diff --git a/.clang-tidy b/.clang-tidy
index fa2fd2f7c..50fa566d0 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,3 +1,3 @@
 ---
-Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-inefficient-algorithm,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-container-size-empty,readability-named-parameter,readability-string-compare'
+Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-inefficient-algorithm,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-container-size-empty,readability-named-parameter,readability-non-const-parameter,readability-string-compare'
 HeaderFilterRegex: '.*'
diff --git a/src/algorithms/libs/galileo_e1_signal_processing.cc b/src/algorithms/libs/galileo_e1_signal_processing.cc
index 96bcd2397..23a8d9a94 100644
--- a/src/algorithms/libs/galileo_e1_signal_processing.cc
+++ b/src/algorithms/libs/galileo_e1_signal_processing.cc
@@ -68,7 +68,7 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
 }
 
 
-void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
+void galileo_e1_sinboc_11_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
 {
     const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
     auto _period = static_cast<uint32_t>(_length_out / _length_in);
@@ -86,7 +86,7 @@ void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
 }
 
 
-void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
+void galileo_e1_sinboc_61_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
 {
     const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
     auto _period = static_cast<uint32_t>(_length_out / _length_in);
diff --git a/src/algorithms/libs/galileo_e5_signal_processing.cc b/src/algorithms/libs/galileo_e5_signal_processing.cc
index 400aed192..baa91706f 100644
--- a/src/algorithms/libs/galileo_e5_signal_processing.cc
+++ b/src/algorithms/libs/galileo_e5_signal_processing.cc
@@ -37,7 +37,7 @@
 #include <gnuradio/gr_complex.h>
 
 
-void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3])
+void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3])
 {
     uint32_t prn = _prn - 1;
     uint32_t index = 0;
diff --git a/src/algorithms/libs/galileo_e5_signal_processing.h b/src/algorithms/libs/galileo_e5_signal_processing.h
index 46deaae24..7a7dfc8cc 100644
--- a/src/algorithms/libs/galileo_e5_signal_processing.h
+++ b/src/algorithms/libs/galileo_e5_signal_processing.h
@@ -42,7 +42,7 @@
  * \brief Generates Galileo E5a code at 1 sample/chip
  * bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
  */
-void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3]);
+void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3]);
 
 void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest, std::complex<float>* _primary, uint32_t _prn, char _Signal[3]);
 
diff --git a/src/algorithms/libs/rtklib/rtklib_preceph.cc b/src/algorithms/libs/rtklib/rtklib_preceph.cc
index 3da6b8b5b..72c62fbf1 100644
--- a/src/algorithms/libs/rtklib/rtklib_preceph.cc
+++ b/src/algorithms/libs/rtklib/rtklib_preceph.cc
@@ -146,7 +146,7 @@ int addpeph(nav_t *nav, peph_t *peph)
 
 
 /* read sp3 body -------------------------------------------------------------*/
-void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, double *bfact,
+void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, const double *bfact,
     char *tsys, int index, int opt, nav_t *nav)
 {
     peph_t peph;
diff --git a/src/algorithms/libs/rtklib/rtklib_preceph.h b/src/algorithms/libs/rtklib/rtklib_preceph.h
index 24b0b610c..1186b6a88 100644
--- a/src/algorithms/libs/rtklib/rtklib_preceph.h
+++ b/src/algorithms/libs/rtklib/rtklib_preceph.h
@@ -75,7 +75,7 @@ int code2sys(char code);
 int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
     double *bfact, char *tsys);
 int addpeph(nav_t *nav, peph_t *peph);
-void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
+void readsp3b(FILE *fp, char type, int *sats, int ns, const double *bfact,
     char *tsys, int index, int opt, nav_t *nav);
 int cmppeph(const void *p1, const void *p2);
 void combpeph(nav_t *nav, int opt);
diff --git a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
index e2c05664a..1634b8fcb 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
@@ -541,7 +541,7 @@ void initx_rtk(rtk_t *rtk, double xi, double var, int i)
 
 
 /* select common satellites between rover and reference station --------------*/
-int selsat(const obsd_t *obs, double *azel, int nu, int nr,
+int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
     const prcopt_t *opt, int *sat, int *iu, int *ir)
 {
     int i, j, k = 0;
@@ -1155,7 +1155,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
 
 
 /* test valid observation data -----------------------------------------------*/
-int validobs(int i, int j, int f, int nf, double *y)
+int validobs(int i, int j, int f, int nf, const double *y)
 {
     /* if no phase observable, psudorange is also unusable */
     return y[f + i * nf * 2] != 0.0 && y[f + j * nf * 2] != 0.0 &&
@@ -1302,7 +1302,7 @@ int test_sys(int sys, int m)
 
 /* double-differenced phase/code residuals -----------------------------------*/
 int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
-    const double *P, const int *sat, double *y, double *e,
+    const double *P, const int *sat, double *y, const double *e,
     double *azel, const int *iu, const int *ir, int ns, double *v,
     double *H, double *R, int *vflg)
 {
diff --git a/src/algorithms/libs/rtklib/rtklib_rtkpos.h b/src/algorithms/libs/rtklib/rtklib_rtkpos.h
index 81234a634..3cac6b4d0 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.h
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.h
@@ -108,7 +108,7 @@ double baseline(const double *ru, const double *rb, double *dr);
 
 void initx_rtk(rtk_t *rtk, double xi, double var, int i);
 
-int selsat(const obsd_t *obs, double *azel, int nu, int nr,
+int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
     const prcopt_t *opt, int *sat, int *iu, int *ir);
 
 void udpos(rtk_t *rtk, double tt);
@@ -144,7 +144,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
     const double *rr, const prcopt_t *opt, int index, double *y,
     double *e, double *azel);
 
-int validobs(int i, int j, int f, int nf, double *y);
+int validobs(int i, int j, int f, int nf, const double *y);
 
 void ddcov(const int *nb, int n, const double *Ri, const double *Rj,
     int nv, double *R);
@@ -162,7 +162,7 @@ double gloicbcorr(int sat1, int sat2, const prcopt_t *opt, double lam1,
 int test_sys(int sys, int m);
 
 int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
-    const double *P, const int *sat, double *y, double *e,
+    const double *P, const int *sat, double *y, const double *e,
     double *azel, const int *iu, const int *ir, int ns, double *v,
     double *H, double *R, int *vflg);
 
diff --git a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
index 7e34a1035..ac047012a 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
@@ -730,7 +730,7 @@ void rtksvrunlock(rtksvr_t *svr) { rtk_unlock(&svr->lock); }
  * return : status (1:ok 0:error)
  *-----------------------------------------------------------------------------*/
 int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
-    char **paths, int *formats, int navsel, char **cmds,
+    char **paths, const int *formats, int navsel, char **cmds,
     char **rcvopts, int nmeacycle, int nmeareq,
     const double *nmeapos, prcopt_t *prcopt,
     solopt_t *solopt, stream_t *moni)
diff --git a/src/algorithms/libs/rtklib/rtklib_rtksvr.h b/src/algorithms/libs/rtklib/rtklib_rtksvr.h
index 0e6eb65e7..d5edbd252 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtksvr.h
+++ b/src/algorithms/libs/rtklib/rtklib_rtksvr.h
@@ -116,7 +116,7 @@ void rtksvrlock(rtksvr_t *svr);
 void rtksvrunlock(rtksvr_t *svr);
 
 int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
-    char **paths, int *formats, int navsel, char **cmds,
+    char **paths, const int *formats, int navsel, char **cmds,
     char **rcvopts, int nmeacycle, int nmeareq,
     const double *nmeapos, prcopt_t *prcopt,
     solopt_t *solopt, stream_t *moni);
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
index 92730e4b0..3a265a6d5 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
@@ -60,7 +60,7 @@ void galileo_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, in
 }
 
 
-void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
+void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, const double *in, double *out)
 {
     for (int32_t r = 0; r < rows; r++)
         {
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
index fba0ec59d..c06df6010 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
@@ -78,7 +78,7 @@ private:
 
     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 deinterleaver(int32_t rows, int32_t cols, const double *in, double *out);
 
     void decode_INAV_word(double *symbols, int32_t frame_length);
     void decode_FNAV_word(double *page_symbols, int32_t frame_length);
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 7182e7374..7ead9f53b 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -124,7 +124,7 @@ glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
 }
 
 
-void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, int32_t frame_length)
+void glonass_l1_ca_telemetry_decoder_cc::decode_string(const double *frame_symbols, int32_t frame_length)
 {
     double chip_acc = 0.0;
     int32_t chip_acc_counter = 0;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index 046e30d48..1bdde14da 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -76,7 +76,7 @@ private:
     glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
     glonass_l1_ca_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
 
-    void decode_string(double *symbols, int32_t frame_length);
+    void decode_string(const double *symbols, int32_t frame_length);
 
     //!< Help with coherent tracking
     double d_preamble_time_samples;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
index 7384486d8..b250fb912 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
@@ -124,7 +124,7 @@ glonass_l2_ca_telemetry_decoder_cc::~glonass_l2_ca_telemetry_decoder_cc()
 }
 
 
-void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, int32_t frame_length)
+void glonass_l2_ca_telemetry_decoder_cc::decode_string(const double *frame_symbols, int32_t frame_length)
 {
     double chip_acc = 0.0;
     int32_t chip_acc_counter = 0;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h
index 73bf85325..8b1a25ee9 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h
@@ -74,7 +74,7 @@ private:
     glonass_l2_ca_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
     glonass_l2_ca_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
 
-    void decode_string(double *symbols, int32_t frame_length);
+    void decode_string(const double *symbols, int32_t frame_length);
 
     //!< Help with coherent tracking
     double d_preamble_time_samples;
diff --git a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc
index ef71c4537..957efa9a6 100644
--- a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc
+++ b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc
@@ -354,7 +354,7 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi
  nn                    The length of the received vector
 
  This function is used by siso()  */
-float Viterbi_Decoder::gamma(float rec_array[], int symbol, int nn)
+float Viterbi_Decoder::gamma(const float rec_array[], int symbol, int nn)
 {
     float rm = 0;
     int i;
diff --git a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.h b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.h
index 29d656bee..c2ae1327a 100644
--- a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.h
+++ b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.h
@@ -116,7 +116,7 @@ private:
     int do_tb_and_decode(int traceback_length, int requested_decoding_length, int state, int bits[], float& indicator_metric);
 
     // branch metric function
-    float gamma(float rec_array[], int symbol, int nn);
+    float gamma(const float rec_array[], int symbol, int nn);
 
     // trellis generation
     void nsc_transit(int output_p[], int trans_p[], int input, const int g[], int KK, int nn);