_32f_fast_resamplerxnpuppet_32f, volk_gnsssdr_32f_xn_fast_resampler_32f_xn, test_params))
+    QA(VOLK_INIT_PUPP(volk_gnsssdr_32f_high_dynamics_resamplerxnpuppet_32f, volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn, test_params))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic, volk_gnsssdr_16ic_x2_dot_prod_16ic_xn, test_params))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic, volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn, test_params_int16))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn, test_params_int16))
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
index ab20cab1d..f7a663358 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
@@ -55,7 +55,7 @@ GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(ConfigurationInterface* c
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
     // make telemetry decoder object
-    telemetry_decoder_ = galileo_e1b_make_telemetry_decoder_cc(satellite_, dump_);  // TODO fix me
+    telemetry_decoder_ = galileo_make_telemetry_decoder_cc(satellite_, 1, dump_);  //unified galileo decoder set to INAV (frame_type=1)
     DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
     channel_ = 0;
     if (in_streams_ > 1)
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h
index d762eabd8..119e294ad 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h
@@ -36,7 +36,7 @@
 
 
 #include "telemetry_decoder_interface.h"
-#include "galileo_e1b_telemetry_decoder_cc.h"
+#include "galileo_telemetry_decoder_cc.h"
 #include "gnss_satellite.h"
 #include <string>
 
@@ -76,7 +76,6 @@ public:
 
     void set_satellite(const Gnss_Satellite& satellite) override;
     inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
-
     inline void reset() override
     {
         return;
@@ -88,7 +87,7 @@ public:
     }
 
 private:
-    galileo_e1b_telemetry_decoder_cc_sptr telemetry_decoder_;
+    galileo_telemetry_decoder_cc_sptr telemetry_decoder_;
     Gnss_Satellite satellite_;
     int channel_;
     bool dump_;
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc
index 48ed8b216..99ab590ea 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc
@@ -58,7 +58,7 @@ GalileoE5aTelemetryDecoder::GalileoE5aTelemetryDecoder(ConfigurationInterface* c
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
     // make telemetry decoder object
-    telemetry_decoder_ = galileo_e5a_make_telemetry_decoder_cc(satellite_, dump_);  // TODO fix me
+    telemetry_decoder_ = galileo_make_telemetry_decoder_cc(satellite_, 2, dump_);  //unified galileo decoder set to FNAV (frame_type=2)
     DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
     channel_ = 0;
     if (in_streams_ > 1)
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.h
index 4a4167bf5..022636384 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.h
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.h
@@ -37,7 +37,7 @@
 #ifndef GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_H_
 #define GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_H_
 
-#include "galileo_e5a_telemetry_decoder_cc.h"
+#include "galileo_telemetry_decoder_cc.h"
 #include "telemetry_decoder_interface.h"
 #include <string>
 
@@ -76,7 +76,6 @@ public:
 
     void set_satellite(const Gnss_Satellite& satellite) override;
     inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
-
     inline void reset() override
     {
         return;
@@ -88,7 +87,7 @@ public:
     }
 
 private:
-    galileo_e5a_telemetry_decoder_cc_sptr telemetry_decoder_;
+    galileo_telemetry_decoder_cc_sptr telemetry_decoder_;
     Gnss_Satellite satellite_;
     int channel_;
     bool dump_;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
index 3af26e46b..5a49bf03a 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
@@ -20,11 +20,10 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
      gps_l1_ca_telemetry_decoder_cc.cc
      gps_l2c_telemetry_decoder_cc.cc
      gps_l5_telemetry_decoder_cc.cc
-     galileo_e1b_telemetry_decoder_cc.cc
      sbas_l1_telemetry_decoder_cc.cc
-     galileo_e5a_telemetry_decoder_cc.cc
      glonass_l1_ca_telemetry_decoder_cc.cc
      glonass_l2_ca_telemetry_decoder_cc.cc
+     galileo_telemetry_decoder_cc.cc
 )
 
 include_directories(
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
deleted file mode 100644
index 769902600..000000000
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
+++ /dev/null
@@ -1,501 +0,0 @@
-/*!
- * \file galileo_e1b_telemetry_decoder_cc.cc
- * \brief Implementation of a Galileo INAV message demodulator block
- * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
- * \author Javier Arribas 2013. jarribas(at)cttc.es
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-#include "galileo_e1b_telemetry_decoder_cc.h"
-#include "control_message_factory.h"
-#include "convolutional.h"
-#include "gnss_synchro.h"
-#include <boost/lexical_cast.hpp>
-#include <gnuradio/io_signature.h>
-#include <glog/logging.h>
-#include <volk_gnsssdr/volk_gnsssdr.h>
-#include <iostream>
-
-
-#define CRC_ERROR_LIMIT 6
-
-using google::LogMessage;
-
-
-galileo_e1b_telemetry_decoder_cc_sptr
-galileo_e1b_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump)
-{
-    return galileo_e1b_telemetry_decoder_cc_sptr(new galileo_e1b_telemetry_decoder_cc(satellite, dump));
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits)
-{
-    Viterbi(page_part_bits, out0, state0, out1, state1,
-        page_part_symbols, KK, nn, DataLength);
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
-{
-    for (int32_t r = 0; r < rows; r++)
-        {
-            for (int32_t c = 0; c < cols; c++)
-                {
-                    out[c * rows + r] = in[r * cols + c];
-                }
-        }
-}
-
-
-galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
-    const Gnss_Satellite &satellite,
-    bool dump) : gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
-                     gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
-{
-    // Ephemeris data port out
-    this->message_port_register_out(pmt::mp("telemetry"));
-    // initialize internal vars
-    d_dump = dump;
-    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    LOG(INFO) << "Initializing GALILEO E1B TELEMETRY PROCESSING";
-    d_samples_per_symbol = (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS) / Galileo_E1_B_SYMBOL_RATE_BPS;
-
-    // set the preamble
-    uint16_t preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS] = GALILEO_INAV_PREAMBLE;
-
-    d_symbols_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
-
-    memcpy(static_cast<uint16_t *>(this->d_preambles_bits), static_cast<uint16_t *>(preambles_bits), GALILEO_INAV_PREAMBLE_LENGTH_BITS * sizeof(uint16_t));
-
-    // preamble bits to sampled symbols
-    d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(d_symbols_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    int32_t n = 0;
-    for (int32_t i = 0; i < GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
-        {
-            for (uint32_t j = 0; j < d_samples_per_symbol; j++)
-                {
-                    if (d_preambles_bits[i] == 1)
-                        {
-                            d_preambles_symbols[n] = 1;
-                        }
-                    else
-                        {
-                            d_preambles_symbols[n] = -1;
-                        }
-                    n++;
-                }
-        }
-    d_sample_counter = 0ULL;
-    d_stat = 0;
-    d_preamble_index = 0ULL;
-
-    d_flag_frame_sync = false;
-
-    d_flag_parity = false;
-    d_TOW_at_current_symbol_ms = 0;
-    d_TOW_at_Preamble_ms = 0;
-    delta_t = 0;
-    d_CRC_error_counter = 0;
-    flag_even_word_arrived = 0;
-    d_flag_preamble = false;
-    d_channel = 0;
-    flag_TOW_set = false;
-
-    // vars for Viterbi decoder
-    int32_t max_states = 1 << mm;  // 2^mm
-    g_encoder[0] = 121;            // Polynomial G1
-    g_encoder[1] = 91;             // Polynomial G2
-    out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    // create appropriate transition matrices
-    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
-    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
-}
-
-
-galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc()
-{
-    volk_gnsssdr_free(d_preambles_symbols);
-    volk_gnsssdr_free(out0);
-    volk_gnsssdr_free(out1);
-    volk_gnsssdr_free(state0);
-    volk_gnsssdr_free(state1);
-    if (d_dump_file.is_open() == true)
-        {
-            try
-                {
-                    d_dump_file.close();
-                }
-            catch (const std::exception &ex)
-                {
-                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
-                }
-        }
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, int32_t frame_length)
-{
-    // 1. De-interleave
-    double *page_part_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
-    deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint);
-
-    // 2. Viterbi decoder
-    // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
-    // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
-    for (int32_t i = 0; i < frame_length; i++)
-        {
-            if ((i + 1) % 2 == 0)
-                {
-                    page_part_symbols_deint[i] = -page_part_symbols_deint[i];
-                }
-        }
-
-    int32_t *page_part_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    viterbi_decoder(page_part_symbols_deint, page_part_bits);
-    volk_gnsssdr_free(page_part_symbols_deint);
-
-    // 3. Call the Galileo page decoder
-    std::string page_String;
-    for (int32_t i = 0; i < (frame_length / 2); i++)
-        {
-            if (page_part_bits[i] > 0)
-                {
-                    page_String.push_back('1');
-                }
-            else
-                {
-                    page_String.push_back('0');
-                }
-        }
-
-    if (page_part_bits[0] == 1)
-        {
-            // DECODE COMPLETE WORD (even + odd) and TEST CRC
-            d_nav.split_page(page_String, flag_even_word_arrived);
-            if (d_nav.flag_CRC_test == true)
-                {
-                    LOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite;
-                    //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
-                }
-            else
-                {
-                    std::cout << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl;
-                    LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite;
-                }
-            flag_even_word_arrived = 0;
-        }
-    else
-        {
-            // STORE HALF WORD (even page)
-            d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
-            flag_even_word_arrived = 1;
-        }
-    volk_gnsssdr_free(page_part_bits);
-
-    // 4. Push the new navigation data to the queues
-    if (d_nav.have_new_ephemeris() == true)
-        {
-            // get object for this SV (mandatory)
-            std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
-            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-        }
-    if (d_nav.have_new_iono_and_GST() == true)
-        {
-            // get object for this SV (mandatory)
-            std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono());
-            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl;
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-        }
-    if (d_nav.have_new_utc_model() == true)
-        {
-            // get object for this SV (mandatory)
-            std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
-            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-        }
-    if (d_nav.have_new_almanac() == true)
-        {
-            std::shared_ptr<Galileo_Almanac> tmp_obj = std::make_shared<Galileo_Almanac>(d_nav.get_almanac());
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-            //debug
-            std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
-            DLOG(INFO) << "GPS_to_Galileo time conversion:";
-            DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10;
-            DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10;
-            DLOG(INFO) << "T0G=" << tmp_obj->t_0G_10;
-            DLOG(INFO) << "WN_0G_10=" << tmp_obj->WN_0G_10;
-            DLOG(INFO) << "Current parameters:";
-            DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
-            DLOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0;
-            delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G_10 + 604800 * (fmod((d_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
-            DLOG(INFO) << "delta_t=" << delta_t << "[s]";
-        }
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
-{
-    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
-    DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::set_channel(int32_t channel)
-{
-    d_channel = channel;
-    LOG(INFO) << "Navigation channel set to " << channel;
-    // ############# ENABLE DATA FILE LOG #################
-    if (d_dump == true)
-        {
-            if (d_dump_file.is_open() == false)
-                {
-                    try
-                        {
-                            d_dump_filename = "telemetry";
-                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
-                            d_dump_filename.append(".dat");
-                            d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
-                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
-                        }
-                    catch (const std::ifstream::failure &e)
-                        {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
-                        }
-                }
-        }
-}
-
-
-int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
-    gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
-{
-    int32_t corr_value = 0;
-    int32_t preamble_diff = 0;
-
-    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);            // Get the output buffer pointer
-    const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);  // Get the input buffer pointer
-
-    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
-    // 1. Copy the current tracking output
-    current_symbol = in[0][0];
-    d_symbol_history.push_back(current_symbol);  // add new symbol to the symbol queue
-    d_sample_counter++;                          // count for the processed samples
-    consume_each(1);
-
-    d_flag_preamble = false;
-    uint32_t required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + static_cast<uint32_t>(d_symbols_per_preamble);
-
-    if (d_symbol_history.size() > required_symbols)
-        {
-            // TODO Optimize me!
-            // ******* preamble correlation ********
-            for (int32_t i = 0; i < d_symbols_per_preamble; i++)
-                {
-                    if (d_symbol_history.at(i).Prompt_I < 0)  // symbols clipping
-                        {
-                            corr_value -= d_preambles_symbols[i];
-                        }
-                    else
-                        {
-                            corr_value += d_preambles_symbols[i];
-                        }
-                }
-        }
-
-    // ******* frame sync ******************
-    if (d_stat == 0)  // no preamble information
-        {
-            if (abs(corr_value) >= d_symbols_per_preamble)
-                {
-                    d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                    LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite;
-                    d_stat = 1;  // enter into frame pre-detection status
-                }
-        }
-    else if (d_stat == 1)  // possible preamble lock
-        {
-            if (abs(corr_value) >= d_symbols_per_preamble)
-                {
-                    // check preamble separation
-                    preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
-                    if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
-                        {
-                            // try to decode frame
-                            LOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
-                            d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                            d_stat = 2;
-                        }
-                    else
-                        {
-                            if (preamble_diff > GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
-                                {
-                                    d_stat = 0;  // start again
-                                }
-                        }
-                }
-        }
-    else if (d_stat == 2)
-        {
-            if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS))
-                {
-                    // NEW Galileo page part is received
-                    // 0. fetch the symbols into an array
-                    int32_t frame_length = GALILEO_INAV_PAGE_PART_SYMBOLS - d_symbols_per_preamble;
-                    double *page_part_symbols = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
-
-                    for (int32_t i = 0; i < frame_length; i++)
-                        {
-                            if (corr_value > 0)
-                                {
-                                    page_part_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I;  // because last symbol of the preamble is just received now!
-                                }
-                            else
-                                {
-                                    page_part_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I;  // because last symbol of the preamble is just received now!
-                                }
-                        }
-
-                    // call the decoder
-                    decode_word(page_part_symbols, frame_length);
-                    if (d_nav.flag_CRC_test == true)
-                        {
-                            d_CRC_error_counter = 0;
-                            d_flag_preamble = true;               // valid preamble indicator (initialized to false every work())
-                            d_preamble_index = d_sample_counter;  // record the preamble sample stamp (t_P)
-                            if (!d_flag_frame_sync)
-                                {
-                                    d_flag_frame_sync = true;
-                                    DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
-                                               << d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
-                                }
-                        }
-                    else
-                        {
-                            d_CRC_error_counter++;
-                            d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                            if (d_CRC_error_counter > CRC_ERROR_LIMIT)
-                                {
-                                    LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
-                                    d_flag_frame_sync = false;
-                                    d_stat = 0;
-                                    d_TOW_at_current_symbol_ms = 0;
-                                    d_TOW_at_Preamble_ms = 0;
-                                    d_nav.flag_TOW_set = false;
-                                }
-                        }
-                    volk_gnsssdr_free(page_part_symbols);
-                }
-        }
-
-    // UPDATE GNSS SYNCHRO DATA
-    // 2. Add the telemetry decoder information
-    if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
-        // update TOW at the preamble instant
-        {
-            if (d_nav.flag_TOW_5 == true)  // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
-                {
-                    // TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
-                    d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.TOW_5 * 1000.0);
-                    d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (required_symbols + 1) * GALILEO_E1_CODE_PERIOD_MS);
-                    d_nav.flag_TOW_5 = false;
-                }
-
-            else if (d_nav.flag_TOW_6 == true)  // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
-                {
-                    // TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
-                    d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.TOW_6 * 1000.0);
-                    d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (required_symbols + 1) * GALILEO_E1_CODE_PERIOD_MS);
-                    d_nav.flag_TOW_6 = false;
-                }
-            else
-                {
-                    // this page has no timing information
-                    d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);  // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
-                }
-        }
-    else  // if there is not a new preamble, we define the TOW of the current symbol
-        {
-            if (d_nav.flag_TOW_set == true)
-                {
-                    d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
-                }
-        }
-
-    // remove used symbols from history
-    // todo: Use circular buffer here
-    if (d_symbol_history.size() > required_symbols)
-        {
-            d_symbol_history.pop_front();
-        }
-
-    if (d_nav.flag_TOW_set)
-        {
-            if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true)  // all GGTO parameters arrived
-                {
-                    delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64.0)));
-                }
-
-            current_symbol.Flag_valid_word = d_nav.flag_TOW_set;
-            current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
-            // todo: Galileo to GPS time conversion should be moved to observable block.
-            // current_symbol.TOW_at_current_symbol_ms -= delta_t;  //Galileo to GPS TOW
-
-            if (d_dump == true)
-                {
-                    // MULTIPLEXED FILE RECORDING - Record results to file
-                    try
-                        {
-                            double tmp_double;
-                            uint64_t tmp_ulong_int;
-                            tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
-                            d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
-                            tmp_ulong_int = current_symbol.Tracking_sample_counter;
-                            d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
-                            tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
-                            d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
-                        }
-                    catch (const std::ifstream::failure &e)
-                        {
-                            LOG(WARNING) << "Exception writing observables dump file " << e.what();
-                        }
-                }
-            // 3. Make the output (copy the object contents to the GNURadio reserved memory)
-            *out[0] = current_symbol;
-            return 1;
-        }
-    else
-        {
-            return 0;
-        }
-}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
deleted file mode 100644
index b033627e7..000000000
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
+++ /dev/null
@@ -1,513 +0,0 @@
-/*!
- * \file galileo_e5a_telemetry_decoder_cc.cc
- * \brief Implementation of a Galileo FNAV message demodulator block
- * \author Marc Sales, 2014. marcsales92(at)gmail.com
- * 		   Javier Arribas, 2017. jarribas(at)cttc.es
- * \based on work from:
- *          <ul>
- *          <li> Javier Arribas, 2011. jarribas(at)cttc.es
- *          </ul>
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "galileo_e5a_telemetry_decoder_cc.h"
-#include "control_message_factory.h"
-#include "convolutional.h"
-#include "display.h"
-#include <boost/lexical_cast.hpp>
-#include <gnuradio/io_signature.h>
-#include <glog/logging.h>
-#include <volk_gnsssdr/volk_gnsssdr.h>
-#include <cmath>
-#include <iostream>
-
-
-#define GALILEO_E5a_CRC_ERROR_LIMIT 6
-
-using google::LogMessage;
-
-
-galileo_e5a_telemetry_decoder_cc_sptr
-galileo_e5a_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump)
-{
-    return galileo_e5a_telemetry_decoder_cc_sptr(new galileo_e5a_telemetry_decoder_cc(satellite, dump));
-}
-
-
-void galileo_e5a_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits)
-{
-    Viterbi(page_part_bits, out0, state0, out1, state1,
-        page_part_symbols, KK, nn, DataLength);
-}
-
-
-void galileo_e5a_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
-{
-    for (int32_t r = 0; r < rows; r++)
-        {
-            for (int32_t c = 0; c < cols; c++)
-                {
-                    out[c * rows + r] = in[r * cols + c];
-                }
-        }
-}
-
-
-void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int32_t frame_length)
-{
-    // 1. De-interleave
-    double *page_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
-    deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
-
-    // 2. Viterbi decoder
-    // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
-    // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180�
-    for (int32_t i = 0; i < frame_length; i++)
-        {
-            if ((i + 1) % 2 == 0)
-                {
-                    page_symbols_deint[i] = -page_symbols_deint[i];
-                }
-        }
-    int32_t *page_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    viterbi_decoder(page_symbols_deint, page_bits);
-    volk_gnsssdr_free(page_symbols_deint);
-
-    // 3. Call the Galileo page decoder
-    std::string page_String;
-    for (int32_t i = 0; i < frame_length; i++)
-        {
-            if (page_bits[i] > 0)
-                {
-                    page_String.push_back('1');
-                }
-            else
-                {
-                    page_String.push_back('0');
-                }
-        }
-    volk_gnsssdr_free(page_bits);
-
-    // DECODE COMPLETE WORD (even + odd) and TEST CRC
-    d_nav.split_page(page_String);
-    if (d_nav.flag_CRC_test == true)
-        {
-            LOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite;
-        }
-    else
-        {
-            std::cout << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl;
-            LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite;
-        }
-
-    // 4. Push the new navigation data to the queues
-    if (d_nav.have_new_ephemeris() == true)
-        {
-            std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
-            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-        }
-    if (d_nav.have_new_iono_and_GST() == true)
-        {
-            std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono());
-            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-        }
-    if (d_nav.have_new_utc_model() == true)
-        {
-            std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
-            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
-            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-        }
-}
-
-
-galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
-    const Gnss_Satellite &satellite, bool dump) : gr::block("galileo_e5a_telemetry_decoder_cc",
-                                                      gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
-                                                      gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
-{
-    // Ephemeris data port out
-    this->message_port_register_out(pmt::mp("telemetry"));
-    // initialize internal vars
-    d_dump = dump;
-    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-
-    // set the preamble
-    for (int32_t i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
-        {
-            if (GALILEO_FNAV_PREAMBLE.at(i) == '0')
-                {
-                    d_preambles_bits[i] = 1;
-                }
-            else
-                {
-                    d_preambles_bits[i] = -1;
-                }
-        }
-    for (int32_t i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
-        {
-            for (int32_t k = 0; k < GALILEO_FNAV_CODES_PER_SYMBOL; k++)
-                {
-                    d_preamble_samples[(i * GALILEO_FNAV_CODES_PER_SYMBOL) + k] = d_preambles_bits[i];
-                }
-        }
-
-    d_sample_counter = 0ULL;
-    d_stat = 0;
-    corr_value = 0;
-    d_flag_preamble = false;
-    d_preamble_index = 0ULL;
-    d_flag_frame_sync = false;
-    d_TOW_at_current_symbol_ms = 0;
-    d_TOW_at_Preamble_ms = 0;
-    flag_TOW_set = false;
-    d_CRC_error_counter = 0;
-    d_channel = 0;
-    delta_t = 0.0;
-    d_symbol_counter = 0;
-    d_prompt_acum = 0.0;
-    flag_bit_start = true;
-    new_symbol = false;
-    required_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
-
-    // vars for Viterbi decoder
-    int32_t max_states = 1 << mm;  // 2^mm
-    g_encoder[0] = 121;            // Polynomial G1
-    g_encoder[1] = 91;             // Polynomial G2
-    out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-    // create appropriate transition matrices
-    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
-    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
-}
-
-
-galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc()
-{
-    volk_gnsssdr_free(out0);
-    volk_gnsssdr_free(out1);
-    volk_gnsssdr_free(state0);
-    volk_gnsssdr_free(state1);
-    if (d_dump_file.is_open() == true)
-        {
-            try
-                {
-                    d_dump_file.close();
-                }
-            catch (const std::exception &ex)
-                {
-                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
-                }
-        }
-}
-
-
-void galileo_e5a_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
-{
-    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
-    DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
-}
-
-
-void galileo_e5a_telemetry_decoder_cc::set_channel(int32_t channel)
-{
-    d_channel = channel;
-    LOG(INFO) << "Navigation channel set to " << channel;
-    // Enable data file logging
-    if (d_dump == true)
-        {
-            if (d_dump_file.is_open() == false)
-                {
-                    try
-                        {
-                            d_dump_filename = "telemetry";
-                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
-                            d_dump_filename.append(".dat");
-                            d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
-                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
-                        }
-                    catch (const std::ifstream::failure &e)
-                        {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
-                        }
-                }
-        }
-}
-
-
-int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
-    gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
-{
-    int32_t preamble_diff = 0;
-
-    Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);            // Get the output buffer pointer
-    const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);  // Get the input buffer pointer
-
-    // 1. Copy the current tracking output
-    Gnss_Synchro current_sample = in[0];
-    d_symbol_counter++;
-    if (flag_bit_start)
-        {
-            d_prompt_acum += current_sample.Prompt_I;
-            if (d_symbol_counter == GALILEO_FNAV_CODES_PER_SYMBOL)
-                {
-                    current_sample.Prompt_I = d_prompt_acum / static_cast<double>(GALILEO_FNAV_CODES_PER_SYMBOL);
-                    d_symbol_history.push_back(current_sample);  // add new symbol to the symbol queue
-                    d_prompt_acum = 0.0;
-                    d_symbol_counter = 0;
-                    new_symbol = true;
-                }
-        }
-    else
-        {
-            if (current_sample.Prompt_I < 0.0)
-                {
-                    d_preamble_init.push_back(1);
-                }
-            else
-                {
-                    d_preamble_init.push_back(-1);
-                }
-
-            if (d_preamble_init.size() == GALILEO_FNAV_CODES_PER_PREAMBLE)
-                {
-                    std::deque<int32_t>::iterator iter;
-                    int32_t k = 0;
-                    corr_value = 0;
-                    for (iter = d_preamble_init.begin(); iter != d_preamble_init.end(); iter++)
-                        {
-                            corr_value += *iter * d_preamble_samples[k];
-                            k++;
-                        }
-                    if (abs(corr_value) == GALILEO_FNAV_CODES_PER_PREAMBLE)
-                        {
-                            d_symbol_counter = 0;
-                            flag_bit_start = true;
-                            corr_value = 0;
-                            d_preamble_init.clear();
-                            d_symbol_history.clear();
-                            LOG(INFO) << "Bit start sync for Galileo E5a satellite " << d_satellite;
-                        }
-                    else
-                        {
-                            d_preamble_init.pop_front();
-                        }
-                }
-        }
-    d_sample_counter++;  // count for the processed samples
-    consume_each(1);
-
-    d_flag_preamble = false;
-
-    if ((d_symbol_history.size() > required_symbols) && new_symbol)
-        {
-            // ****************** Preamble orrelation ******************
-            corr_value = 0;
-            for (int32_t i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
-                {
-                    if (d_symbol_history.at(i).Prompt_I < 0.0)  // symbols clipping
-                        {
-                            corr_value -= d_preambles_bits[i];
-                        }
-                    else
-                        {
-                            corr_value += d_preambles_bits[i];
-                        }
-                }
-        }
-    // ****************** Frame sync ******************
-    if ((d_stat == 0) && new_symbol)  // no preamble information
-        {
-            if (abs(corr_value) == GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
-                {
-                    d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                    LOG(INFO) << "Preamble detection for Galileo E5a satellite " << d_satellite;
-                    d_stat = 1;  // enter into frame pre-detection status
-                }
-        }
-    else if ((d_stat == 1) && new_symbol)  // possible preamble lock
-        {
-            if (abs(corr_value) == GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
-                {
-                    // check preamble separation
-                    preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
-                    if (preamble_diff == GALILEO_FNAV_CODES_PER_PAGE)
-                        {
-                            // try to decode frame
-                            LOG(INFO) << "Starting page decoder for Galileo E5a satellite " << d_satellite;
-                            d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                            d_stat = 2;
-                        }
-                    else if (preamble_diff > GALILEO_FNAV_CODES_PER_PAGE)
-                        {
-                            d_stat = 0;  // start again
-                            flag_bit_start = false;
-                            LOG(INFO) << "Preamble diff = " << preamble_diff;
-                        }
-                }
-        }
-    else if ((d_stat == 2) && new_symbol)
-        {
-            if (d_sample_counter == (d_preamble_index + static_cast<uint64_t>(GALILEO_FNAV_CODES_PER_PAGE)))
-                {
-                    // NEW Galileo page part is received
-                    // 0. fetch the symbols into an array
-                    int32_t frame_length = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
-                    double corr_sign = 0.0;
-                    if (corr_value > 0)
-                        {
-                            corr_sign = -1.0;
-                        }
-                    else
-                        {
-                            corr_sign = 1.0;
-                        }
-                    for (int32_t i = 0; i < frame_length; i++)
-                        {
-                            page_symbols[i] = corr_sign * d_symbol_history.at(i + GALILEO_FNAV_PREAMBLE_LENGTH_BITS).Prompt_I;  // because last symbol of the preamble is just received now!
-                        }
-
-                    // call the decoder
-                    decode_word(page_symbols, frame_length);
-                    if (d_nav.flag_CRC_test == true)
-                        {
-                            d_CRC_error_counter = 0;
-                            d_flag_preamble = true;               // valid preamble indicator (initialized to false every work())
-                            d_preamble_index = d_sample_counter;  // record the preamble sample stamp (t_P)
-                            if (!d_flag_frame_sync)
-                                {
-                                    d_flag_frame_sync = true;
-                                    DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
-                                               << d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
-                                }
-                        }
-                    else
-                        {
-                            d_CRC_error_counter++;
-                            d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                            if (d_CRC_error_counter > GALILEO_E5A_CRC_ERROR_LIMIT)
-                                {
-                                    LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
-                                    d_flag_frame_sync = false;
-                                    d_stat = 0;
-                                    flag_bit_start = false;
-                                    d_nav.flag_TOW_set = false;
-                                    d_TOW_at_current_symbol_ms = 0;
-                                    d_TOW_at_Preamble_ms = 0;
-                                }
-                        }
-                }
-        }
-    new_symbol = false;
-
-    // UPDATE GNSS SYNCHRO DATA
-    // Add the telemetry decoder information
-    if (d_flag_preamble and d_nav.flag_TOW_set)
-        // update TOW at the preamble instant
-        // We expect a preamble each 10 seconds (FNAV page period)
-        {
-            if (d_nav.flag_TOW_1 == true)
-                {
-                    d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.FNAV_TOW_1 * 1000.0);
-                    d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
-                    d_nav.flag_TOW_1 = false;
-                }
-            else if (d_nav.flag_TOW_2 == true)
-                {
-                    d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.FNAV_TOW_2 * 1000.0);
-                    d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
-                    d_nav.flag_TOW_2 = false;
-                }
-            else if (d_nav.flag_TOW_3 == true)
-                {
-                    d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.FNAV_TOW_3 * 1000.0);
-                    d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
-                    d_nav.flag_TOW_3 = false;
-                }
-            else if (d_nav.flag_TOW_4 == true)
-                {
-                    d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.FNAV_TOW_4 * 1000.0);
-                    d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
-                    d_nav.flag_TOW_4 = false;
-                }
-            else
-                {
-                    d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
-                }
-        }
-    else  // if there is not a new preamble, we define the TOW of the current symbol
-        {
-            if (d_nav.flag_TOW_set == true)
-                {
-                    d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
-                }
-        }
-
-    // remove used symbols from history
-    // todo: Use circular buffer here
-    while (d_symbol_history.size() > required_symbols)
-        {
-            d_symbol_history.pop_front();
-        }
-
-    if (d_nav.flag_TOW_set)
-        {
-            current_sample.Flag_valid_word = true;
-            current_sample.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
-            if (d_dump)
-                {
-                    // MULTIPLEXED FILE RECORDING - Record results to file
-                    try
-                        {
-                            double tmp_double;
-                            uint64_t tmp_ulong_int;
-                            tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
-                            d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
-                            tmp_ulong_int = current_sample.Tracking_sample_counter;
-                            d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
-                            tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
-                            d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
-                        }
-                    catch (const std::ifstream::failure &e)
-                        {
-                            LOG(WARNING) << "Exception writing Galileo E5a Telemetry Decoder dump file " << e.what();
-                        }
-                }
-            // 3. Make the output
-            out[0] = current_sample;
-            return 1;
-        }
-    else
-        {
-            return 0;
-        }
-}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h
deleted file mode 100644
index 522f5777e..000000000
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/*!
- * \file galileo_e5a_telemetry_decoder_cc.cc
- * \brief Implementation of a Galileo FNAV message demodulator block
- * \author Marc Sales, 2014. marcsales92(at)gmail.com
- *  		   Javier Arribas, 2017. jarribas(at)cttc.es
- * \based on work from:
- *          <ul>
- *          <li> Javier Arribas, 2011. jarribas(at)cttc.es
- *          </ul>
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#ifndef GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_
-#define GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_
-
-#include "Galileo_E5a.h"
-#include "gnss_satellite.h"
-#include "galileo_fnav_message.h"
-#include "galileo_ephemeris.h"
-#include "galileo_almanac.h"
-#include "galileo_iono.h"
-#include "galileo_utc_model.h"
-#include "gnss_synchro.h"
-#include <gnuradio/block.h>
-#include <deque>
-#include <fstream>
-#include <string>
-
-
-class galileo_e5a_telemetry_decoder_cc;
-
-typedef boost::shared_ptr<galileo_e5a_telemetry_decoder_cc> galileo_e5a_telemetry_decoder_cc_sptr;
-
-galileo_e5a_telemetry_decoder_cc_sptr galileo_e5a_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
-
-
-/*!
- * \brief This class implements a block that decodes the FNAV data defined in Galileo ICD
- *
- */
-class galileo_e5a_telemetry_decoder_cc : public gr::block
-{
-public:
-    ~galileo_e5a_telemetry_decoder_cc();
-    void set_satellite(const Gnss_Satellite &satellite);  //!< Set satellite PRN
-    void set_channel(int32_t channel);                    //!< Set receiver's channel
-    /*!
-     * \brief This is where all signal processing takes place
-     */
-    int general_work(int noutput_items, gr_vector_int &ninput_items,
-        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
-
-private:
-    friend galileo_e5a_telemetry_decoder_cc_sptr
-    galileo_e5a_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
-    galileo_e5a_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
-
-    void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits);
-
-    void deinterleaver(int32_t rows, int32_t cols, double *in, double *out);
-
-    void decode_word(double *page_symbols, int32_t frame_length);
-
-    int32_t d_preambles_bits[GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
-    int32_t d_preamble_samples[GALILEO_FNAV_CODES_PER_PREAMBLE];
-    std::deque<int> d_preamble_init;
-    int32_t d_stat;
-    int32_t d_CRC_error_counter;
-    int32_t d_channel;
-    int32_t d_symbol_counter;
-    int32_t corr_value;
-    uint32_t required_symbols;
-    uint64_t d_sample_counter;
-    uint64_t d_preamble_index;
-    bool d_flag_frame_sync;
-    bool d_flag_preamble;
-    bool d_dump;
-    bool flag_TOW_set;
-    bool flag_bit_start;
-    bool new_symbol;
-    double d_prompt_acum;
-    double page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
-    uint32_t d_TOW_at_Preamble_ms;
-    uint32_t d_TOW_at_current_symbol_ms;
-    double delta_t;  //GPS-GALILEO time offset
-    std::string d_dump_filename;
-    std::ofstream d_dump_file;
-    std::deque<Gnss_Synchro> d_symbol_history;
-    Gnss_Satellite d_satellite;
-    // navigation message vars
-    Galileo_Fnav_Message d_nav;
-
-    // vars for Viterbi decoder
-    int32_t *out0, *out1, *state0, *state1;
-    int32_t g_encoder[2];
-    const int32_t nn = 2;  // Coding rate 1/n
-    const int32_t KK = 7;  // Constraint Length
-    int32_t mm = KK - 1;
-    const int32_t CodeLength = 488;
-    int32_t DataLength = (CodeLength / nn) - mm;
-};
-
-#endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
new file mode 100644
index 000000000..aa53529fe
--- /dev/null
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
@@ -0,0 +1,780 @@
+/*!
+ * \file galileo_telemetry_decoder_cc.cc
+ * \brief Implementation of a Galileo unified INAV and FNAV message demodulator block
+ * \author Javier Arribas 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "galileo_telemetry_decoder_cc.h"
+#include "control_message_factory.h"
+#include "convolutional.h"
+#include "display.h"
+#include "gnss_synchro.h"
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <iostream>
+
+
+#define CRC_ERROR_LIMIT 6
+
+using google::LogMessage;
+
+
+galileo_telemetry_decoder_cc_sptr
+galileo_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, int frame_type, bool dump)
+{
+    return galileo_telemetry_decoder_cc_sptr(new galileo_telemetry_decoder_cc(satellite, frame_type, dump));
+}
+
+
+void galileo_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits)
+{
+    Viterbi(page_part_bits, out0, state0, out1, state1,
+        page_part_symbols, KK, nn, DataLength);
+}
+
+
+void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
+{
+    for (int32_t r = 0; r < rows; r++)
+        {
+            for (int32_t c = 0; c < cols; c++)
+                {
+                    out[c * rows + r] = in[r * cols + c];
+                }
+        }
+}
+
+
+galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
+    const Gnss_Satellite &satellite, int frame_type,
+    bool dump) : gr::block("galileo_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
+                     gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Ephemeris data port out
+    this->message_port_register_out(pmt::mp("telemetry"));
+    // initialize internal vars
+    d_dump = dump;
+    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
+    d_frame_type = frame_type;
+    LOG(INFO) << "Initializing GALILEO UNIFIED TELEMETRY DECODER";
+
+    switch (d_frame_type)
+        {
+        case 1:  //INAV
+            {
+                d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
+                d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL;
+                d_bits_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
+                // set the preamble
+                d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
+                d_preamble_period_symbols = GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS;
+                d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
+                // preamble bits to sampled symbols
+                d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+                d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
+                CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
+                DataLength = (CodeLength / nn) - mm;
+                break;
+            }
+        case 2:  //FNAV
+            {
+                d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
+                d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
+                d_bits_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
+                // set the preamble
+                d_samples_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
+                d_preamble_period_symbols = GALILEO_FNAV_CODES_PER_PAGE;
+                d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
+                // preamble bits to sampled symbols
+                d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+
+                d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+                d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
+                CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
+                DataLength = (CodeLength / nn) - mm;
+                for (int32_t i = 0; i < Galileo_E5a_I_SECONDARY_CODE_LENGTH; i++)
+                    {
+                        if (Galileo_E5a_I_SECONDARY_CODE.at(i) == '1')
+                            {
+                                d_secondary_code_samples[i] = 1;
+                            }
+                        else
+                            {
+                                d_secondary_code_samples[i] = -1;
+                            }
+                    }
+                break;
+            }
+        default:
+            std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
+        }
+
+    d_page_part_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_frame_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
+    int32_t n = 0;
+    for (int32_t i = 0; i < d_bits_per_preamble; i++)
+        {
+            switch (d_frame_type)
+                {
+                case 1:  //INAV
+                    {
+                        if (GALILEO_INAV_PREAMBLE.at(i) == '1')
+                            {
+                                for (uint32_t j = 0; j < d_samples_per_symbol; j++)
+                                    {
+                                        d_preamble_samples[n] = 1;
+                                        n++;
+                                    }
+                            }
+                        else
+                            {
+                                for (uint32_t j = 0; j < d_samples_per_symbol; j++)
+                                    {
+                                        d_preamble_samples[n] = -1;
+                                        n++;
+                                    }
+                            }
+                        break;
+                    }
+                case 2:  //FNAV for E5a-I
+                    {
+                        // Galileo E5a data channel (E5a-I) still has a secondary code
+                        int m = 0;
+                        if (GALILEO_FNAV_PREAMBLE.at(i) == '1')
+                            {
+                                for (uint32_t j = 0; j < d_samples_per_symbol; j++)
+                                    {
+                                        d_preamble_samples[n] = d_secondary_code_samples[m];
+                                        n++;
+                                        m++;
+                                        m = m % Galileo_E5a_I_SECONDARY_CODE_LENGTH;
+                                    }
+                            }
+                        else
+                            {
+                                for (uint32_t j = 0; j < d_samples_per_symbol; j++)
+                                    {
+                                        d_preamble_samples[n] = -d_secondary_code_samples[m];
+                                        n++;
+                                        m++;
+                                        m = m % Galileo_E5a_I_SECONDARY_CODE_LENGTH;
+                                    }
+                            }
+                        break;
+                    }
+                }
+        }
+    d_sample_counter = 0ULL;
+    d_stat = 0;
+    d_preamble_index = 0ULL;
+
+    d_flag_frame_sync = false;
+
+    d_flag_parity = false;
+    d_TOW_at_current_symbol_ms = 0;
+    d_TOW_at_Preamble_ms = 0;
+    delta_t = 0;
+    d_CRC_error_counter = 0;
+    flag_even_word_arrived = 0;
+    d_flag_preamble = false;
+    d_channel = 0;
+    flag_TOW_set = false;
+
+    // vars for Viterbi decoder
+    int32_t max_states = 1 << mm;  // 2^mm
+    g_encoder[0] = 121;            // Polynomial G1
+    g_encoder[1] = 91;             // Polynomial G2
+    out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+    out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+    state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+    state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+    // create appropriate transition matrices
+    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
+    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
+}
+
+
+galileo_telemetry_decoder_cc::~galileo_telemetry_decoder_cc()
+{
+    volk_gnsssdr_free(d_preamble_samples);
+    if (d_frame_type == 2)
+        {
+            volk_gnsssdr_free(d_secondary_code_samples);
+        }
+    volk_gnsssdr_free(d_page_part_symbols);
+    volk_gnsssdr_free(out0);
+    volk_gnsssdr_free(out1);
+    volk_gnsssdr_free(state0);
+    volk_gnsssdr_free(state1);
+    if (d_dump_file.is_open() == true)
+        {
+            try
+                {
+                    d_dump_file.close();
+                }
+            catch (const std::exception &ex)
+                {
+                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
+                }
+        }
+}
+
+
+void galileo_telemetry_decoder_cc::decode_INAV_word(double *page_part_symbols, int32_t frame_length)
+{
+    // 1. De-interleave
+    double *page_part_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
+    deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint);
+
+    // 2. Viterbi decoder
+    // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
+    // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
+    for (int32_t i = 0; i < frame_length; i++)
+        {
+            if ((i + 1) % 2 == 0)
+                {
+                    page_part_symbols_deint[i] = -page_part_symbols_deint[i];
+                }
+        }
+
+    int32_t *page_part_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+    viterbi_decoder(page_part_symbols_deint, page_part_bits);
+    volk_gnsssdr_free(page_part_symbols_deint);
+
+    // 3. Call the Galileo page decoder
+    std::string page_String;
+    for (int32_t i = 0; i < (frame_length / 2); i++)
+        {
+            if (page_part_bits[i] > 0)
+                {
+                    page_String.push_back('1');
+                }
+            else
+                {
+                    page_String.push_back('0');
+                }
+        }
+
+    if (page_part_bits[0] == 1)
+        {
+            // DECODE COMPLETE WORD (even + odd) and TEST CRC
+            d_inav_nav.split_page(page_String, flag_even_word_arrived);
+            if (d_inav_nav.flag_CRC_test == true)
+                {
+                    LOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite;
+                }
+            else
+                {
+                    LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite;
+                }
+            flag_even_word_arrived = 0;
+        }
+    else
+        {
+            // STORE HALF WORD (even page)
+            d_inav_nav.split_page(page_String.c_str(), flag_even_word_arrived);
+            flag_even_word_arrived = 1;
+        }
+    volk_gnsssdr_free(page_part_bits);
+
+    // 4. Push the new navigation data to the queues
+    if (d_inav_nav.have_new_ephemeris() == true)
+        {
+            // get object for this SV (mandatory)
+            std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_ephemeris());
+            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+    if (d_inav_nav.have_new_iono_and_GST() == true)
+        {
+            // get object for this SV (mandatory)
+            std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_inav_nav.get_iono());
+            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl;
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+    if (d_inav_nav.have_new_utc_model() == true)
+        {
+            // get object for this SV (mandatory)
+            std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_inav_nav.get_utc_model());
+            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+    if (d_inav_nav.have_new_almanac() == true)
+        {
+            std::shared_ptr<Galileo_Almanac> tmp_obj = std::make_shared<Galileo_Almanac>(d_inav_nav.get_almanac());
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            //debug
+            std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
+            DLOG(INFO) << "GPS_to_Galileo time conversion:";
+            DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10;
+            DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10;
+            DLOG(INFO) << "T0G=" << tmp_obj->t_0G_10;
+            DLOG(INFO) << "WN_0G_10=" << tmp_obj->WN_0G_10;
+            DLOG(INFO) << "Current parameters:";
+            DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
+            DLOG(INFO) << "d_nav.WN_0=" << d_inav_nav.WN_0;
+            delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G_10 + 604800 * (fmod((d_inav_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
+            DLOG(INFO) << "delta_t=" << delta_t << "[s]";
+        }
+}
+
+
+void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_t frame_length)
+{
+    // 1. De-interleave
+    double *page_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
+    deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
+
+    // 2. Viterbi decoder
+    // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
+    // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180�
+    for (int32_t i = 0; i < frame_length; i++)
+        {
+            if ((i + 1) % 2 == 0)
+                {
+                    page_symbols_deint[i] = -page_symbols_deint[i];
+                }
+        }
+    int32_t *page_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+    viterbi_decoder(page_symbols_deint, page_bits);
+    volk_gnsssdr_free(page_symbols_deint);
+
+    // 3. Call the Galileo page decoder
+    std::string page_String;
+    for (int32_t i = 0; i < frame_length; i++)
+        {
+            if (page_bits[i] > 0)
+                {
+                    page_String.push_back('1');
+                }
+            else
+                {
+                    page_String.push_back('0');
+                }
+        }
+    volk_gnsssdr_free(page_bits);
+
+    // DECODE COMPLETE WORD (even + odd) and TEST CRC
+    d_fnav_nav.split_page(page_String);
+    if (d_fnav_nav.flag_CRC_test == true)
+        {
+            LOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite;
+        }
+    else
+        {
+            LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite;
+        }
+
+    // 4. Push the new navigation data to the queues
+    if (d_fnav_nav.have_new_ephemeris() == true)
+        {
+            std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_fnav_nav.get_ephemeris());
+            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+    if (d_fnav_nav.have_new_iono_and_GST() == true)
+        {
+            std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_fnav_nav.get_iono());
+            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+    if (d_fnav_nav.have_new_utc_model() == true)
+        {
+            std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_fnav_nav.get_utc_model());
+            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+}
+
+void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
+{
+    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
+    DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
+    DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
+}
+
+
+void galileo_telemetry_decoder_cc::set_channel(int32_t channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Navigation channel set to " << channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                        {
+                            d_dump_filename = "telemetry";
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
+                        }
+                    catch (const std::ifstream::failure &e)
+                        {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
+                        }
+                }
+        }
+}
+
+
+int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+    gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    int32_t corr_value = 0;
+    int32_t preamble_diff = 0;
+
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);            // Get the output buffer pointer
+    const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);  // Get the input buffer pointer
+
+    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
+    // 1. Copy the current tracking output
+    current_symbol = in[0][0];
+    // add new symbol to the symbol queue
+    d_symbol_history.push_back(current_symbol.Prompt_I);
+    d_sample_counter++;  // count for the processed samples
+    consume_each(1);
+    d_flag_preamble = false;
+
+    if (d_symbol_history.size() > d_required_symbols)
+        {
+            // TODO Optimize me!
+            // ******* preamble correlation ********
+            for (int32_t i = 0; i < d_samples_per_preamble; i++)
+                {
+                    if (d_symbol_history.at(i) < 0.0)  // symbols clipping
+                        {
+                            corr_value -= d_preamble_samples[i];
+                        }
+                    else
+                        {
+                            corr_value += d_preamble_samples[i];
+                        }
+                }
+        }
+
+    // ******* frame sync ******************
+    switch (d_stat)
+        {
+        case 0:  // no preamble information
+            {
+                if (abs(corr_value) >= d_samples_per_preamble)
+                    {
+                        d_preamble_index = d_sample_counter;  // record the preamble sample stamp
+                        LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite;
+                        d_stat = 1;  // enter into frame pre-detection status
+                    }
+                break;
+            }
+        case 1:  // possible preamble lock
+            {
+                if (abs(corr_value) >= d_samples_per_preamble)
+                    {
+                        // check preamble separation
+                        preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
+                        if (abs(preamble_diff - d_preamble_period_symbols) == 0)
+                            {
+                                // try to decode frame
+                                LOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
+                                d_preamble_index = d_sample_counter;  // record the preamble sample stamp
+                                d_stat = 2;
+                            }
+                        else
+                            {
+                                if (preamble_diff > d_preamble_period_symbols)
+                                    {
+                                        d_stat = 0;  // start again
+                                    }
+                            }
+                    }
+                break;
+            }
+        case 2:  //preamble acquired
+            {
+                if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_symbols))
+                    {
+                        // call the decoder
+                        switch (d_frame_type)
+                            {
+                            case 1:  //INAV
+                                     // NEW Galileo page part is received
+                                // 0. fetch the symbols into an array
+                                if (corr_value > 0)  //normal PLL lock
+                                    {
+                                        for (uint32_t i = 0; i < d_frame_length_symbols; i++)
+                                            {
+                                                d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble);  // because last symbol of the preamble is just received now!
+                                            }
+                                    }
+                                else  //180 deg. inverted carrier phase PLL lock
+                                    {
+                                        for (uint32_t i = 0; i < d_frame_length_symbols; i++)
+                                            {
+                                                d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble);  // because last symbol of the preamble is just received now!
+                                            }
+                                    }
+                                decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);
+                                break;
+                            case 2:  //FNAV
+                                     // NEW Galileo page part is received
+                                // 0. fetch the symbols into an array
+                                if (corr_value > 0)  //normal PLL lock
+                                    {
+                                        int k = 0;
+                                        for (uint32_t i = 0; i < d_frame_length_symbols; i++)
+                                            {
+                                                d_page_part_symbols[i] = 0;
+                                                for (uint32_t m = 0; m < d_samples_per_symbol; m++)
+                                                    {
+                                                        d_page_part_symbols[i] += static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m);  // because last symbol of the preamble is just received now!
+                                                        k++;
+                                                        k = k % Galileo_E5a_I_SECONDARY_CODE_LENGTH;
+                                                    }
+                                            }
+                                    }
+                                else  //180 deg. inverted carrier phase PLL lock
+                                    {
+                                        int k = 0;
+                                        for (uint32_t i = 0; i < d_frame_length_symbols; i++)
+                                            {
+                                                d_page_part_symbols[i] = 0;
+                                                for (uint32_t m = 0; m < d_samples_per_symbol; m++)  //integrate samples into symbols
+                                                    {
+                                                        d_page_part_symbols[i] -= static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m);  // because last symbol of the preamble is just received now!
+                                                        k++;
+                                                        k = k % Galileo_E5a_I_SECONDARY_CODE_LENGTH;
+                                                    }
+                                            }
+                                    }
+                                decode_FNAV_word(d_page_part_symbols, d_frame_length_symbols);
+                                break;
+                            default:
+                                return -1;
+                                break;
+                            }
+
+                        if (d_inav_nav.flag_CRC_test == true or d_fnav_nav.flag_CRC_test == true)
+                            {
+                                d_CRC_error_counter = 0;
+                                d_flag_preamble = true;               // valid preamble indicator (initialized to false every work())
+                                d_preamble_index = d_sample_counter;  // record the preamble sample stamp (t_P)
+                                if (!d_flag_frame_sync)
+                                    {
+                                        d_flag_frame_sync = true;
+                                        DLOG(INFO) << " Frame sync SAT " << this->d_satellite;
+                                    }
+                            }
+                        else
+                            {
+                                d_CRC_error_counter++;
+                                d_preamble_index = d_sample_counter;  // record the preamble sample stamp
+                                if (d_CRC_error_counter > CRC_ERROR_LIMIT)
+                                    {
+                                        LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
+                                        d_flag_frame_sync = false;
+                                        d_stat = 0;
+                                        d_TOW_at_current_symbol_ms = 0;
+                                        d_TOW_at_Preamble_ms = 0;
+                                        d_fnav_nav.flag_TOW_set = false;
+                                        d_inav_nav.flag_TOW_set = false;
+                                    }
+                            }
+                    }
+                break;
+            }
+        }
+
+    // UPDATE GNSS SYNCHRO DATA
+    // 2. Add the telemetry decoder information
+    if (this->d_flag_preamble == true)
+        // update TOW at the preamble instant
+        {
+            switch (d_frame_type)
+                {
+                case 1:  //INAV
+                    {
+                        if (d_inav_nav.flag_TOW_set == true)
+                            {
+                                if (d_inav_nav.flag_TOW_5 == true)  // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
+                                    {
+                                        // TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
+                                        d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.TOW_5 * 1000.0);
+                                        d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * GALILEO_E1_CODE_PERIOD_MS);
+                                        d_inav_nav.flag_TOW_5 = false;
+                                    }
+
+                                else if (d_inav_nav.flag_TOW_6 == true)  // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
+                                    {
+                                        // TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
+                                        d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.TOW_6 * 1000.0);
+                                        d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * GALILEO_E1_CODE_PERIOD_MS);
+                                        d_inav_nav.flag_TOW_6 = false;
+                                    }
+                                else
+                                    {
+                                        // this page has no timing information
+                                        d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);  // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
+                                    }
+                            }
+                        break;
+                    }
+                case 2:  //FNAV
+                    {
+                        if (d_fnav_nav.flag_TOW_set == true)
+                            {
+                                if (d_fnav_nav.flag_TOW_1 == true)
+                                    {
+                                        d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_1 * 1000.0);
+                                        d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        //d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_fnav_nav.flag_TOW_1 = false;
+                                    }
+                                else if (d_fnav_nav.flag_TOW_2 == true)
+                                    {
+                                        d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_2 * 1000.0);
+                                        //d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_fnav_nav.flag_TOW_2 = false;
+                                    }
+                                else if (d_fnav_nav.flag_TOW_3 == true)
+                                    {
+                                        d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_3 * 1000.0);
+                                        //d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_fnav_nav.flag_TOW_3 = false;
+                                    }
+                                else if (d_fnav_nav.flag_TOW_4 == true)
+                                    {
+                                        d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_4 * 1000.0);
+                                        //d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5a_CODE_PERIOD_MS);
+                                        d_fnav_nav.flag_TOW_4 = false;
+                                    }
+                                else
+                                    {
+                                        d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
+                                    }
+                                break;
+                            }
+                    }
+                }
+        }
+    else  // if there is not a new preamble, we define the TOW of the current symbol
+        {
+            switch (d_frame_type)
+                {
+                case 1:  //INAV
+                    {
+                        if (d_inav_nav.flag_TOW_set == true)
+                            {
+                                d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
+                            }
+                        break;
+                    }
+                case 2:  //FNAV
+                    {
+                        if (d_fnav_nav.flag_TOW_set == true)
+                            {
+                                d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
+                            }
+                        break;
+                    }
+                }
+        }
+
+    // remove used symbols from history
+    // todo: Use circular buffer here
+    if (d_symbol_history.size() > d_required_symbols)
+        {
+            d_symbol_history.pop_front();
+        }
+
+    switch (d_frame_type)
+        {
+        case 1:  //INAV
+            {
+                if (d_inav_nav.flag_TOW_set)
+                    {
+                        if (d_inav_nav.flag_GGTO_1 == true and d_inav_nav.flag_GGTO_2 == true and d_inav_nav.flag_GGTO_3 == true and d_inav_nav.flag_GGTO_4 == true)  // all GGTO parameters arrived
+                            {
+                                delta_t = d_inav_nav.A_0G_10 + d_inav_nav.A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_inav_nav.t_0G_10 + 604800.0 * (fmod((d_inav_nav.WN_0 - d_inav_nav.WN_0G_10), 64.0)));
+                            }
+
+                        current_symbol.Flag_valid_word = true;
+                    }
+                break;
+            }
+
+        case 2:  //FNAV
+            {
+                if (d_fnav_nav.flag_TOW_set)
+                    {
+                        current_symbol.Flag_valid_word = true;
+                    }
+                break;
+            }
+        }
+
+    if (d_inav_nav.flag_TOW_set or d_fnav_nav.flag_TOW_set)
+        {
+            current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
+            // todo: Galileo to GPS time conversion should be moved to observable block.
+            // current_symbol.TOW_at_current_symbol_ms -= delta_t;  //Galileo to GPS TOW
+
+            if (d_dump == true)
+                {
+                    // MULTIPLEXED FILE RECORDING - Record results to file
+                    try
+                        {
+                            double tmp_double;
+                            uint64_t tmp_ulong_int;
+                            tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
+                            d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
+                            tmp_ulong_int = current_symbol.Tracking_sample_counter;
+                            d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
+                            tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
+                            d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
+                        }
+                    catch (const std::ifstream::failure &e)
+                        {
+                            LOG(WARNING) << "Exception writing observables dump file " << e.what();
+                        }
+                }
+            // 3. Make the output (copy the object contents to the GNURadio reserved memory)
+            *out[0] = current_symbol;
+            return 1;
+        }
+    else
+        {
+            return 0;
+        }
+}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
similarity index 62%
rename from src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
rename to src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
index 663c365b2..f67418868 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
@@ -1,8 +1,7 @@
 /*!
- * \file galileo_e1b_telemetry_decoder_cc.h
- * \brief Interface of a Galileo INAV message demodulator block
- * \author Javier Arribas 2013 jarribas(at)cttc.es,
- *         Mara Branzanti 2013 mara.branzanti(at)gmail.com
+ * \file galileo_telemetry_decoder_cc.h
+ * \brief Implementation of a Galileo unified INAV and FNAV message demodulator block
+ * \author Javier Arribas 2018. jarribas(at)cttc.es
  *
  * -------------------------------------------------------------------------
  *
@@ -29,12 +28,15 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GALILEO_E1B_TELEMETRY_DECODER_CC_H
-#define GNSS_SDR_GALILEO_E1B_TELEMETRY_DECODER_CC_H
+
+#ifndef GNSS_SDR_galileo_telemetry_decoder_cc_H
+#define GNSS_SDR_galileo_telemetry_decoder_cc_H
 
 
 #include "Galileo_E1.h"
+#include "Galileo_E5a.h"
 #include "galileo_navigation_message.h"
+#include "galileo_fnav_message.h"
 #include "galileo_ephemeris.h"
 #include "galileo_almanac.h"
 #include "galileo_iono.h"
@@ -46,20 +48,20 @@
 #include <string>
 
 
-class galileo_e1b_telemetry_decoder_cc;
+class galileo_telemetry_decoder_cc;
 
-typedef boost::shared_ptr<galileo_e1b_telemetry_decoder_cc> galileo_e1b_telemetry_decoder_cc_sptr;
+typedef boost::shared_ptr<galileo_telemetry_decoder_cc> galileo_telemetry_decoder_cc_sptr;
 
-galileo_e1b_telemetry_decoder_cc_sptr galileo_e1b_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
+galileo_telemetry_decoder_cc_sptr galileo_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, int frame_type, bool dump);
 
 /*!
- * \brief This class implements a block that decodes the INAV data defined in Galileo ICD
+ * \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD
  *
  */
-class galileo_e1b_telemetry_decoder_cc : public gr::block
+class galileo_telemetry_decoder_cc : public gr::block
 {
 public:
-    ~galileo_e1b_telemetry_decoder_cc();
+    ~galileo_telemetry_decoder_cc();
     void set_satellite(const Gnss_Satellite &satellite);  //!< Set satellite PRN
     void set_channel(int32_t channel);                    //!< Set receiver's channel
     int32_t flag_even_word_arrived;
@@ -71,23 +73,30 @@ public:
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
 
 private:
-    friend galileo_e1b_telemetry_decoder_cc_sptr
-    galileo_e1b_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
-    galileo_e1b_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
+    friend galileo_telemetry_decoder_cc_sptr
+    galileo_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, int frame_type, bool dump);
+    galileo_telemetry_decoder_cc(const Gnss_Satellite &satellite, int frame_type, bool dump);
 
     void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits);
 
     void deinterleaver(int32_t rows, int32_t cols, double *in, double *out);
 
-    void decode_word(double *symbols, int32_t frame_length);
+    void decode_INAV_word(double *symbols, int32_t frame_length);
+    void decode_FNAV_word(double *page_symbols, int32_t frame_length);
 
-    uint16_t d_preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS];
-
-    int32_t *d_preambles_symbols;
+    int d_frame_type;
+    int32_t d_bits_per_preamble;
+    int32_t d_samples_per_preamble;
+    int32_t d_preamble_period_symbols;
+    int32_t *d_preamble_samples;
+    int32_t *d_secondary_code_samples;
     uint32_t d_samples_per_symbol;
-    int32_t d_symbols_per_preamble;
+    uint32_t d_PRN_code_period_ms;
+    uint32_t d_required_symbols;
+    uint32_t d_frame_length_symbols;
+    double *d_page_part_symbols;
 
-    std::deque<Gnss_Synchro> d_symbol_history;
+    std::deque<float> d_symbol_history;
 
     uint64_t d_sample_counter;
     uint64_t d_preamble_index;
@@ -99,7 +108,8 @@ private:
     int32_t d_CRC_error_counter;
 
     // navigation message vars
-    Galileo_Navigation_Message d_nav;
+    Galileo_Navigation_Message d_inav_nav;
+    Galileo_Fnav_Message d_fnav_nav;
 
     bool d_dump;
     Gnss_Satellite d_satellite;
@@ -120,8 +130,8 @@ private:
     const int32_t nn = 2;  // Coding rate 1/n
     const int32_t KK = 7;  // Constraint Length
     int32_t mm = KK - 1;
-    const int32_t CodeLength = 240;
-    int32_t DataLength = (CodeLength / nn) - mm;
+    int32_t CodeLength;
+    int32_t DataLength;
 };
 
 #endif
diff --git a/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
index 8fbd56531..11e2572c3 100644
--- a/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
@@ -110,7 +110,7 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
     int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
     if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
     trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
+    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.75);
     if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
     trk_param.carrier_lock_th = carrier_lock_th;
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
index 5b4d36581..374cb910f 100755
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
@@ -238,17 +238,18 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_correlation_length_ms = 1;
                     d_code_samples_per_chip = 1;
                     d_code_length_chips = static_cast<uint32_t>(Galileo_E5a_CODE_LENGTH_CHIPS);
-                    d_secondary = true;
+
                     if (trk_parameters.track_pilot)
                         {
+                            d_secondary = true;
                             d_secondary_code_length = static_cast<uint32_t>(Galileo_E5a_Q_SECONDARY_CODE_LENGTH);
                             signal_pretty_name = signal_pretty_name + "Q";
                             interchange_iq = true;
                         }
                     else
                         {
-                            d_secondary_code_length = static_cast<uint32_t>(Galileo_E5a_I_SECONDARY_CODE_LENGTH);
-                            d_secondary_code_string = const_cast<std::string *>(&Galileo_E5a_I_SECONDARY_CODE);
+                            //Do not acquire secondary code in data component. It is done in telemetry decoder
+                            d_secondary = false;
                             signal_pretty_name = signal_pretty_name + "I";
                             interchange_iq = false;
                         }
@@ -362,7 +363,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
         }
 
     // --- Initializations ---
-    multicorrelator_cpu.set_fast_resampler(trk_parameters.use_fast_resampler);
+    multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.use_high_dynamics_resampler);
     // Initial code frequency basis of NCO
     d_code_freq_chips = d_code_chip_rate;
     // Residual code phase (in chips)
@@ -497,7 +498,7 @@ void dll_pll_veml_tracking::start_tracking()
                     for (uint32_t i = 0; i < d_code_length_chips; i++)
                         {
                             d_tracking_code[i] = aux_code[i].imag();
-                            d_data_code[i] = aux_code[i].real();
+                            d_data_code[i] = aux_code[i].real();  //the same because it is generated the full signal (E5aI + E5aQ)
                         }
                     d_Prompt_Data[0] = gr_complex(0.0, 0.0);
                     correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code, d_prompt_data_shift);
diff --git a/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc b/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc
index b78b1a4c5..6222ddfb9 100644
--- a/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc
+++ b/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc
@@ -1,6 +1,6 @@
 /*!
  * \file cpu_multicorrelator_real_codes.cc
- * \brief High optimized CPU vector multiTAP correlator class with real-valued local codes
+ * \brief Highly optimized CPU vector multiTAP correlator class with real-valued local codes
  * \authors <ul>
  *          <li> Javier Arribas, 2015. jarribas(at)cttc.es
  *          <li> Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
@@ -46,7 +46,7 @@ cpu_multicorrelator_real_codes::cpu_multicorrelator_real_codes()
     d_local_codes_resampled = nullptr;
     d_code_length_chips = 0;
     d_n_correlators = 0;
-    d_use_fast_resampler = true;
+    d_use_high_dynamics_resampler = true;
 }
 
 
@@ -100,9 +100,9 @@ bool cpu_multicorrelator_real_codes::set_input_output_vectors(std::complex<float
 
 void cpu_multicorrelator_real_codes::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips)
 {
-    if (d_use_fast_resampler)
+    if (d_use_high_dynamics_resampler)
         {
-            volk_gnsssdr_32f_xn_fast_resampler_32f_xn(d_local_codes_resampled,
+            volk_gnsssdr_32f_xn_high_dynamics_resampler_32f_xn(d_local_codes_resampled,
                 d_local_code_in,
                 rem_code_phase_chips,
                 code_phase_step_chips,
@@ -159,8 +159,9 @@ bool cpu_multicorrelator_real_codes::free()
     return true;
 }
 
-void cpu_multicorrelator_real_codes::set_fast_resampler(
-    bool use_fast_resampler)
+
+void cpu_multicorrelator_real_codes::set_high_dynamics_resampler(
+    bool use_high_dynamics_resampler)
 {
-    d_use_fast_resampler = use_fast_resampler;
+    d_use_high_dynamics_resampler = use_high_dynamics_resampler;
 }
diff --git a/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h b/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h
index 2edb065ce..f7ebe7a1f 100644
--- a/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h
+++ b/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h
@@ -1,6 +1,6 @@
 /*!
  * \file cpu_multicorrelator_real_codes.h
- * \brief High optimized CPU vector multiTAP correlator class using real-valued local codes
+ * \brief Highly optimized CPU vector multiTAP correlator class using real-valued local codes
  * \authors <ul>
  *          <li> Javier Arribas, 2015. jarribas(at)cttc.es
  *          <li> Cillian O'Driscoll, 2017, cillian.odriscoll(at)gmail.com
@@ -46,7 +46,7 @@ class cpu_multicorrelator_real_codes
 {
 public:
     cpu_multicorrelator_real_codes();
-    void set_fast_resampler(bool use_fast_resampler);
+    void set_high_dynamics_resampler(bool use_high_dynamics_resampler);
     ~cpu_multicorrelator_real_codes();
     bool init(int max_signal_length_samples, int n_correlators);
     bool set_local_code_and_taps(int code_length_chips, const float *local_code_in, float *shifts_chips);
@@ -62,7 +62,7 @@ private:
     const float *d_local_code_in;
     std::complex<float> *d_corr_out;
     float *d_shifts_chips;
-    bool d_use_fast_resampler;
+    bool d_use_high_dynamics_resampler;
     int d_code_length_chips;
     int d_n_correlators;
 };
diff --git a/src/algorithms/tracking/libs/dll_pll_conf.cc b/src/algorithms/tracking/libs/dll_pll_conf.cc
index 9eadfde8f..525adcceb 100644
--- a/src/algorithms/tracking/libs/dll_pll_conf.cc
+++ b/src/algorithms/tracking/libs/dll_pll_conf.cc
@@ -36,7 +36,7 @@
 Dll_Pll_Conf::Dll_Pll_Conf()
 {
     /* DLL/PLL tracking configuration */
-    use_fast_resampler = true;
+    use_high_dynamics_resampler = true;
     fs_in = 0.0;
     vector_length = 0U;
     dump = false;
diff --git a/src/algorithms/tracking/libs/dll_pll_conf.h b/src/algorithms/tracking/libs/dll_pll_conf.h
index bda1853aa..d557b89c0 100644
--- a/src/algorithms/tracking/libs/dll_pll_conf.h
+++ b/src/algorithms/tracking/libs/dll_pll_conf.h
@@ -56,7 +56,7 @@ public:
     float early_late_space_narrow_chips;
     float very_early_late_space_narrow_chips;
     int32_t extend_correlation_symbols;
-    bool use_fast_resampler;
+    bool use_high_dynamics_resampler;
     int32_t cn0_samples;
     int32_t carrier_lock_det_mav_samples;
     int32_t cn0_min;
diff --git a/src/core/monitor/gnss_synchro_monitor.cc b/src/core/monitor/gnss_synchro_monitor.cc
index bde09ef69..d788b52b0 100644
--- a/src/core/monitor/gnss_synchro_monitor.cc
+++ b/src/core/monitor/gnss_synchro_monitor.cc
@@ -1,6 +1,9 @@
 /*!
  * \file gnss_synchro_monitor.cc
- * \brief Interface of a Position Velocity and Time computation block
+ * \brief Implementation of a receiver monitoring block which allows sending
+ * a data stream with the receiver internal parameters (Gnss_Synchro objects)
+ * to local or remote clients over UDP.
+ *
  * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -61,6 +64,8 @@ gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
     d_nchannels = n_channels;
 
     udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port));
+
+    count = 0;
 }
 
 
@@ -75,17 +80,16 @@ int gnss_synchro_monitor::work(int noutput_items, gr_vector_const_void_star& inp
     const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);  // Get the input buffer pointer
     for (int epoch = 0; epoch < noutput_items; epoch++)
         {
-            // ############ 1. READ PSEUDORANGES ####
-            for (unsigned int i = 0; i < d_nchannels; i++)
+            count++;
+            if (count >= d_output_rate_ms)
                 {
-                    //if (in[i][epoch].Flag_valid_pseudorange)
-                    //    {
-                    //    }
-                    //todo: send the gnss_synchro objects
-
-                    std::vector<Gnss_Synchro> stocks;
-                    stocks.push_back(in[i][epoch]);
-                    udp_sink_ptr->write_gnss_synchro(stocks);
+                    for (unsigned int i = 0; i < d_nchannels; i++)
+                        {
+                            std::vector<Gnss_Synchro> stocks;
+                            stocks.push_back(in[i][epoch]);
+                            udp_sink_ptr->write_gnss_synchro(stocks);
+                        }
+                    count = 0;
                 }
         }
     return noutput_items;
diff --git a/src/core/monitor/gnss_synchro_monitor.h b/src/core/monitor/gnss_synchro_monitor.h
index 36b6f1e3a..9547bf12d 100644
--- a/src/core/monitor/gnss_synchro_monitor.h
+++ b/src/core/monitor/gnss_synchro_monitor.h
@@ -1,6 +1,9 @@
 /*!
  * \file gnss_synchro_monitor.h
- * \brief Interface of a Position Velocity and Time computation block
+ * \brief Interface of a receiver monitoring block which allows sending
+ * a data stream with the receiver internal parameters (Gnss_Synchro objects)
+ * to local or remote clients over UDP.
+ *
  * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -65,6 +68,8 @@ private:
 
     std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
 
+    int count;
+
 
 public:
     gnss_synchro_monitor(unsigned int nchannels,
diff --git a/src/core/system_parameters/Galileo_E1.h b/src/core/system_parameters/Galileo_E1.h
index b1d2e6191..e25501e08 100644
--- a/src/core/system_parameters/Galileo_E1.h
+++ b/src/core/system_parameters/Galileo_E1.h
@@ -59,6 +59,7 @@ const double Galileo_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6;  //!< Galileo E1 sub-ca
 const double Galileo_E1_SUB_CARRIER_B_RATE_HZ = 6.138e6;  //!< Galileo E1 sub-carrier 'b' rate [Hz]
 const double Galileo_E1_B_CODE_LENGTH_CHIPS = 4092.0;     //!< Galileo E1-B code length [chips]
 const double Galileo_E1_B_SYMBOL_RATE_BPS = 250.0;        //!< Galileo E1-B symbol rate [bits/second]
+const int32_t Galileo_E1_B_SAMPLES_PER_SYMBOL = 1;        //!< (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS) / Galileo_E1_B_SYMBOL_RATE_BPS
 const int32_t Galileo_E1_C_SECONDARY_CODE_LENGTH = 25;    //!< Galileo E1-C secondary code length [chips]
 const int32_t Galileo_E1_NUMBER_OF_CODES = 50;
 
@@ -70,10 +71,7 @@ const int32_t GALILEO_E1_HISTORY_DEEP = 100;
 
 // Galileo INAV Telemetry structure
 
-#define GALILEO_INAV_PREAMBLE        \
-    {                                \
-        0, 1, 0, 1, 1, 0, 0, 0, 0, 0 \
-    }
+const std::string GALILEO_INAV_PREAMBLE = {"0101100000"};
 
 const int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
 const double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.0 + GALILEO_INAV_PREAMBLE_LENGTH_BITS * Galileo_E1_CODE_PERIOD;
diff --git a/src/tests/common-files/observable_tests_flags.h b/src/tests/common-files/observable_tests_flags.h
index 594429f36..e20253f34 100644
--- a/src/tests/common-files/observable_tests_flags.h
+++ b/src/tests/common-files/observable_tests_flags.h
@@ -35,7 +35,7 @@
 #include <limits>
 
 DEFINE_double(skip_obs_transitory_s, 30.0, "Skip the initial observable outputs to avoid transitory results [s]");
-DEFINE_bool(compute_single_diffs, false, "Compute also the signel difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
-
+DEFINE_bool(compute_single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
+DEFINE_bool(compare_with_5X, false, "Compare the E5a Doppler and Carrier Phases with the E5 full bw in RINEX (expect discrepancy due to the center frequencies differences");
 
 #endif
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index c89349d15..64920b9a1 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -158,6 +158,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
 #endif
 
+#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
 #include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
 #include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
index 3099d950e..f61727542 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
@@ -64,7 +64,7 @@ DEFINE_int32(acq_test_second_doppler_step, 10, "If --acq_test_make_two_steps is
 
 DEFINE_int32(acq_test_signal_duration_s, 2, "Generated signal duration, in s");
 DEFINE_int32(acq_test_num_meas, 0, "Number of measurements per run. 0 means the complete file.");
-DEFINE_double(acq_test_cn0_init, 33.0, "Initial CN0, in dBHz.");
+DEFINE_double(acq_test_cn0_init, 30.0, "Initial CN0, in dBHz.");
 DEFINE_double(acq_test_cn0_final, 45.0, "Final CN0, in dBHz.");
 DEFINE_double(acq_test_cn0_step, 3.0, "CN0 step, in dB.");
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc b/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
index e3f915b90..7e086ce6b 100644
--- a/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
@@ -53,7 +53,6 @@
 #include "telemetry_decoder_interface.h"
 #include "in_memory_configuration.h"
 #include "gnss_synchro.h"
-#include "gps_l1_ca_telemetry_decoder.h"
 #include "tracking_true_obs_reader.h"
 #include "true_observables_reader.h"
 #include "tracking_dump_reader.h"
@@ -326,7 +325,8 @@ bool HybridObservablesTest::acquire_signal()
         {
             tmp_gnss_synchro.System = 'G';
             std::string signal = "1C";
-            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
+            const char* str = signal.c_str();                                  // get a C style null terminated string
+            std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
             System_and_Signal = "GPS L1 CA";
             config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@@ -337,7 +337,8 @@ bool HybridObservablesTest::acquire_signal()
         {
             tmp_gnss_synchro.System = 'E';
             std::string signal = "1B";
-            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
+            const char* str = signal.c_str();                                  // get a C style null terminated string
+            std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
             System_and_Signal = "Galileo E1B";
             config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@@ -347,7 +348,8 @@ bool HybridObservablesTest::acquire_signal()
         {
             tmp_gnss_synchro.System = 'G';
             std::string signal = "2S";
-            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
+            const char* str = signal.c_str();                                  // get a C style null terminated string
+            std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
             System_and_Signal = "GPS L2CM";
             config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@@ -357,7 +359,8 @@ bool HybridObservablesTest::acquire_signal()
         {
             tmp_gnss_synchro.System = 'E';
             std::string signal = "5X";
-            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
+            const char* str = signal.c_str();                                  // get a C style null terminated string
+            std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
             System_and_Signal = "Galileo E5a";
             config->set_property("Acquisition_5X.coherent_integration_time_ms", "1");
@@ -372,7 +375,8 @@ bool HybridObservablesTest::acquire_signal()
         {
             tmp_gnss_synchro.System = 'E';
             std::string signal = "5X";
-            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
+            const char* str = signal.c_str();                                  // get a C style null terminated string
+            std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
             System_and_Signal = "Galileo E5a";
             config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@@ -382,7 +386,8 @@ bool HybridObservablesTest::acquire_signal()
         {
             tmp_gnss_synchro.System = 'G';
             std::string signal = "L5";
-            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
+            const char* str = signal.c_str();                                  // get a C style null terminated string
+            std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3);  // copy string into synchro char array: 2 char + null
             tmp_gnss_synchro.PRN = SV_ID;
             System_and_Signal = "GPS L5I";
             config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
@@ -579,7 +584,7 @@ void HybridObservablesTest::configure_receiver(
             std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null
 
             config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.track_pilot", "false");
+            config->set_property("Tracking.track_pilot", "true");
 
             config->set_property("TelemetryDecoder.implementation", "GPS_L2C_Telemetry_Decoder");
         }
@@ -596,7 +601,7 @@ void HybridObservablesTest::configure_receiver(
                     config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking"));
                 }
             config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.track_pilot", "false");
+            config->set_property("Tracking.track_pilot", "true");
             config->set_property("Tracking.order", "2");
 
             config->set_property("TelemetryDecoder.implementation", "Galileo_E5a_Telemetry_Decoder");
@@ -610,7 +615,7 @@ void HybridObservablesTest::configure_receiver(
             std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null
 
             config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.track_pilot", "false");
+            config->set_property("Tracking.track_pilot", "true");
             config->set_property("Tracking.order", "2");
 
             config->set_property("TelemetryDecoder.implementation", "GPS_L5_Telemetry_Decoder");
@@ -888,9 +893,9 @@ void HybridObservablesTest::check_results_carrier_doppler_double_diff(
     ASSERT_LT(error_mean, 5);
     ASSERT_GT(error_mean, -5);
     //assuming PLL BW=35
-    ASSERT_LT(error_var, 200);
-    ASSERT_LT(max_error, 70);
-    ASSERT_GT(min_error, -70);
+    ASSERT_LT(error_var, 250);
+    ASSERT_LT(max_error, 100);
+    ASSERT_GT(min_error, -100);
     ASSERT_LT(rmse, 30);
 }
 
@@ -967,9 +972,9 @@ void HybridObservablesTest::check_results_carrier_doppler(
     ASSERT_LT(error_mean_ch0, 5);
     ASSERT_GT(error_mean_ch0, -5);
     //assuming PLL BW=35
-    ASSERT_LT(error_var_ch0, 200);
-    ASSERT_LT(max_error_ch0, 70);
-    ASSERT_GT(min_error_ch0, -70);
+    ASSERT_LT(error_var_ch0, 250);
+    ASSERT_LT(max_error_ch0, 100);
+    ASSERT_GT(min_error_ch0, -100);
     ASSERT_LT(rmse_ch0, 30);
 }
 
@@ -1195,7 +1200,7 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
                                             dataobj = r_ref_data.getObs(prn, "L5I", r_ref_header);
                                             obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
                                         }
-                                    else if (strcmp("5X\0", gnss.Signal) == 0)  //Simulator gives RINEX with E5a+E5b
+                                    else if (strcmp("5X\0", gnss.Signal) == 0)  //Simulator gives RINEX with E5a+E5b. Doppler and accumulated Carrier phase WILL differ
                                         {
                                             obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
                                             dataobj = r_ref_data.getObs(prn, "C8I", r_ref_header);
@@ -1579,8 +1584,8 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
         }
 
     arma::vec receiver_time_offset_ref_channel_s;
-    receiver_time_offset_ref_channel_s = true_obs_vec.at(min_pr_ch_id).col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
-    std::cout << "Ref channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
+    receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_m_s;
+    std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
 
     for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
         {
@@ -1624,21 +1629,28 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                                 measured_obs_vec.at(n),
                                 measured_obs_vec.at(min_pr_ch_id),
                                 "[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
-                            check_results_carrier_phase_double_diff(true_obs_vec.at(n),
-                                true_obs_vec.at(min_pr_ch_id),
-                                true_TOW_ch_s,
-                                true_TOW_ref_ch_s,
-                                measured_obs_vec.at(n),
-                                measured_obs_vec.at(min_pr_ch_id),
-                                "[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
 
-                            check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
-                                true_obs_vec.at(min_pr_ch_id),
-                                true_TOW_ch_s,
-                                true_TOW_ref_ch_s,
-                                measured_obs_vec.at(n),
-                                measured_obs_vec.at(min_pr_ch_id),
-                                "[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
+                            //Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
+                            //E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
+                            std::cout << "s:" << gnss_synchro_vec.at(n).Signal << std::endl;
+                            if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
+                                {
+                                    check_results_carrier_phase_double_diff(true_obs_vec.at(n),
+                                        true_obs_vec.at(min_pr_ch_id),
+                                        true_TOW_ch_s,
+                                        true_TOW_ref_ch_s,
+                                        measured_obs_vec.at(n),
+                                        measured_obs_vec.at(min_pr_ch_id),
+                                        "[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
+
+                                    check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
+                                        true_obs_vec.at(min_pr_ch_id),
+                                        true_TOW_ch_s,
+                                        true_TOW_ref_ch_s,
+                                        measured_obs_vec.at(n),
+                                        measured_obs_vec.at(min_pr_ch_id),
+                                        "[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
+                                }
                         }
                     else
                         {
diff --git a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc
new file mode 100644
index 000000000..070a76e42
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc
@@ -0,0 +1,288 @@
+/*!
+ * \file galileo_fnav_inav_decoder_test.cc
+ * \brief  This class implements the unit test for the Galileo FNAV and INAV frames
+ *  according to the Galileo ICD
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "galileo_navigation_message.h"
+#include "galileo_fnav_message.h"
+#include "convolutional.h"
+#include <unistd.h>
+#include <chrono>
+#include <exception>
+#include <string>
+#include <armadillo>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <gtest/gtest.h>
+
+
+class Galileo_FNAV_INAV_test : public ::testing::Test
+{
+public:
+    Galileo_Navigation_Message INAV_decoder;
+    Galileo_Fnav_Message FNAV_decoder;
+    // vars for Viterbi decoder
+    int32_t *out0, *out1, *state0, *state1;
+    int32_t g_encoder[2];
+    const int32_t nn = 2;  // Coding rate 1/n
+    const int32_t KK = 7;  // Constraint Length
+    int32_t mm = KK - 1;
+    int32_t flag_even_word_arrived;
+    void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits, int32_t _datalength)
+    {
+        Viterbi(page_part_bits, out0, state0, out1, state1,
+            page_part_symbols, KK, nn, _datalength);
+    }
+
+
+    void deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
+    {
+        for (int32_t r = 0; r < rows; r++)
+            {
+                for (int32_t c = 0; c < cols; c++)
+                    {
+                        out[c * rows + r] = in[r * cols + c];
+                    }
+            }
+    }
+
+
+    bool decode_INAV_word(double *page_part_symbols, int32_t frame_length)
+    {
+        // 1. De-interleave
+        double *page_part_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
+        deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint);
+
+        // 2. Viterbi decoder
+        // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
+        // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
+        for (int32_t i = 0; i < frame_length; i++)
+            {
+                if ((i + 1) % 2 == 0)
+                    {
+                        page_part_symbols_deint[i] = -page_part_symbols_deint[i];
+                    }
+            }
+
+        int32_t *page_part_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+
+        const int32_t CodeLength = 240;
+        int32_t DataLength = (CodeLength / nn) - mm;
+        viterbi_decoder(page_part_symbols_deint, page_part_bits, DataLength);
+        volk_gnsssdr_free(page_part_symbols_deint);
+
+        // 3. Call the Galileo page decoder
+        std::string page_String;
+        for (int32_t i = 0; i < (frame_length / 2); i++)
+            {
+                if (page_part_bits[i] > 0)
+                    {
+                        page_String.push_back('1');
+                    }
+                else
+                    {
+                        page_String.push_back('0');
+                    }
+            }
+
+        bool crc_ok = false;
+        if (page_part_bits[0] == 1)
+            {
+                // DECODE COMPLETE WORD (even + odd) and TEST CRC
+                INAV_decoder.split_page(page_String, flag_even_word_arrived);
+                if (INAV_decoder.flag_CRC_test == true)
+                    {
+                        std::cout << "Galileo E1 INAV PAGE CRC correct \n";
+                        //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
+                        crc_ok = true;
+                    }
+                flag_even_word_arrived = 0;
+            }
+        else
+            {
+                // STORE HALF WORD (even page)
+                INAV_decoder.split_page(page_String.c_str(), flag_even_word_arrived);
+                flag_even_word_arrived = 1;
+            }
+        volk_gnsssdr_free(page_part_bits);
+        return crc_ok;
+    }
+
+    bool decode_FNAV_word(double *page_symbols, int32_t frame_length)
+    {
+        // 1. De-interleave
+        double *page_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
+        deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
+
+        // 2. Viterbi decoder
+        // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
+        // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180
+        for (int32_t i = 0; i < frame_length; i++)
+            {
+                if ((i + 1) % 2 == 0)
+                    {
+                        page_symbols_deint[i] = -page_symbols_deint[i];
+                    }
+            }
+        int32_t *page_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+
+        const int32_t CodeLength = 488;
+        int32_t DataLength = (CodeLength / nn) - mm;
+        viterbi_decoder(page_symbols_deint, page_bits, DataLength);
+
+        volk_gnsssdr_free(page_symbols_deint);
+
+        // 3. Call the Galileo page decoder
+        std::string page_String;
+        for (int32_t i = 0; i < frame_length; i++)
+            {
+                if (page_bits[i] > 0)
+                    {
+                        page_String.push_back('1');
+                    }
+                else
+                    {
+                        page_String.push_back('0');
+                    }
+            }
+        volk_gnsssdr_free(page_bits);
+
+        // DECODE COMPLETE WORD (even + odd) and TEST CRC
+        FNAV_decoder.split_page(page_String);
+        if (FNAV_decoder.flag_CRC_test == true)
+            {
+                std::cout << "Galileo E5a FNAV PAGE CRC correct \n";
+                return true;
+            }
+        else
+            {
+                return false;
+            }
+    }
+
+    Galileo_FNAV_INAV_test()
+    {
+        // vars for Viterbi decoder
+        int32_t max_states = 1 << mm;  // 2^mm
+        g_encoder[0] = 121;            // Polynomial G1
+        g_encoder[1] = 91;             // Polynomial G2
+        out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+        out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+        state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+        state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+        // create appropriate transition matrices
+        nsc_transit(out0, state0, 0, g_encoder, KK, nn);
+        nsc_transit(out1, state1, 1, g_encoder, KK, nn);
+        flag_even_word_arrived = 0;
+    }
+
+    ~Galileo_FNAV_INAV_test()
+    {
+        volk_gnsssdr_free(out0);
+        volk_gnsssdr_free(out1);
+        volk_gnsssdr_free(state0);
+        volk_gnsssdr_free(state1);
+    }
+};
+
+TEST_F(Galileo_FNAV_INAV_test, ValidationOfResults)
+{
+    std::chrono::time_point<std::chrono::system_clock> start, end;
+    std::chrono::duration<double> elapsed_seconds(0);
+
+    int repetitions = 10;
+    // FNAV FULLY ENCODED FRAME
+    double FNAV_frame[488] = {-1, 1, -1, -1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        1, -1, -1, 1, -1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1,
+        -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, 1, -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, 1, -1, 1, -1,
+        -1, 1, 1, -1, 1, 1, 1, 1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, 1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1,
+        -1, -1, -1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, 1, 1,
+        -1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1,
+        -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, -1, -1, -1, -1, 1, -1, -1, 1, 1, 1, 1, 1, 1, -1,
+        -1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, 1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1,
+        -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, -1, 1, 1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, -1, 1, 1, -1,
+        1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
+        -1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1,
+        1, -1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, -1,
+        -1, 1, -1, -1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
+        1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, -1, -1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
+        1, -1, 1, -1, -1, 1, 1, 1, -1, -1, 1, -1, 1, 1};
+
+    ASSERT_NO_THROW({
+        for (int n = 0; n < repetitions; n++)
+            {
+                EXPECT_EQ(decode_FNAV_word(&FNAV_frame[0], 488), true);
+            }
+    }) << "Exception during FNAV frame decoding";
+
+
+    // INAV FULLY ENCODED FRAME
+    double INAV_frame_even[240] = {-1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 1,
+        -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, -1, 1, -1,
+        1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, 1, -1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1,
+        -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        -1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, 1, -1, -1, -1, -1,
+        -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        -1, 1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
+        1, -1, 1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1,
+        -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1};
+
+    double INAV_frame_odd[240] = {1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        1, 1, 1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, 1, -1, 1,
+        1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1,
+        -1, -1, 1, 1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
+        1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+        -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1,
+        1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1,
+        1, -1, 1, -1, -1, -1, 1, 1, -1, -1, 1, -1, 1, 1, -1, -1,
+        -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, 1, -1, 1,
+        1, 1, -1, 1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, -1, 1,
+        -1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1,
+        -1, -1, 1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1,
+        1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, 1, 1, -1, -1, -1, -1, 1, 1, -1, -1, 1, 1};
+
+    ASSERT_NO_THROW({
+        for (int n = 0; n < repetitions; n++)
+            {
+                decode_INAV_word(&INAV_frame_even[0], 240);
+                EXPECT_EQ(decode_INAV_word(&INAV_frame_odd[0], 240), true);
+            }
+    }) << "Exception during INAV frame decoding";
+
+
+    std::cout << "Galileo FNAV/INAV Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
+}