Update rem_carrier_phase and minor changes

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc

@@ -57,7 +57,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
     int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
     int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     trk_param.fs_in = fs_in;
-    trk_param.use_high_dynamics_resampler = configuration->property(role + ".high_dyn", false);
+    trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
     if (configuration->property(role + ".cp_smoother_length", 10) < 1)
         {
             trk_param.smoother_length = 1;

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -356,7 +356,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
         {
             // Extra correlator for the data component
             correlator_data_cpu.init(2 * trk_parameters.vector_length, 1);
-            correlator_data_cpu.set_high_dynamics_resampler(trk_parameters.use_high_dynamics_resampler);
+            correlator_data_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
             d_data_code = static_cast<float *>(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
         }
     else
@@ -365,7 +365,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
         }
 
     // --- Initializations ---
-    multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.use_high_dynamics_resampler);
+    multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
     // Initial code frequency basis of NCO
     d_code_freq_chips = d_code_chip_rate;
     // Residual code phase (in chips)
@@ -717,6 +717,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
     // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
     // perform carrier wipe-off and compute Early, Prompt and Late correlation
     multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, input_samples);
+    float tmp_f = d_rem_carr_phase_rad;
     multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
         d_rem_carr_phase_rad,
         d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
@@ -730,7 +731,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
         {
             correlator_data_cpu.set_input_output_vectors(d_Prompt_Data, input_samples);
             correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler(
-                d_rem_carr_phase_rad,
+                tmp_f,
                 d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
                 static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
                 static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -814,7 +815,7 @@ void dll_pll_veml_tracking::update_tracking_vars()
     cp_diff += d_carrier_phase_step_rad;  // The new cp value is added to the previous in order to obtain the difference
     // carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
     cp_diff /= static_cast<double>(d_current_prn_length_samples);
-    if (trk_parameters.use_high_dynamics_resampler)
+    if (trk_parameters.high_dyn)
         {
             d_cp_history.push_back(cp_diff);
             if (d_cp_history.full())
@@ -823,11 +824,14 @@ void dll_pll_veml_tracking::update_tracking_vars()
                 }
         }
 
+    // Now the remnant carrier phase is computed in the Carrier Wipeoff function
     // remnant carrier phase to prevent overflow in the code NCO
-    d_rem_carr_phase_rad += d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
+    //d_rem_carr_phase_rad += (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
-    d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
+    //d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
+
+
     // carrier phase accumulator
-    d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
+    d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
 
     //################### DLL COMMANDS #################################################
     // code phase step (Code resampler phase increment per sample) [chips/sample]
@@ -974,7 +978,7 @@ void dll_pll_veml_tracking::log_data(bool integrating)
                     // carrier and code frequency
                     tmp_float = d_carrier_doppler_hz;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
-                    // carrier phase rate [Hz/s^2]
+                    // carrier phase rate [Hz/s]
                     tmp_float = d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     tmp_float = d_code_freq_chips;

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h

@@ -151,7 +151,7 @@ private:
     boost::circular_buffer<double> d_cp_history;
     // remaining code phase and carrier phase between tracking loops
     double d_rem_code_phase_samples;
-    double d_rem_carr_phase_rad;
+    float d_rem_carr_phase_rad;
 
     // PLL and DLL filter library
     Tracking_2nd_DLL_filter d_code_loop_filter;

src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc

@@ -127,7 +127,7 @@ void cpu_multicorrelator_real_codes::update_local_code(int correlator_length_sam
 
 // Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
 bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
-    float rem_carrier_phase_in_rad,
+    float& rem_carrier_phase_in_rad,
     float phase_step_rad,
     float phase_rate_step_rad,
     float rem_code_phase_chips,
@@ -148,6 +148,7 @@ bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
         {
             volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
         }
+    rem_carrier_phase_in_rad = std::arg(std::conj(phase_offset_as_complex[0]));
     return true;
 }
 // Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility

src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h

@@ -53,7 +53,7 @@ public:
     bool set_input_output_vectors(std::complex<float> *corr_out, const std::complex<float> *sig_in);
     void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips = 0.0);
     // Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
-    bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
+    bool Carrier_wipeoff_multicorrelator_resampler(float &rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
     bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
     bool free();
 

src/algorithms/tracking/libs/dll_pll_conf.cc

@@ -36,7 +36,7 @@
 Dll_Pll_Conf::Dll_Pll_Conf()
 {
     /* DLL/PLL tracking configuration */
-    use_high_dynamics_resampler = true;
+    high_dyn = true;
     smoother_length = 10;
     fs_in = 0.0;
     vector_length = 0U;

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_high_dynamics_resampler;
+    bool high_dyn;
     int32_t cn0_samples;
     int32_t carrier_lock_det_mav_samples;
     int32_t cn0_min;

src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc

@@ -45,6 +45,7 @@ bool tracking_dump_reader::read_binary_obs()
             d_dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count), sizeof(uint64_t));
             d_dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(float));
+            d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz_s), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
@@ -83,7 +84,7 @@ int64_t tracking_dump_reader::num_epochs()
 {
     std::ifstream::pos_type size;
     int number_of_double_vars = 1;
-    int number_of_float_vars = 17;
+    int number_of_float_vars = 18;
     int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
                            sizeof(float) * number_of_float_vars + sizeof(unsigned int);
     std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);

src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h

@@ -63,6 +63,7 @@ public:
 
     // carrier and code frequency
     float carrier_doppler_hz;
+    float carrier_doppler_rate_hz_s;
     float code_freq_chips;
 
     // PLL commands