Integrating the RTCM printer

Now the Galileo E1 receiver generates RTCM messages 1045 (ephemeris) and
MSM7 / 1097 (observables). Parameters related to RTCM included in conf
files. The TCP/IP server can be activated by setting flag_rtcm_server to
true.

conf/gnss-sdr.conf

@@ -290,7 +290,7 @@ PVT.output_rate_ms=10
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# KML, GeoJSON and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
 PVT.dump_filename=./PVT
@@ -298,12 +298,20 @@ PVT.dump_filename=./PVT
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 
-;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
+;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=true;
 
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
+PVT.flag_rtcm_server=false;
+
+;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_rtcm_tty_port=false;
+
+;#rtcm_dump_devname: serial device descriptor for RTCM logging
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_GPS_L1_GN3S_realtime.conf

@@ -109,6 +109,9 @@ PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
 PVT.dump=false
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;######### OUTPUT_FILTER CONFIG ############
 OutputFilter.implementation=Null_Sink_Output_Filter

conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf

@@ -376,6 +376,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_GPS_L1_USRP_X300_realtime_new.conf

@@ -377,7 +377,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -391,6 +391,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_GPS_L1_USRP_realtime.conf

@@ -361,7 +361,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -375,6 +375,10 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_GPS_L1_acq_QuickSync.conf

@@ -293,6 +293,13 @@ PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
+PVT.flag_nmea_tty_port=true
+PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;######### OUTPUT_FILTER CONFIG ############
 ;# Receiver output filter: Leave this block disabled in this version
 OutputFilter.implementation=Null_Sink_Output_Filter

conf/gnss-sdr_GPS_L1_gr_complex.conf

@@ -77,6 +77,9 @@ PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=false
 
 ;######### OUTPUT_FILTER CONFIG ############

conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf

@@ -274,7 +274,7 @@ PVT.output_rate_ms=10
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -288,6 +288,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf

@@ -255,7 +255,7 @@ PVT.output_rate_ms=10
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -269,6 +269,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=true

conf/gnss-sdr_GPS_L1_nsr.conf

@@ -130,6 +130,9 @@ PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=true
 
 ;######### OUTPUT_FILTER CONFIG ############

conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf

@@ -145,6 +145,9 @@ PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=true
 
 ;######### OUTPUT_FILTER CONFIG ############

conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf

@@ -272,7 +272,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -286,6 +286,10 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=true

conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf

@@ -142,9 +142,11 @@ PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
 PVT.dump=false
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;######### OUTPUT_FILTER CONFIG ############
 ;# Receiver output filter: Leave this block disabled in this version
 OutputFilter.implementation=Null_Sink_Output_Filter
 OutputFilter.item_type=gr_complex
-

conf/gnss-sdr_GPS_L1_two_bits_cpx.conf

@@ -129,9 +129,11 @@ PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=false
 
 ;######### OUTPUT_FILTER CONFIG ############
 OutputFilter.implementation=Null_Sink_Output_Filter
 OutputFilter.item_type=gr_complex
-

conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf

@@ -199,6 +199,9 @@ PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=false
 
 ;######### OUTPUT_FILTER CONFIG ############

conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf

@@ -156,6 +156,9 @@ PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=false
 
 ;######### OUTPUT_FILTER CONFIG ############

conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf

@@ -77,6 +77,12 @@ PVT.output_rate_ms=100;
 PVT.display_rate_ms=500;
 PVT.dump=false
 PVT.dump_filename=./PVT
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
+PVT.flag_nmea_tty_port=true
+PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;######### OUTPUT_FILTER CONFIG ############
 OutputFilter.implementation=Null_Sink_Output_Filter

conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf

@@ -276,6 +276,29 @@ PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 
+;# KML, GeoJSON, NMEA and RTCM output configuration
+
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
+PVT.dump_filename=./PVT
+
+;#nmea_dump_filename: NMEA log path and filename
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
+
+;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_nmea_tty_port=true;
+
+;#nmea_dump_devname: serial device descriptor for NMEA logging
+PVT.nmea_dump_devname=/dev/pts/4
+
+;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
+PVT.flag_rtcm_server=false;
+
+;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_rtcm_tty_port=false;
+
+;#rtcm_dump_devname: serial device descriptor for RTCM logging
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;######### OUTPUT_FILTER CONFIG ############
 ;# Receiver output filter: Leave this block disabled in this version
 OutputFilter.implementation=Null_Sink_Output_Filter

conf/gnss-sdr_Galileo_E1_nsr.conf

@@ -122,8 +122,13 @@ PVT.output_rate_ms=100
 PVT.display_rate_ms=500
 PVT.dump=true
 PVT.dump_filename=./PVT
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
+PVT.flag_nmea_tty_port=true
+PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;######### OUTPUT_FILTER CONFIG ############
 OutputFilter.implementation=Null_Sink_Output_Filter
 OutputFilter.item_type=gr_complex
-

conf/gnss-sdr_Galileo_E1_short.conf

@@ -271,9 +271,29 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+;# KML, GeoJSON, NMEA and RTCM output configuration
+
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
 PVT.dump_filename=./PVT
 
+;#nmea_dump_filename: NMEA log path and filename
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
+
+;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_nmea_tty_port=true;
+
+;#nmea_dump_devname: serial device descriptor for NMEA logging
+PVT.nmea_dump_devname=/dev/pts/4
+
+;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
+PVT.flag_rtcm_server=false;
+
+;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_rtcm_tty_port=false;
+
+;#rtcm_dump_devname: serial device descriptor for RTCM logging
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;######### OUTPUT_FILTER CONFIG ############
 ;# Receiver output filter: Leave this block disabled in this version
 OutputFilter.implementation=Null_Sink_Output_Filter

conf/gnss-sdr_Galileo_E5a.conf

@@ -323,8 +323,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
-
+;# KML, GeoJSON, NMEA and RTCM output configuration
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 
@@ -337,6 +336,10 @@ PVT.flag_nmea_tty_port=true;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf

@@ -145,11 +145,14 @@ PVT.implementation=GALILEO_E1_PVT
 PVT.averaging_depth=100
 PVT.flag_averaging=true
 PVT.output_rate_ms=100
-PVT.dump_filename=./PVT
-PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-PVT.flag_nmea_tty_port=true;
-PVT.nmea_dump_devname=/dev/pts/4
 PVT.dump=false
+PVT.dump_filename=./PVT
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
+PVT.flag_nmea_tty_port=true
+PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;######### OUTPUT_FILTER CONFIG ############
 ;# Receiver output filter: Leave this block disabled in this version

conf/gnss-sdr_Hybrid_byte.conf

@@ -336,6 +336,10 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 

conf/gnss-sdr_Hybrid_byte_sim.conf

@@ -336,6 +336,10 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 

conf/gnss-sdr_Hybrid_nsr.conf

@@ -332,6 +332,10 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 

conf/gnss-sdr_Hybrid_short.conf

@@ -347,6 +347,10 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 

conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf

@@ -321,7 +321,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -335,6 +335,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf

@@ -329,7 +329,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -343,6 +343,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf

@@ -327,7 +327,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -341,6 +341,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf

@@ -328,7 +328,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -342,6 +342,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf

@@ -323,7 +323,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -337,6 +337,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf

@@ -472,7 +472,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -486,6 +486,10 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_realtime_III_1b.conf

@@ -519,7 +519,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -533,6 +533,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf

@@ -397,7 +397,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -411,6 +411,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1a.conf

@@ -420,7 +420,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -434,6 +434,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf

@@ -634,7 +634,7 @@ PVT.output_rate_ms=100
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
 
-;# RINEX, KML, and NMEA output configuration
+;# KML, GeoJSON, NMEA and RTCM output configuration
 
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
@@ -648,6 +648,9 @@ PVT.flag_nmea_tty_port=false;
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
 
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false

conf/gnss-sdr_multisource_Hybrid_nsr.conf

@@ -483,6 +483,10 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 

conf/gnss-sdr_multisource_Hybrid_short.conf

@@ -469,6 +469,10 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 

src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc

@@ -104,6 +104,7 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<g
 
     b_rinex_header_writen = false;
     b_rinex_header_updated = false;
+    b_rtcm_writing_started = false;
     rp = std::make_shared<Rinex_Printer>();
 
     // ############# ENABLE DATA FILE LOG #################
@@ -270,6 +271,41 @@ int galileo_e1_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_it
                                             b_rinex_header_updated = true;
                                         }
                                 }
+
+                            if(b_rtcm_writing_started)
+                                {
+                                    if((d_sample_counter % (1000 / 4) ) == 0) // every second
+                                        {
+                                            std::map<int, Galileo_Ephemeris>::iterator gal_ephemeris_iter;
+                                            gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
+                                            if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+                                                {
+                                                    d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, false, false );
+                                                    // gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more messages
+                                                }
+                                        }
+                                    if((d_sample_counter % (120000 / 4)) == 0) // every 2 minutes
+                                        {
+                                            std::map<int, Galileo_Ephemeris>::iterator gal_ephemeris_iter;
+                                            gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
+                                            if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+                                                {
+                                                    d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
+                                                }
+                                        }
+                                }
+
+                            if(!b_rtcm_writing_started) // the first time
+                                {
+                                    std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
+                                    gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
+                                    if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+                                        {
+                                            d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
+                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, false, false );
+                                        }
+                                    b_rtcm_writing_started = true;
+                                }
                         }
                 }
 

src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h

@@ -107,6 +107,7 @@ private:
     bool d_dump;
     bool b_rinex_header_writen;
     bool b_rinex_header_updated;
+    bool b_rtcm_writing_started;
     std::shared_ptr<Rinex_Printer> rp;
     unsigned int d_nchannels;
     std::string d_dump_filename;

src/algorithms/PVT/libs/rtcm_printer.cc

@@ -173,6 +173,58 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
 }
 
 
+bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph,
+        const Gps_CNAV_Ephemeris & gps_cnav_eph,
+        const Galileo_Ephemeris & gal_eph,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & pseudoranges,
+        unsigned int ref_id,
+        unsigned int clock_steering_indicator,
+        unsigned int external_clock_indicator,
+        int smooth_int,
+        bool divergence_free,
+        bool more_messages)
+{
+    std::string msm;
+    if(msm_number == 1)
+        {
+            std::string msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else if(msm_number == 2)
+        {
+            std::string msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else if(msm_number == 3)
+        {
+            std::string msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else if(msm_number == 4)
+        {
+            std::string msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else if(msm_number == 5)
+        {
+            std::string msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else if(msm_number == 6)
+        {
+            std::string msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else if(msm_number == 7)
+        {
+            std::string msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+        }
+    else
+        {
+            return false;
+        }
+
+
+    Rtcm_Printer::Print_Message(msm7);
+    return true;
+}
+
+
 int Rtcm_Printer::init_serial(std::string serial_device)
 {
     /*

src/algorithms/PVT/libs/rtcm_printer.h

@@ -60,6 +60,18 @@ public:
     bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
     bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
 
+    bool Print_Rtcm_MSM(int msm_number, const Gps_Ephemeris & gps_eph,
+            const Gps_CNAV_Ephemeris & gps_cnav_eph,
+            const Galileo_Ephemeris & gal_eph,
+            double obs_time,
+            const std::map<int, Gnss_Synchro> & pseudoranges,
+            unsigned int ref_id,
+            unsigned int clock_steering_indicator,
+            unsigned int external_clock_indicator,
+            int smooth_int,
+            bool divergence_free,
+            bool more_messages);
+
     std::string print_MT1005_test(); //<!  For testing purposes
 
 private: