Improving documentation and code cleaning

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@448 64b25241-fba3-4117-9849-534c7e92360d
2025-10-31 15:23:04 +00:00 · 2013-11-23 13:05:38 +00:00
parent 3adee701fd
commit 3daf65bfc4
20 changed files with 427 additions and 792 deletions
--- a/src/core/system_parameters/Galileo_E1.h
+++ b/src/core/system_parameters/Galileo_E1.h
@@ -46,10 +46,10 @@ const double GALILEO_GM                  = 3.986004418e14;      //!< Geocentric
 const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5;  //!< Mean angular velocity of the Earth [rad/s]
 const double GALILEO_C_m_s = 299792458.0;  //!< The speed of light, [m/s]
 const double GALILEO_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
 const double GALILEO_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
 // carrier and code frequencies
-const double Galileo_E1_FREQ_HZ = 1.57542e9; //!< E1 [Hz]
+const double Galileo_E1_FREQ_HZ = 1.57542e9;             //!< Galileo E1 carrier frequency [Hz]
 const double Galileo_E1_CODE_CHIP_RATE_HZ = 1.023e6;     //!< Galileo E1 code rate [chips/s]
 const double Galileo_E1_CODE_PERIOD = 0.004;             //!< Galileo E1 code period [s]
 const double Galileo_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-carrier 'a' rate [Hz]
@@ -59,7 +59,6 @@ const double Galileo_E1_B_SYMBOL_RATE_BPS = 250.0; //!< Galileo E1-B symbol rate
 const double Galileo_E1_C_SECONDARY_CODE_LENGTH = 25.0;  //!< Galileo E1-C secondary code length [chips]
 const int Galileo_E1_NUMBER_OF_CODES = 50;
 //#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
 const double GALILEO_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
 // Galileo INAV Telemetry structure
@@ -70,15 +69,15 @@ const int GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
 const int GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
 const int GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
 const int GALILEO_INAV_PAGE_SYMBOLS = 500;      //!< The complete Galileo INAV page length
-const int GALILEO_INAV_PAGE_PART_SECONDS = 1; //a page part last 2 sec
+const int GALILEO_INAV_PAGE_PART_SECONDS = 1;   // a page part last 1 sec
-const int GALILEO_INAV_PAGE_SECONDS = 2; //a full page last 2 sec
+const int GALILEO_INAV_PAGE_SECONDS = 2;        // a full page last 2 sec
 const int GALILEO_INAV_INTERLEAVER_ROWS = 8;
 const int GALILEO_INAV_INTERLEAVER_COLS = 30;
 const int GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; //bps
 const int GALILEO_PAGE_TYPE_BITS = 6;
-const int GALILEO_DATA_JK_BITS =128;
+const int GALILEO_DATA_JK_BITS = 128;
-const int GALILEO_DATA_FRAME_BITS =196;
+const int GALILEO_DATA_FRAME_BITS = 196;
-const int GALILEO_DATA_FRAME_BYTES =25;
+const int GALILEO_DATA_FRAME_BYTES = 25;
 const double GALIELO_E1_CODE_PERIOD = 0.004;
 const std::vector<std::pair<int,int>> type({{1,6}});
@@ -189,106 +188,106 @@ const std::vector<std::pair<int,int>> DN_6_bit({{95,3}});
 const std::vector<std::pair<int,int>> Delta_tLSF_6_bit({{97,8}});
 const std::vector<std::pair<int,int>> TOW_6_bit({{106,20}});
 /* Page 7 */
-const std::vector<std::pair<int,int>>IOD_a_7_bit({{7,4}});
+const std::vector<std::pair<int,int>> IOD_a_7_bit({{7,4}});
-const std::vector<std::pair<int,int>>WN_a_7_bit({{11,2}});
+const std::vector<std::pair<int,int>> WN_a_7_bit({{11,2}});
-const std::vector<std::pair<int,int>>t0a_7_bit({{13,10}});
+const std::vector<std::pair<int,int>> t0a_7_bit({{13,10}});
 const double t0a_7_LSB = 600;
-const std::vector<std::pair<int,int>>SVID1_7_bit({{23,6}});
+const std::vector<std::pair<int,int>> SVID1_7_bit({{23,6}});
-const std::vector<std::pair<int,int>>DELTA_A_7_bit({{29,13}});
+const std::vector<std::pair<int,int>> DELTA_A_7_bit({{29,13}});
 const double DELTA_A_7_LSB = TWO_N9;
-const std::vector<std::pair<int,int>>e_7_bit({{42,11}});
+const std::vector<std::pair<int,int>> e_7_bit({{42,11}});
 const double e_7_LSB = TWO_N16;
-const std::vector<std::pair<int,int>>omega_7_bit({{53,16}});
+const std::vector<std::pair<int,int>> omega_7_bit({{53,16}});
 const double omega_7_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>delta_i_7_bit({{69,11}});
+const std::vector<std::pair<int,int>> delta_i_7_bit({{69,11}});
 const double delta_i_7_LSB = TWO_N14;
-const std::vector<std::pair<int,int>>Omega0_7_bit({{80,16}});
+const std::vector<std::pair<int,int>> Omega0_7_bit({{80,16}});
 const double Omega0_7_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>Omega_dot_7_bit({{96,11}});
+const std::vector<std::pair<int,int>> Omega_dot_7_bit({{96,11}});
 const double Omega_dot_7_LSB = TWO_N33;
-const std::vector<std::pair<int,int>>M0_7_bit({{107,16}});
+const std::vector<std::pair<int,int>> M0_7_bit({{107,16}});
 const double M0_7_LSB = TWO_N15;
 /* Page 8 */
-const std::vector<std::pair<int,int>>IOD_a_8_bit({{7,4}});
+const std::vector<std::pair<int,int>> IOD_a_8_bit({{7,4}});
-const std::vector<std::pair<int,int>>af0_8_bit({{11,16}});
+const std::vector<std::pair<int,int>> af0_8_bit({{11,16}});
 const double af0_8_LSB = TWO_N19;
-const std::vector<std::pair<int,int>>af1_8_bit({{27,13}});
+const std::vector<std::pair<int,int>> af1_8_bit({{27,13}});
 const double af1_8_LSB = TWO_N38;
-const std::vector<std::pair<int,int>>E5b_HS_8_bit({{40,2}});
+const std::vector<std::pair<int,int>> E5b_HS_8_bit({{40,2}});
-const std::vector<std::pair<int,int>>E1B_HS_8_bit({{42,2}});
+const std::vector<std::pair<int,int>> E1B_HS_8_bit({{42,2}});
-const std::vector<std::pair<int,int>>SVID2_8_bit({{44,6}});
+const std::vector<std::pair<int,int>> SVID2_8_bit({{44,6}});
-const std::vector<std::pair<int,int>>DELTA_A_8_bit({{50,13}});
+const std::vector<std::pair<int,int>> DELTA_A_8_bit({{50,13}});
 const double DELTA_A_8_LSB = TWO_N9;
-const std::vector<std::pair<int,int>>e_8_bit({{63,11}});
+const std::vector<std::pair<int,int>> e_8_bit({{63,11}});
 const double e_8_LSB = TWO_N16;
-const std::vector<std::pair<int,int>>omega_8_bit({{74,16}});
+const std::vector<std::pair<int,int>> omega_8_bit({{74,16}});
 const double omega_8_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>delta_i_8_bit({{90,11}});
+const std::vector<std::pair<int,int>> delta_i_8_bit({{90,11}});
 const double delta_i_8_LSB = TWO_N14;
-const std::vector<std::pair<int,int>>Omega0_8_bit({{101,16}});
+const std::vector<std::pair<int,int>> Omega0_8_bit({{101,16}});
 const double Omega0_8_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>Omega_dot_8_bit({{117,11}});
+const std::vector<std::pair<int,int>> Omega_dot_8_bit({{117,11}});
 const double Omega_dot_8_LSB = TWO_N33;
 /* Page 9 */
-const std::vector<std::pair<int,int>>IOD_a_9_bit({{7,4}});
+const std::vector<std::pair<int,int>> IOD_a_9_bit({{7,4}});
-const std::vector<std::pair<int,int>>WN_a_9_bit({{11,2}});
+const std::vector<std::pair<int,int>> WN_a_9_bit({{11,2}});
-const std::vector<std::pair<int,int>>t0a_9_bit({{13,10}});
+const std::vector<std::pair<int,int>> t0a_9_bit({{13,10}});
 const double t0a_9_LSB = 600;
-const std::vector<std::pair<int,int>>M0_9_bit({{23,16}});
+const std::vector<std::pair<int,int>> M0_9_bit({{23,16}});
 const double M0_9_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>af0_9_bit({{39,16}});
+const std::vector<std::pair<int,int>> af0_9_bit({{39,16}});
 const double af0_9_LSB = TWO_N19;
-const std::vector<std::pair<int,int>>af1_9_bit({{55,13}});
+const std::vector<std::pair<int,int>> af1_9_bit({{55,13}});
 const double af1_9_LSB = TWO_N38;
-const std::vector<std::pair<int,int>>E5b_HS_9_bit({{68,2}});
+const std::vector<std::pair<int,int>> E5b_HS_9_bit({{68,2}});
-const std::vector<std::pair<int,int>>E1B_HS_9_bit({{70,2}});
+const std::vector<std::pair<int,int>> E1B_HS_9_bit({{70,2}});
-const std::vector<std::pair<int,int>>SVID3_9_bit({{72,6}});
+const std::vector<std::pair<int,int>> SVID3_9_bit({{72,6}});
-const std::vector<std::pair<int,int>>DELTA_A_9_bit({{78,13}});
+const std::vector<std::pair<int,int>> DELTA_A_9_bit({{78,13}});
 const double DELTA_A_9_LSB = TWO_N9;
-const std::vector<std::pair<int,int>>e_9_bit({{91,11}});
+const std::vector<std::pair<int,int>> e_9_bit({{91,11}});
 const double e_9_LSB = TWO_N16;
-const std::vector<std::pair<int,int>>omega_9_bit({{102,16}});
+const std::vector<std::pair<int,int>> omega_9_bit({{102,16}});
 const double omega_9_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>delta_i_9_bit({{118,11}});
+const std::vector<std::pair<int,int>> delta_i_9_bit({{118,11}});
 const double delta_i_9_LSB = TWO_N14;
 /* Page 10 */
-const std::vector<std::pair<int,int>>IOD_a_10_bit({{7,4}});
+const std::vector<std::pair<int,int>> IOD_a_10_bit({{7,4}});
-const std::vector<std::pair<int,int>>Omega0_10_bit({{11,16}});
+const std::vector<std::pair<int,int>> Omega0_10_bit({{11,16}});
 const double Omega0_10_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>Omega_dot_10_bit({{27,11}});
+const std::vector<std::pair<int,int>> Omega_dot_10_bit({{27,11}});
 const double Omega_dot_10_LSB = TWO_N33;
-const std::vector<std::pair<int,int>>M0_10_bit({{38,16}});
+const std::vector<std::pair<int,int>> M0_10_bit({{38,16}});
 const double M0_10_LSB = TWO_N15;
-const std::vector<std::pair<int,int>>af0_10_bit({{54,16}});
+const std::vector<std::pair<int,int>> af0_10_bit({{54,16}});
 const double af0_10_LSB = TWO_N19;
-const std::vector<std::pair<int,int>>af1_10_bit({{70,13}});
+const std::vector<std::pair<int,int>> af1_10_bit({{70,13}});
 const double af1_10_LSB = TWO_N38;
-const std::vector<std::pair<int,int>>E5b_HS_10_bit({{83,2}});
+const std::vector<std::pair<int,int>> E5b_HS_10_bit({{83,2}});
-const std::vector<std::pair<int,int>>E1B_HS_10_bit({{85,2}});
+const std::vector<std::pair<int,int>> E1B_HS_10_bit({{85,2}});
 const std::vector<std::pair<int,int>> A_0G_10_bit({{87,16}});
 const double A_0G_10_LSB = TWO_N35;
-const std::vector<std::pair<int,int>>A_1G_10_bit({{103,12}});
+const std::vector<std::pair<int,int>> A_1G_10_bit({{103,12}});
 const double A_1G_10_LSB = TWO_N51;
-
+const std::vector<std::pair<int,int>> t_0G_10_bit({{115,8}});
 const std::vector<std::pair<int,int>>t_0G_10_bit({{115,8}});
 const double t_0G_10_LSB = 3600;
-const std::vector<std::pair<int,int>>WN_0G_10_bit({{123,6}});
+const std::vector<std::pair<int,int>> WN_0G_10_bit({{123,6}});
 /* Page 0 */
-const std::vector<std::pair<int,int>>Time_0_bit({{7,2}});
+const std::vector<std::pair<int,int>> Time_0_bit({{7,2}});
-const std::vector<std::pair<int,int>>WN_0_bit({{97,12}});
+const std::vector<std::pair<int,int>> WN_0_bit({{97,12}});
 const std::vector<std::pair<int,int>> TOW_0_bit({{109,20}});
 // Galileo E1 primary codes
 const std::string Galileo_E1_B_PRIMARY_CODE[Galileo_E1_NUMBER_OF_CODES] = {
 		"F5D710130573541B9DBD4FD9E9B20A0D59D144C54BC7935539D2E75810FB51E494093A0A19DD79C70C5A98E5657AA578097777E86BCC4651CC72F2F974DC766E07AEA3D0B557EF42FF57E6A58E805358CE9257669133B18F80FDBDFB38C5524C7FB1DE079842482990DF58F72321D9201F8979EAB159B2679C9E95AA6D53456C0DF75C2B4316D1E2309216882854253A1FA60CA2C94ECE013E2A8C943341E7D9E5A8464B3AD407E0AE465C3E3DD1BE60A8C3D50F831536401E776BE02A6042FC4A27AF653F0CFC4D4D013F115310788D68CAEAD3ECCCC5330587EB3C22A1459FC8E6FCCE9CDE849A5205E70C6D66D125814D698DD0EEBFEAE52CC65C5C84EEDF207379000E169D318426516AC5D1C31F2E18A65E07AE6E33FDD724B13098B3A444688389EFBBB5EEAB588742BB083B679D42FB26FF77919EAB21DE0389D9997498F967AE05AF0F4C7E177416E18C4D5E6987ED3590690AD127D872F14A8F4903A12329732A9768F82F295BEE391879293E3A97D51435A7F03ED7FBE275F102A83202DC3DE94AF4C712E9D006D182693E9632933E6EB773880CF147B922E74539E4582F79E39723B4C80E42EDCE4C08A8D02221BAE6D17734817D5B531C0D3C1AE723911F3FFF6AAC02E97FEA69E376AF4761E6451CA61FDB2F9187642EFCD63A09AAB680770C1593EEDD4FF4293BFFD6DD2C3367E85B14A654C834B6699421A",
 		"96B856A629F581D1344FEF597835FE60434625D077ECF0D95FBE1155EA0431979E5AFF544AF591A332FDAEF98AB1EDD847A73F3AF15AAEE7E9A05C9D82C59EC325EF4CF264B8ADF2A8E8BA459354CB4B415CC50BF239ADBC31B3A9C87B0843CF3B9E6D646BA43F866276B053826F3A2334CC5E2EFB9F8F195B382E75EEA63F58A06B3F82A3B5C77C1800FD9498F803E524435B321210BB84690BED0BBBE16D363B3A90656A73720E27008852FB7DACC8284411B177728D9527C560859084A395A6F11A96AD9DB6B43E00642B000ED12BFD967868EAB1108552CD4FC89FBC408ACE7678C381EC91DD000319124EB5D5EF52C4CAC9AADEE2FA045C16CE492D7F43743CA77924C78696FCBF2F9F7F36D8E623752200C6FCBBD71ABBB6877F3C5D6E6740AB0389458A6B66440858B2D383244E853646FE2714211DEA9E6196252815BB704A20BFE556AC474F8998944E0CABBBE21A6400B87BFDCF937D12B2821D59298AF4AD378F0F42BD8C41693B8D993CF37C8B478F3BB5D33AD2A9FA24AD7B8FA895FDBC04964192F7BA3FF74E0E3A435B5DFE042E3115CACF29624C0645E9C917534A2EBC1F5665E4E1B1BC56208DBCD8A27CCB6474D5D0E20CA4072C960E5ACE41BDA3770DF3B681F2B318F6F8E1CB17C2857350FB6009AED665E13B2780D79217F73FAC7A8A48048DB0FB8A8A5007CDDC9A7B2DA8257C99F1CB605A18204",
@@ -395,7 +394,6 @@ const std::string Galileo_E1_C_PRIMARY_CODE[Galileo_E1_NUMBER_OF_CODES] = {
 		"ADDCEDB50E907D20E826E6E8A0D30C20C74B2DF204EA784BAE9F618CAE33A3C937729DF9CB10BA2A4C33E0182A37200C0CC509729D828B8A2A20F283AC4F9306596684EA3FB5492A4C9F2DB459E7531C9F9C0950E7D9E93B3EE5912AE7E39AC8F4EC14B18F24E325003F477E347C5AC1B67CDB11AF3BBBBCD0AC3703024B5767AA67A208254F798684BFD1D3EACD757EEC77254950A146620400DB95E694574F739A991EBA771EBBDFF1056BB39A77DBE0636A032E17141332F951C57C6C90F348F165E3ABDD60D429D5D6BEC7E3E3463806F819EB2D212B3528A5EDE51F235AD100A35E890955F8A1DC51FDCB53EABCA2540997DD054C1F5B29462995B876B44D085904E55E1B838BEF600A992EB49CE078DF75AF3D0F137685AC0D07F0BE1EB87B63A41E74DDE869C8A683BDE60AF5D77FF18F7137495BCEFD0ED28F62F9C3E25D332B5F861D999FCDC0B4851A984A4DBB53401FD40351ADA4335C702BCC8D900C737507B990BDDBE91D201E3A0946DC968D43FD10D04B0B76667FF5B4291C2124B0124C6B710A6D1BCFAEB016B9DEEB0F7A4FE044CA4EA0CCD84B7682617C3A545071EC295B0663B3F577D562DE1D9DD80DE6A1EFD6D5991EB5246F1597B86D0E9A90CF6DB0EB2B8E7BAE9431E567F01AA98502C773742246467ABF911A91A51F6C1B9E0C3233DC1A37D17DB91A5F0F661B0EB5886964456C7818601BD0C"
 };
-const std::string Galileo_E1_C_SECONDARY_CODE =
+const std::string Galileo_E1_C_SECONDARY_CODE = "0011100000001010110110010";
        "0011100000001010110110010";
 #endif /* GNSS_SDR_GALILEO_E1_H_ */
--- a/src/core/system_parameters/galileo_almanac.cc
+++ b/src/core/system_parameters/galileo_almanac.cc
@@ -1,8 +1,6 @@
 /*!
- * \file gps_almanac.cc
+ * \file galileo_almanac.cc
- * \brief  Interface of a GPS ALMANAC storage
+ * \brief  Implementation of a Galileo ALMANAC storage
 *
 * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
 * \author Javier Arribas, 2013. jarribas(at)cttc.es
 *
 * -------------------------------------------------------------------------
--- a/src/core/system_parameters/galileo_almanac.h
+++ b/src/core/system_parameters/galileo_almanac.h
@@ -33,14 +33,13 @@
 /*!
- * \brief This class is a storage for the GALIELO ALMANAC data as described in GALILEO ICD
+ * \brief This class is a storage for the GALILEO ALMANAC data as described in GALILEO ICD
 *
- * See http:http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf paragraph 5.1.10
+ * See http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf paragraph 5.1.10
 */
 class Galileo_Almanac
 {
 public:
    /*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
    int IOD_a_7;
    double WN_a_7;
@@ -83,7 +82,6 @@ public:
    double omega_9;
    double delta_i_9;
    /*Word type 10: Almanac for SVID3 (2/2)*/
    int IOD_a_10;
    double Omega0_10;
@@ -93,10 +91,8 @@ public:
    double af1_10;
    double E5b_HS_10;
    double E1B_HS_10;
-    /*!
+
-     * Default constructor
+    Galileo_Almanac();  //!< Default constructor
     */
    Galileo_Almanac();
 };
 #endif
--- a/src/core/system_parameters/galileo_ephemeris.cc
+++ b/src/core/system_parameters/galileo_ephemeris.cc
@@ -1,8 +1,6 @@
 /*!
 * \file galileo_ephemeris.cc
- * \brief  Interface of a GPS EPHEMERIS storage and orbital model functions
+ * \brief  Interface of a Galileo EPHEMERIS storage and orbital model functions
 *
 * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
 * \author Javier Arribas, 2013. jarribas(at)cttc.es
 * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
 * -------------------------------------------------------------------------
@@ -38,7 +36,6 @@ Galileo_Ephemeris::Galileo_Ephemeris()
    flag_all_ephemeris = false;
    IOD_ephemeris = 0;
    IOD_nav_1 = 0;
    SV_ID_PRN_4 = 0;
    M0_1 = 0;           // Mean anomaly at reference time [semi-circles]
    delta_n_3 = 0;      // Mean motion difference from computed value  [semi-circles/sec]
@@ -56,21 +53,19 @@ Galileo_Ephemeris::Galileo_Ephemeris()
    C_ic_4 = 0;	        // Amplitude of the cosine harmonic correction 	term to the angle of inclination [radians]
    C_is_4 = 0;         // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
    t0e_1 = 0; 	        // Ephemeris reference time [s]
    /*Clock correction parameters*/
    t0c_4 = 0;          // Clock correction data reference Time of Week [sec]
    af0_4 = 0;          // SV clock bias correction coefficient [s]
    af1_4 = 0;          // SV clock drift correction coefficient [s/s]
-    af2_4 = 0;	        //SV clock drift rate correction coefficient [s/s^2]
+    af2_4 = 0;	        // SV clock drift rate correction coefficient [s/s^2]
    /*GST*/
    WN_5 = 0;
    TOW_5 = 0;
 }
-double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW){
+double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW)
 {
    /* GALIELO SYSTEM TIME, ICD 5.1.2
     * input parameter:
     * WN: The Week Number is an integer counter that gives the sequential week number
@@ -101,24 +96,23 @@ double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW){
    double sec_in_day = 86400;
    double day_in_week = 7;
    t = WN*sec_in_day*day_in_week + TOW; // second from the origin of the Galileo time
    return t;
 }
-double Galileo_Ephemeris::sv_clock_drift(double transmitTime){
+double Galileo_Ephemeris::sv_clock_drift(double transmitTime)
-    /* Satellite Time Correction Algorithm, ICD 5.1.4
+{
-     *
+    // Satellite Time Correction Algorithm, ICD 5.1.4
     */
    double dt;
    dt = transmitTime - t0c_4;
    Galileo_satClkDrift = af0_4 + af1_4*dt + (af2_4 * dt)*(af2_4 * dt) + Galileo_dtr;
    return Galileo_satClkDrift;
 }
 // compute the relativistic correction term
-double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Satellite Time Correction Algorithm, ICD 5.1.4
+double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) // Satellite Time Correction Algorithm, ICD 5.1.4
 {
    double tk;
    double a;
@@ -135,7 +129,6 @@ double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Sate
    n0 = sqrt(GALILEO_GM / (a*a*a));
    // Time from ephemeris reference epoch
    //tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
    //t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
    tk = transmitTime - t0e_1;
@@ -146,13 +139,13 @@ double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Sate
    M = M0_1 + n * tk;
    // Reduce mean anomaly to between 0 and 2pi
-    M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
+    M = fmod((M + 2*GALILEO_PI), (2*GALILEO_PI));
    // Initial guess of eccentric anomaly
    E = M;
    // --- Iteratively compute eccentric anomaly ----------------------------
-    for (int ii = 1; ii<20; ii++)
+    for (int ii = 1; ii < 20; ii++)
        {
            E_old   = E;
            E       = M + e_1 * sin(E);
@@ -164,7 +157,6 @@ double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Sate
                }
        }
    // Compute relativistic correction term
    Galileo_dtr = GALILEO_F * e_1* A_1 * sin(E);
    return Galileo_dtr;
@@ -172,21 +164,19 @@ double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Sate
-
+void Galileo_Ephemeris::satellitePosition(double transmitTime)
 void Galileo_Ephemeris::satellitePosition(double transmitTime) //when this function in used, the input must be the transmitted time (t) in second computed by Galileo_System_Time (above function)
 {
    // when this function in used, the input must be the transmitted time (t) in second computed by Galileo_System_Time (above function)
    double tk;   // Time from ephemeris reference epoch
    //double t;   // Galileo System Time (ICD, paragraph 5.1.2)
    double a;    // Semi-major axis
    double n;    // Corrected mean motion
    double n0;   // Computed mean motion
    double M;    // Mean anomaly
-    double E;   //Eccentric Anomaly (to be solved by iteration)
+    double E;    // Eccentric Anomaly (to be solved by iteration)
    double E_old;
    double dE;
-    double nu; //True anomaly
+    double nu;   // True anomaly
-    double phi; //argument of Latitude
+    double phi;  // Argument of Latitude
    double u;    // Correct argument of latitude
    double r;    // Correct radius
    double i;
@@ -201,11 +191,8 @@ void Galileo_Ephemeris::satellitePosition(double transmitTime) //when this funct
    n0 = sqrt(GALILEO_GM / (a*a*a));
    // Time from ephemeris reference epoch
    //tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
    //t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
    tk = transmitTime - t0e_1;
    //std::cout<<"Diff t_tx-t_oe="<<tk<<std::endl;
    // Corrected mean motion
    n = n0 + delta_n_3;
@@ -260,7 +247,7 @@ void Galileo_Ephemeris::satellitePosition(double transmitTime) //when this funct
    // --- Compute satellite coordinates in Earth-fixed coordinates
    d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
-    d_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega); //***********************NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
+    d_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega); // ********NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
    d_satpos_Z = sin(u) * r * sin(i);
    // Satellite's velocity. Can be useful for Vector Tracking loops
--- a/src/core/system_parameters/galileo_ephemeris.h
+++ b/src/core/system_parameters/galileo_ephemeris.h
@@ -1,6 +1,6 @@
 /*!
 * \file galileo_navigation_message.h
- * \brief  Interface of a GPS EPHEMERIS storage
+ * \brief  Interface of a Galileo EPHEMERIS storage
 * \author Javier Arribas, 2013. jarribas(at)cttc.es
 * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
 * -------------------------------------------------------------------------
@@ -42,61 +42,62 @@
 * \brief This class is a storage and orbital model functions for the Galileo SV ephemeris data as described in Galileo ICD paragraph 5.1.1
 *
 */
 class Galileo_Ephemeris
 {
 private:
 public:
-
+    /* Galileo ephemeris are 16 parameters and here are reported following the ICD order, paragraph 5.1.1.
 	/*Galileo ephemeris are 16 parameters and here are reported following the ICD order, paragraph 5.1.1.
       The number in the name after underscore (_1, _2, _3 and so on) refers to the page were we can find that parameter */
    bool flag_all_ephemeris;
    int IOD_ephemeris;
    int IOD_nav_1;
    int SV_ID_PRN_4;
-	double M0_1;		// Mean anomaly at reference time [semi-circles]
+    double M0_1;        //!< Mean anomaly at reference time [semi-circles]
-	double delta_n_3;		// Mean motion difference from computed value  [semi-circles/sec]
+    double delta_n_3;   //!< Mean motion difference from computed value [semi-circles/sec]
-	double e_1;		// Eccentricity
+    double e_1;         //!< Eccentricity
-	double A_1;   	// Square root of the semi-major axis [metres^1/2]
+    double A_1;         //!< Square root of the semi-major axis [metres^1/2]
-	double OMEGA_0_2; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    double OMEGA_0_2;   //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-	double i_0_2;     // Inclination angle at reference time  [semi-circles]
+    double i_0_2;       //!< Inclination angle at reference time  [semi-circles]
-	double omega_2;   // Argument of perigee [semi-circles]
+    double omega_2;     //!< Argument of perigee [semi-circles]
-	double OMEGA_dot_3;		// Rate of right ascension [semi-circles/sec]
+    double OMEGA_dot_3; //!< Rate of right ascension [semi-circles/sec]
-	double iDot_2;    // Rate of inclination angle [semi-circles/sec]
+    double iDot_2;      //!< Rate of inclination angle [semi-circles/sec]
-	double C_uc_3;			// Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    double C_uc_3;      //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-	double C_us_3;			// Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    double C_us_3;      //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-	double C_rc_3;			// Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+    double C_rc_3;      //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-	double C_rs_3;			// Amplitude of the sine harmonic correction term to the orbit radius [meters]
+    double C_rs_3;      //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
-	double C_ic_4;		// Amplitude of the cosine harmonic correction 	term to the angle of inclination [radians]
+    double C_ic_4;      //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
-	double C_is_4;		// Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    double C_is_4;      //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-	double t0e_1; 	// Ephemeris reference time [s]
+    double t0e_1;       //!< Ephemeris reference time [s]
    /*Clock correction parameters*/
-	double t0c_4;			//Clock correction data reference Time of Week [sec]
+    double t0c_4;       //!< Clock correction data reference Time of Week [sec]
-	double af0_4;			//SV clock bias correction coefficient [s]
+    double af0_4;       //!< SV clock bias correction coefficient [s]
-	double af1_4;			//SV clock drift correction coefficient [s/s]
+    double af1_4;       //!< SV clock drift correction coefficient [s/s]
-	double af2_4;			//SV clock drift rate correction coefficient [s/s^2]
+    double af2_4;       //!< SV clock drift rate correction coefficient [s/s^2]
    /*GST*/
    //Not belong to ephemeris set (page 1 to 4)
-	double WN_5; //Week number
+    double WN_5;        //!< Week number
-	double TOW_5; //Time of Week
+    double TOW_5;       //!< Time of Week
    double Galileo_satClkDrift;
-	double Galileo_dtr;            // relativistic clock correction term
+    double Galileo_dtr; //!< relativistic clock correction term
    // satellite positions
    double d_satpos_X;  //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
    double d_satpos_Y;  //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
    double d_satpos_Z;  //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
    // Satellite velocity
    double d_satvel_X;  //!< Earth-fixed velocity coordinate x of the satellite [m]
    double d_satvel_Y;  //!< Earth-fixed velocity coordinate y of the satellite [m]
    double d_satvel_Z;  //!< Earth-fixed velocity coordinate z of the satellite [m]
-	unsigned int i_satellite_PRN; // SV PRN NUMBER
+    unsigned int i_satellite_PRN; //!< SV PRN NUMBER
    void satellitePosition(double transmitTime);            //!< Computes the ECEF SV coordinates and ECEF velocity
    double Galileo_System_Time(double WN, double TOW);      //!< Galileo System Time (GST), ICD paragraph 5.1.2
    double sv_clock_drift(double transmitTime);             //!< Satellite Time Correction Algorithm, ICD 5.1.4
    double sv_clock_relativistic_term(double transmitTime); //!< Satellite Time Correction Algorithm, ICD 5.1.4
    Galileo_Ephemeris();
    /*
    template<class Archive>
@@ -147,21 +148,7 @@ public:
        archive & make_nvp("b_alert_flag",b_alert_flag);     //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
        archive & make_nvp("b_antispoofing_flag",b_antispoofing_flag); //!<  If true, the AntiSpoofing mode is ON in that SV
    }
     \\brief Compute the ECEF SV coordinates and ECEF velocity
     \\http://ec.europa.eu/enterprise/policies/satnav/galileo/open-service/
     */
    void satellitePosition(double transmitTime);
    double Galileo_System_Time(double WN, double TOW); 			// Galileo System Time (GST), ICD paragraph 5.1.2
    double sv_clock_drift(double transmitTime); 				//Satellite Time Correction Algorithm, ICD 5.1.4
    double sv_clock_relativistic_term(double transmitTime); 	//Satellite Time Correction Algorithm, ICD 5.1.4
    //Default constructor
    Galileo_Ephemeris();
 };
 #endif
--- a/src/core/system_parameters/galileo_iono.cc
+++ b/src/core/system_parameters/galileo_iono.cc
@@ -33,12 +33,10 @@
 Galileo_Iono::Galileo_Iono()
 {
    //valid = false;
    /* Ionospheric correction */
-    /* Az */
+    ai0_5 = 0; // Effective Ionisation Level 1st order parameter [sfu]
-    ai0_5 = 0;	        //Effective Ionisation Level 1st order parameter [sfu]
+    ai1_5 = 0; // Effective Ionisation Level 2st order parameter [sfu/degree]
-    ai1_5 = 0;		//Effective Ionisation Level 2st order parameter [sfu/degree]
+    ai2_5 = 0; // Effective Ionisation Level 3st order parameter [sfu/degree]
    ai2_5 = 0;		//Effective Ionisation Level 3st order parameter [sfu/degree]
    /* Ionospheric disturbance flag */
    Region1_flag_5 = false; // Ionospheric Disturbance Flag for region 1
@@ -49,6 +47,5 @@ Galileo_Iono::Galileo_Iono()
    TOW_5 = 0;
    WN_5 = 0;
 }
--- a/src/core/system_parameters/galileo_iono.h
+++ b/src/core/system_parameters/galileo_iono.h
@@ -1,6 +1,6 @@
 /*!
- * \file gps_iono.h
+ * \file galileo_iono.h
- * \brief  Interface of a GPS IONOSPHERIC MODEL storage
+ * \brief  Interface of a Galileo Ionospheric Model storage
 * \author Javier Arribas, 2013. jarribas(at)cttc.es
 * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
 * -------------------------------------------------------------------------
@@ -40,30 +40,22 @@
 */
 class Galileo_Iono
 {
 private:
 public:
 	// valid flag
    //bool valid;
    /*Ionospheric correction*/
-    /*Az*/
+    double ai0_5; //!< Effective Ionisation Level 1st order parameter [sfu]
-    double ai0_5;		//Effective Ionisation Level 1st order parameter [sfu]
+    double ai1_5; //!< Effective Ionisation Level 2st order parameter [sfu/degree]
-    double ai1_5;		//Effective Ionisation Level 2st order parameter [sfu/degree]
+    double ai2_5; //!< Effective Ionisation Level 3st order parameter [sfu/degree]
    double ai2_5;		//Effective Ionisation Level 3st order parameter [sfu/degree]
    /*Ionospheric disturbance flag*/
-    bool Region1_flag_5;	// Ionospheric Disturbance Flag for region 1
+    bool Region1_flag_5; //!<  Ionospheric Disturbance Flag for region 1
-    bool Region2_flag_5;	// Ionospheric Disturbance Flag for region 2
+    bool Region2_flag_5; //!< Ionospheric Disturbance Flag for region 2
-    bool Region3_flag_5;	// Ionospheric Disturbance Flag for region 3
+    bool Region3_flag_5; //!< Ionospheric Disturbance Flag for region 3
-    bool Region4_flag_5;	// Ionospheric Disturbance Flag for region 4
+    bool Region4_flag_5; //!< Ionospheric Disturbance Flag for region 4
-    bool Region5_flag_5;	// Ionospheric Disturbance Flag for region 5
+    bool Region5_flag_5; //!< Ionospheric Disturbance Flag for region 5
    /*from page 5 (UTC) to have a timestamp*/
-	double TOW_5;//UTC data reference Time of Week [s]
+    double TOW_5; //!< UTC data reference Time of Week [s]
-	double WN_5; //UTC data reference Week number [week]
+    double WN_5;  //!< UTC data reference Week number [week]
    /*!
     * Default constructor
--- a/src/core/system_parameters/galileo_navigation_message.cc
+++ b/src/core/system_parameters/galileo_navigation_message.cc
@@ -113,15 +113,15 @@ void Galileo_Navigation_Message::reset()
    ai1_5 = 0;		//
    ai2_5 = 0;		//
    /*Ionospheric disturbance flag*/
-    Region1_flag_5 = 0;	//Region1_flag_5;
+    Region1_flag_5 = 0;	// Region1_flag_5;
    Region2_flag_5 = 0;	//
    Region3_flag_5 = 0;	//
    Region4_flag_5 = 0;	//
    Region5_flag_5 = 0;	//
    BGD_E1E5a_5 = 0;	//
    BGD_E1E5b_5 = 0;	//
-    E5b_HS_5 = 0;		//
+    E5b_HS_5 = 0;
-    E1B_HS_5 = 0;		//
+    E1B_HS_5 = 0;
    E5b_DVS_5 = 0;	//
    E1B_DVS_5 = 0;	//
    /*GST*/
@@ -356,12 +356,6 @@ bool Galileo_Navigation_Message::read_navigation_bool(std::bitset<GALILEO_DATA_J
 }
 /*void Galileo_Navigation_Message::print_galileo_word_bytes(unsigned int GPS_word)
 {
    std::cout << " Word =";
    std::cout << std::bitset<32>(GPS_word);
    std::cout << std::endl;
 }*/
 void Galileo_Navigation_Message::split_page(std::string page_string, int flag_even_word)
@@ -376,20 +370,15 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
    if(page_string.at(0) == '1')// if page is odd
        {
            //std::cout<< "page_string.at(0) split page="<<page_string.at(0) << std::endl;
-            std::string page_Odd = page_string; //chiamo la stringa sembre page_Odd
+            std::string page_Odd = page_string;
            //std::cout<<"Page odd string in split page"<< std::endl << page_Odd << std::endl;
-            if (flag_even_word == 1)/*Under this condition An odd page has been received but the previous even page is kept in memory and it is considered to join pages*/
+            if (flag_even_word == 1) // An odd page has been received but the previous even page is kept in memory and it is considered to join pages
                {
                    //std::cout<<"previous page even "<< std::endl << page_Even << std::endl;
                    std::string page_INAV_even = page_Even;
-                    //std::cout << "page inav solo even" << page_INAV_even << std::endl;
+                    std::string page_INAV = page_INAV_even + page_Odd; // Join pages: Even + Odd = INAV page
                    std::string page_INAV = page_INAV_even + page_Odd; //Join pages: Even+Odd=INAV page
                    //std::cout << "page inav eve +odd " << page_INAV<< std::endl;
                    std::string Even_bit = page_INAV.substr (0,1);
                    //std::cout << "Even bit = " << Even_bit << endl;
                    std::string Page_type_even = page_INAV.substr (1,1);
                    //std::cout << "Page type even = " << Page_type_even << endl;
                    std::string nominal = "0";
                    //if (Page_type_even.compare(nominal) != 0)
@@ -397,12 +386,9 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
                    //else std::cout << "Nominal Page" << std::endl;
                    std::string Data_k = page_INAV.substr (2,112);
                    //std::cout << "Data_k " << endl << Data_k << endl;
                    std::string Odd_bit = page_INAV.substr (114,1);
                    std::string Page_type_Odd = page_INAV.substr (115,1);
                    //std::cout << "Page_type_Odd: " << Page_type_Odd << endl;
                    std::string Data_j = page_INAV.substr (116,16);
                    //std::cout << "Data_j: " << Data_j << endl;
                    std::string Reserved_1 = page_INAV.substr (132,40);
                    std::string SAR = page_INAV.substr (172,22);
@@ -413,12 +399,9 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
                    //************ CRC checksum control *******/
                    std::stringstream TLM_word_for_CRC_stream;
-
+                    TLM_word_for_CRC_stream << page_INAV;
                    TLM_word_for_CRC_stream<<page_INAV;
                    std::string TLM_word_for_CRC;
-                    TLM_word_for_CRC=TLM_word_for_CRC_stream.str().substr(0,GALILEO_DATA_FRAME_BITS);
+                    TLM_word_for_CRC = TLM_word_for_CRC_stream.str().substr(0, GALILEO_DATA_FRAME_BITS);
                    //std::cout<<"Complete word for CRC test: "<<TLM_word_for_CRC;
                    std::bitset<GALILEO_DATA_FRAME_BITS> TLM_word_for_CRC_bits(TLM_word_for_CRC);
                    std::bitset<24> checksum(CRC_data);
@@ -426,35 +409,27 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
                    //		std::cout << "Tail odd is not correct!" << std::endl;
                    //else std::cout<<"Tail odd is correct!"<<std::endl;
-                    if (CRC_test(TLM_word_for_CRC_bits,checksum.to_ulong())==true)
+                    if (CRC_test(TLM_word_for_CRC_bits, checksum.to_ulong()) == true)
                        {
                            flag_CRC_test = true;
                            // CRC correct: Decode word
                            std::string page_number_bits = Data_k.substr (0,6);
                            //std::cout << "Page number bits from Data k" << std::endl << page_number_bits << std::endl;
                            std::bitset<GALILEO_PAGE_TYPE_BITS> page_type_bits (page_number_bits); // from string to bitset
                            Page_type = (int)read_page_type_unsigned(page_type_bits, type);
                            Page_type_time_stamp = Page_type;
                            //std::cout << "Page number (first 6 bits of Data k converted to decimal) = " << Page_type << std::endl;
                            std::string Data_jk_ephemeris = Data_k + Data_j;
-                            //std::cout<<"Data j k ephemeris" << endl << Data_jk_ephemeris << endl;
+                            page_jk_decoder(Data_jk_ephemeris.c_str());
                            page_jk_decoder(Data_jk_ephemeris.c_str()); // Corresponding to ephemeris_decode.m in matlab code
                        }
                    else
                        {
-                            // CRC wrong.. discard frame
+                            // Wrong CRC... discard frame
                            flag_CRC_test = false;
                        }
-                    //********** end of CRC checksum control ***/
+                } // end of CRC checksum control
-                }
+        } // end if (page_string.at(0)=='1')
        } /*end if (page_string.at(0)=='1') */
    else
        {
            page_Even = page_string.substr (0,114);
            //std::cout << "Page even in split page" << std::endl << page_Even << std::endl;
            std::string tail_Even =  page_string.substr (114,6);
            //std::cout << "tail_even_string: " << tail_Even <<std::endl;
            //if (tail_Even.compare(correct_tail) != 0)
@@ -519,7 +494,7 @@ bool Galileo_Navigation_Message::have_new_almanac() //Check if we have a new alm
 {
    if ((flag_almanac_1 == true) and (flag_almanac_2 == true) and (flag_almanac_3 == true) and (flag_almanac_4 == true))
        {
-            //std::cout<< "All almanac have been received"<< std::endl;
+            //All almanac have been received
            flag_almanac_1 = false;
            flag_almanac_2 = false;
            flag_almanac_3 = false;
@@ -1020,279 +995,3 @@ int Galileo_Navigation_Message::page_jk_decoder(const char *data_jk)
 }
 //void Galileo_Navigation_Message::satellitePosition(double transmitTime) //when this function in used, the input must be the transmitted time (t) in second computed by Galileo_System_Time (above function)
 //{
 //
 //    double tk;  // Time from ephemeris reference epoch
 //    //double t;   // Galileo System Time (ICD, paragraph 5.1.2)
 //    double a;   // Semi-major axis
 //    double n;   // Corrected mean motion
 //    double n0;  // Computed mean motion
 //    double M;   // Mean anomaly
 //    double E;   //Eccentric Anomaly (to be solved by iteration)
 //    double E_old;
 //    double dE;
 //    double nu; //True anomaly
 //    double phi; //argument of Latitude
 //    double u;   // Correct argument of latitude
 //    double r;  // Correct radius
 //    double i;
 //    double Omega;
 //
 //    // Find Galileo satellite's position ----------------------------------------------
 //
 //    // Restore semi-major axis
 //    a = A_1*A_1;
 //
 //    // Computed mean motion
 //    n0 = sqrt(GALILEO_GM / (a*a*a));
 //
 //    // Time from ephemeris reference epoch
 //    //tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
 //    //t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
 //    tk = transmitTime - t0e_1;
 //
 //    // Corrected mean motion
 //    n = n0 + delta_n_3;
 //
 //    // Mean anomaly
 //    M = M0_1 + n * tk;
 //
 //    // Reduce mean anomaly to between 0 and 2pi
 //    M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
 //
 //    // Initial guess of eccentric anomaly
 //    E = M;
 //
 //    // --- Iteratively compute eccentric anomaly ----------------------------
 //    for (int ii = 1; ii<20; ii++)
 //        {
 //            E_old   = E;
 //            E       = M + e_1 * sin(E);
 //            dE      = fmod(E - E_old, 2*GALILEO_PI);
 //            if (fabs(dE) < 1e-12)
 //                {
 //                    //Necessary precision is reached, exit from the loop
 //                    break;
 //                }
 //        }
 //
 //    // Compute the true anomaly
 //
 //    double tmp_Y = sqrt(1.0 - e_1 * e_1) * sin(E);
 //    double tmp_X = cos(E) - e_1;
 //    nu = atan2(tmp_Y, tmp_X);
 //
 //    // Compute angle phi (argument of Latitude)
 //    phi = nu + omega_2;
 //
 //    // Reduce phi to between 0 and 2*pi rad
 //    phi = fmod((phi), (2*GALILEO_PI));
 //
 //    // Correct argument of latitude
 //    u = phi + C_uc_3 * cos(2*phi) +  C_us_3 * sin(2*phi);
 //
 //    // Correct radius
 //    r = a * (1 - e_1*cos(E)) +  C_rc_3 * cos(2*phi) +  C_rs_3 * sin(2*phi);
 //
 //    // Correct inclination
 //    i = i_0_2 + iDot_2 * tk + C_ic_4 * cos(2*phi) + C_is_4 * sin(2*phi);
 //
 //    // Compute the angle between the ascending node and the Greenwich meridian
 //    Omega = OMEGA_0_2 + (OMEGA_dot_3 - GALILEO_OMEGA_EARTH_DOT)*tk - GALILEO_OMEGA_EARTH_DOT * t0e_1;
 //
 //    // Reduce to between 0 and 2*pi rad
 //    Omega = fmod((Omega + 2*GALILEO_PI), (2*GALILEO_PI));
 //
 //    // --- Compute satellite coordinates in Earth-fixed coordinates
 //    galileo_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
 //    galileo_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega); //***********************NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
 //    galileo_satpos_Z = sin(u) * r * sin(i);
 //
 //    std::cout << "Galileo satellite position X [m]: " << galileo_satpos_X << std::endl;
 //    std::cout << "Galileo satellite position Y [m]: " << galileo_satpos_Y << std::endl;
 //    std::cout << "Galileo satellite position Z [m]: " << galileo_satpos_Z << std::endl;
 //    double vector_position = sqrt(galileo_satpos_X*galileo_satpos_X + galileo_satpos_Y*galileo_satpos_Y + galileo_satpos_Z*galileo_satpos_Z);
 //    std::cout << "Vector Earth Center-Satellite [Km]: " << vector_position/1000 << std::endl;
 //
 //    // Satellite's velocity. Can be useful for Vector Tracking loops
 //    double Omega_dot = OMEGA_dot_3 - GALILEO_OMEGA_EARTH_DOT;
 //    galileo_satvel_X = - Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + galileo_satpos_X * cos(Omega) - galileo_satpos_Y * cos(i) * sin(Omega);
 //    galileo_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + galileo_satpos_X * sin(Omega) + galileo_satpos_Y * cos(i) * cos(Omega);
 //    galileo_satvel_Z = galileo_satpos_Y * sin(i);
 //
 //}
 //
 //
 //double Galileo_Navigation_Message::Galileo_System_Time(double WN, double TOW){
 //	/* GALIELO SYSTEM TIME, ICD 5.1.2
 //	 * input parameter:
 //	 * WN: The Week Number is an integer counter that gives the sequential week number
 //	   from the origin of the Galileo time. It covers 4096 weeks (about 78 years).
 //	   Then the counter is reset to zero to cover additional period modulo 4096
 //
 //	   TOW: The Time of Week is defined as the number of seconds that have occurred since
 //	   the transition from the previous week. The TOW covers an entire week from 0 to
 //	   604799 seconds and is reset to zero at the end of each week
 //
 //	   WN and TOW are received in page 5
 //
 //	   output:
 //	   t: it is the transmitted time in Galileo System Time (expressed in seconds)
 //
 //	   The GST start epoch shall be 00:00 UT on Sunday 22nd August 1999 (midnight between 21st and 22nd August).
 //	   At the start epoch, GST shall be ahead of UTC by thirteen (13)
 //	   leap seconds. Since the next leap second was inserted at 01.01.2006, this implies that
 //       as of 01.01.2006 GST is ahead of UTC by fourteen (14) leap seconds.
 //
 //       The epoch denoted in the navigation messages by TOW and WN
 //	   will be measured relative to the leading edge of the first chip of the
 //	   first code sequence of the first page symbol. The transmission timing of the navigation
 //	   message provided through the TOW is synchronised to each satellite’s version of Galileo System Time (GST).
 //	 *
 //	 */
 //	double t=0;
 //	double sec_in_day = 86400;
 //	double day_in_week = 7;
 //	t = WN * sec_in_day * day_in_week + TOW; // second from the origin of the Galileo time
 //
 //	return t;
 //
 //}
 //
 //
 //
 //double Galileo_Navigation_Message::sv_clock_drift(double transmitTime){
 //	/* Satellite Time Correction Algorithm, ICD 5.1.4
 //	 *
 //	 */
 //    double dt;
 //    dt = transmitTime - t0c_4;
 //    Galileo_satClkDrift = af0_4 + af1_4*dt + (af2_4 * dt)*(af2_4 * dt) + Galileo_dtr;
 //    return Galileo_satClkDrift;
 //}
 //
 //// compute the relativistic correction term
 //double Galileo_Navigation_Message::sv_clock_relativistic_term(double transmitTime) //Satellite Time Correction Algorithm, ICD 5.1.4
 //{
 //    double tk;
 //    double a;
 //    double n;
 //    double n0;
 //    double E;
 //    double E_old;
 //    double dE;
 //    double M;
 //
 //      // Restore semi-major axis
 //      a = A_1*A_1;
 //
 //      n0 = sqrt(GALILEO_GM / (a*a*a));
 //
 //      // Time from ephemeris reference epoch
 //      //tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
 //      //t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
 //      tk = transmitTime - t0e_1;
 //
 //      // Corrected mean motion
 //      n = n0 + delta_n_3;
 //
 //      // Mean anomaly
 //      M = M0_1 + n * tk;
 //
 //      // Reduce mean anomaly to between 0 and 2pi
 //      M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
 //
 //      // Initial guess of eccentric anomaly
 //      E = M;
 //
 //      // --- Iteratively compute eccentric anomaly ----------------------------
 //      for (int ii = 1; ii<20; ii++)
 //          {
 //              E_old   = E;
 //              E       = M + e_1 * sin(E);
 //              dE      = fmod(E - E_old, 2*GALILEO_PI);
 //              if (fabs(dE) < 1e-12)
 //                  {
 //                      //Necessary precision is reached, exit from the loop
 //                       break;
 //                   }
 //           }
 //
 //
 //    // Compute relativistic correction term
 //    Galileo_dtr = GALILEO_F * e_1* A_1 * sin(E);
 //    return Galileo_dtr;
 //}
 //double Galileo_Navigation_Message::GST_to_UTC_time(double t_e, int WN) //t_e is GST (WN+TOW) in second
 //{
 //	double t_Utc;
 //		double t_Utc_daytime;
 //		double Delta_t_Utc =  Delta_tLS_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * (double)(WN - WNot_6));
 //
 //		// Determine if the effectivity time of the leap second event is in the past
 //		int  weeksToLeapSecondEvent = WN_LSF_6 - WN;
 //
 //		if ((weeksToLeapSecondEvent) >= 0) // is not in the past
 //		{
 //			//Detect if the effectivity time and user's time is within six hours  = 6 * 60 *60 = 21600 s
 //			int secondOfLeapSecondEvent = DN_6 * 24 * 60 * 60;
 //			if (weeksToLeapSecondEvent > 0)
 //			{
 //				t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
 //			}
 //			else //we are in the same week than the leap second event
 //			{
 //				if  (abs(t_e - secondOfLeapSecondEvent) > 21600)
 //				{
 //					/* 5.1.7a
 //					 * Whenever the leap second adjusted time indicated by the WN_LSF and the DN values
 //					 * is not in the past (relative to the user's present time), and the user's
 //					 * present time does not fall in the time span which starts at six hours prior
 //					 * to the effective time and ends at six hours after the effective time,
 //					 * the GST/Utc relationship is given by
 //					 */
 //					t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
 //				}
 //				else
 //				{
 //					/* 5.1.7b
 //					 * Whenever the user's current time falls within the time span of six hours
 //					 * prior to the leap second adjustment to six hours after the adjustment time, ,
 //					 * the effective time is computed according to the following equations:
 //					 */
 //
 //					int W = fmod(t_e - Delta_t_Utc - 43200, 86400) + 43200;
 //					t_Utc_daytime = fmod(W, 86400 + Delta_tLSF_6 - Delta_tLS_6);
 //					//implement something to handle a leap second event!
 //				}
 //				if ( (t_e - secondOfLeapSecondEvent) > 21600)
 //				{
 //					Delta_t_Utc = Delta_tLSF_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800*(double)(WN - WNot_6));
 //					t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
 //				}
 //			}
 //		}
 //		else // the effectivity time is in the past
 //		{
 //			/* 5.1.7c
 //			 * Whenever the leap second adjustment time, as indicated by the WN_LSF and DN values,
 //			 * is in the past (relative to the user’s current time) and the user’s present time does not
 //			 * fall in the time span which starts six hours prior to the leap second adjustment time and
 //			 * ends six hours after the adjustment time, the effective time is computed according to
 //			 * the following equation:
 //			 */
 //			Delta_t_Utc = Delta_tLSF_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * (double)(WN - WNot_6));
 //			t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
 //		}
 //
 //		double secondsOfWeekBeforeToday = 43200 * floor(t_e / 43200);
 //		t_Utc = secondsOfWeekBeforeToday + t_Utc_daytime;
 //		return t_Utc;
 //
 //}
 //
 //
 //
--- a/src/core/system_parameters/galileo_utc_model.h
+++ b/src/core/system_parameters/galileo_utc_model.h
@@ -41,24 +41,21 @@
 * http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf
 * paragraph 5.1.7
 */
 class Galileo_Utc_Model
 {
 public:
    //bool valid;
    /*Word type 6: GST-UTC conversion parameters*/
    double A0_6;
    double A1_6;
    double Delta_tLS_6;
-    double t0t_6;       //UTC data reference Time of Week [s]
+    double t0t_6;       //!< UTC data reference Time of Week [s]
-    double WNot_6;      //UTC data reference Week number [week]
+    double WNot_6;      //!< UTC data reference Week number [week]
    double WN_LSF_6;
    double DN_6;
    double Delta_tLSF_6;
    bool flag_utc_model;
    //double TOW_6;
-
+    double GST_to_UTC_time(double t_e, int WN); //!< GST-UTC Conversion Algorithm and Parameters
    double GST_to_UTC_time(double t_e, int WN);
    /*!
     * Default constructor
     */
--- a/src/core/system_parameters/gps_ephemeris.cc
+++ b/src/core/system_parameters/gps_ephemeris.cc
@@ -62,7 +62,7 @@ Gps_Ephemeris::Gps_Ephemeris()
    d_IODC = 0;           //!< Issue of Data, Clock
    i_AODO = 0;           //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
-    b_fit_interval_flag = false;//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0  =  4 hours, 1  =  greater than 4 hours.
+    b_fit_interval_flag = false; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0  =  4 hours, 1  =  greater than 4 hours.
    d_spare1 = 0;
    d_spare2 = 0;
@@ -74,7 +74,6 @@ Gps_Ephemeris::Gps_Ephemeris()
    b_alert_flag = false;         //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
    b_antispoofing_flag = false;  //!<  If true, the AntiSpoofing mode is ON in that SV
    //Plane A (info from http://www.navcen.uscg.gov/?Do=constellationStatus)
    satelliteBlock[9] = "IIA";
    satelliteBlock[31] = "IIR-M";
@@ -113,7 +112,6 @@ Gps_Ephemeris::Gps_Ephemeris()
    satelliteBlock[13] = "IIR";
    satelliteBlock[23] = "IIR";
    satelliteBlock[26] = "IIA";
 }
@@ -143,6 +141,7 @@ double Gps_Ephemeris::sv_clock_drift(double transmitTime)
    return d_satClkDrift;
 }
 // compute the relativistic correction term
 double Gps_Ephemeris::sv_clock_relativistic_term(double transmitTime)
 {
--- a/src/core/system_parameters/gps_ephemeris.h
+++ b/src/core/system_parameters/gps_ephemeris.h
@@ -55,7 +55,6 @@ private:
     * \param[out] -  corrected time, in seconds
     */
    double check_t(double time);
 public:
    unsigned int i_satellite_PRN; // SV PRN NUMBER
    double d_TOW;            //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
@@ -93,7 +92,6 @@ public:
    double d_A_f1;          //!< Coefficient 1 of code phase offset model [s/s]
    double d_A_f2;          //!< Coefficient 2 of code phase offset model [s/s^2]
    // Flags
    /*! \brief If true, enhanced level of integrity assurance.
@@ -111,8 +109,8 @@ public:
    bool b_antispoofing_flag;  //!<  If true, the AntiSpoofing mode is ON in that SV
    // clock terms derived from ephemeris data
-    double d_satClkDrift;    // GPS clock error
+    double d_satClkDrift;    //!< GPS clock error
-    double d_dtr;            // relativistic clock correction term
+    double d_dtr;            //!< relativistic clock correction term
    // satellite positions
    double d_satpos_X;       //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
@@ -124,12 +122,11 @@ public:
    double d_satvel_Y;    //!< Earth-fixed velocity coordinate y of the satellite [m]
    double d_satvel_Z;    //!< Earth-fixed velocity coordinate z of the satellite [m]
    std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
    template<class Archive>
-    /*
+
    /*!
     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
     */
    void serialize(Archive& archive, const unsigned int version)
--- a/src/core/system_parameters/gps_iono.h
+++ b/src/core/system_parameters/gps_iono.h
@@ -44,11 +44,8 @@
 */
 class Gps_Iono
 {
 private:
 public:
-    // valid flag
+    bool valid;           //!< Valid flag
    bool valid;
    // Ionospheric parameters
    double d_alpha0;      //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
    double d_alpha1;      //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
@@ -58,14 +55,12 @@ public:
    double d_beta1;       //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
    double d_beta2;       //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
    double d_beta3;       //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
    /*!
     * Default constructor
     */
    Gps_Iono();
    Gps_Iono();           //!< Default constructor
    template<class Archive>
-    /*
+
    /*!
     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
     */
    void serialize(Archive& archive, const unsigned int version)
--- a/src/core/system_parameters/sbas_ephemeris.h
+++ b/src/core/system_parameters/sbas_ephemeris.h
@@ -42,17 +42,17 @@ class Sbas_Ephemeris
 public:
    void print(std::ostream &out);
    int i_prn;            //!<  PRN number
-    //gtime_t t0;         //!<  reference epoch time (GPST)
+    //gtime_t t0;         //  reference epoch time (GPST)
    int i_t0;
    //gtime_t tof;        // time of message frame (GPST)
    double d_tof;
    int i_sv_ura;         //!<  SV accuracy (URA index), not standardized
-    bool b_sv_do_not_use; //!<  health status (false:do not use / true:usable)
+    bool b_sv_do_not_use; //!<  Health status (false:do not use / true:usable)
-    double d_pos[3];      //!<  satellite position (m) (ECEF)
+    double d_pos[3];      //!<  Satellite position (m) (ECEF)
-    double d_vel[3];      //!<  satellite velocity (m/s) (ECEF)
+    double d_vel[3];      //!<  Satellite velocity (m/s) (ECEF)
-    double d_acc[3];      //!<  satellite acceleration (m/s^2) (ECEF)
+    double d_acc[3];      //!<  Satellite acceleration (m/s^2) (ECEF)
-    double d_af0;         //!<  satellite clock-offset (s)
+    double d_af0;         //!<  Satellite clock-offset (s)
-    double d_af1;     	  //!<  satellite drift (s/s)
+    double d_af1;     	  //!<  Satellite drift (s/s)
 };
--- a/src/core/system_parameters/sbas_ionospheric_correction.cc
+++ b/src/core/system_parameters/sbas_ionospheric_correction.cc
@@ -35,7 +35,6 @@
 #include <boost/serialization/map.hpp>
 #include <glog/log_severity.h>
 #include <glog/logging.h>
 #include "sbas_ionospheric_correction.h"
 enum V_Log_Level {EVENT = 2, // logs important events which don't occur every update() call
@@ -43,12 +42,11 @@ enum V_Log_Level {EVENT = 2, // logs important events which don't occur every up
                  MORE = 4};  // very detailed stuff
-void
+void Sbas_Ionosphere_Correction::print(std::ostream &out)
 Sbas_Ionosphere_Correction::print(std::ostream &out)
 {
    for(std::vector<Igp_Band>::const_iterator it_band = d_bands.begin(); it_band != d_bands.end(); ++it_band)
        {
-            int band = it_band-d_bands.begin();
+            int band = it_band - d_bands.begin();
            out << "<<I>> Band" <<  band << ":" << std::endl;
            for(std::vector<Igp>::const_iterator it_igp = it_band->d_igps.begin(); it_igp != it_band->d_igps.end(); ++it_igp)
                {
@@ -65,13 +63,25 @@ Sbas_Ionosphere_Correction::print(std::ostream &out)
        }
 }
-/*
+
- *  -receiver position (degree) is in terms of WGS84
+/* Applies SBAS ionosphric delay correction
- *  -azimuth is the angle of the satellite from the user<65>s location measured clockwise from north
+ * \param[out] delay        Slant ionospheric delay (L1) (m)
- *  -elevation is the angle of the satellite from the user's location measured with respect to the local-tangent-plane
+ * \param[out] var          Variance of ionospheric delay (m^2)
 * \param[in]  sample_stamp Sample stamp of observable on which the correction will be applied
 * \param[in]  longitude_d  Receiver's longitude in terms of WGS84 (degree)
 * \param[in]  latitude_d   Receiver's latitude in terms of WGS84 (degree)
 * \param[in]  azimuth_d    Satellite azimuth/elavation angle (rad). Azimuth is the angle of
 *                             the satellite from the user<65>s location measured clockwise from north
 * \param[in]  elevation_d  Elevation is the angle of the satellite from the user's location measured
 *                             with respect to the local-tangent-plane
 */
-bool Sbas_Ionosphere_Correction::apply(double sample_stamp, double latitude_d, double longitude_d,
+bool Sbas_Ionosphere_Correction::apply(double sample_stamp,
-		double azimut_d, double evaluation_d, double &delay, double &var)
+                                       double latitude_d,
                                       double longitude_d,
                                       double azimut_d,
                                       double elevation_d,
                                       double &delay,
                                       double &var)
 {
    const double GPS_PI = 3.1415926535898;  //!< Pi as defined in IS-GPS-200E
    int result;
@@ -83,9 +93,9 @@ bool Sbas_Ionosphere_Correction::apply(double sample_stamp, double latitude_d, d
    pos[1] = longitude_d * GPS_PI / 180.0;
    pos[2] = 0; // is not used by sbsioncorr, for ionocorrection is a fixed earth radius assumed
-    // convert satellite azimut and evaluation from degrees to rad , use topocent to obtain it in pvt block
+    // convert satellite azimut and elevation from degrees to rad , use topocent to obtain it in pvt block
    azel[0] = azimut_d * GPS_PI / 180.0;
-    azel[1] = evaluation_d * GPS_PI / 180.0;
+    azel[1] = elevation_d * GPS_PI / 180.0;
    result = sbsioncorr(sample_stamp, pos, azel, &delay, &var);
    return (bool)result;
@@ -134,25 +144,25 @@ void Sbas_Ionosphere_Correction::matmul(const char *tr, int n, int k, int m, dou
        const double *A, const double *B, double beta, double *C)
 {
    double d;
-    int i, j, x, f = tr[0]=='N' ? (tr[1]=='N'?1:2):(tr[1]=='N'?3:4);
+    int i, j, x, f = tr[0] == 'N' ? (tr[1] == 'N' ? 1 : 2) : (tr[1] == 'N' ? 3 : 4);
-    for (i=0; i<n; i++) for (j=0; j<k; j++)
+    for (i = 0; i < n; i++) for (j = 0; j < k; j++)
        {
            d = 0.0;
            switch (f)
            {
-            case 1: for (x=0; x<m; x++) d += A[i+x*n]*B[x+j*m]; break;
+            case 1: for (x = 0; x < m; x++) d += A[i + x*n]*B[x + j*m]; break;
-            case 2: for (x=0; x<m; x++) d += A[i+x*n]*B[j+x*k]; break;
+            case 2: for (x = 0; x < m; x++) d += A[i + x*n]*B[j + x*k]; break;
-            case 3: for (x=0; x<m; x++) d += A[x+i*m]*B[x+j*m]; break;
+            case 3: for (x = 0; x < m; x++) d += A[x + i*m]*B[x + j*m]; break;
-            case 4: for (x=0; x<m; x++) d += A[x+i*m]*B[j+x*k]; break;
+            case 4: for (x = 0; x < m; x++) d += A[x + i*m]*B[j + x*k]; break;
            }
            if (beta == 0.0)
                {
-                    C[i+j*n] = alpha*d;
+                    C[i + j*n] = alpha*d;
                }
            else
                {
-                    C[i+j*n] = alpha*d + beta*C[i+j*n];
+                    C[i + j*n] = alpha*d + beta*C[i + j*n];
                }
        }
 }
@@ -191,10 +201,7 @@ void Sbas_Ionosphere_Correction::ecef2enu(const double *pos, const double *r, do
 const double PI = 3.1415926535897932; /* pi */
-//const double D2R = (PI/180.0);        /* deg to rad */
+
 //const double R2D = (180.0/PI);        /* rad to deg */
 //const double MAXBAND = 10;            /* max SBAS band of IGP */
 //const double RE_WGS84 = 6378137.0;    /* earth semimajor axis (WGS84) (m) */
 /* satellite azimuth/elevation angle -------------------------------------------
@@ -214,7 +221,7 @@ double Sbas_Ionosphere_Correction::satazel(const double *pos, const double *e, d
    if (pos[2] > -RE_WGS84)
        {
            ecef2enu(pos, e, enu);
-        az = dot(enu ,enu, 2) < 1E-12 ? 0.0:atan2(enu[0], enu[1]);
+            az = dot(enu, enu, 2) < 1E-12 ? 0.0 : atan2(enu[0], enu[1]);
            if (az < 0.0) az += 2*PI;
            el = asin(enu[2]);
        }
@@ -252,10 +259,9 @@ double Sbas_Ionosphere_Correction::ionppp(const double *pos, const double *azel,
 {
    double cosaz, rp, ap, sinap, tanap;
    const double D2R = (PI/180.0);        /* deg to rad */
    //const double R2D = (180.0/PI);        /* rad to deg */
-    rp = re/(re+hion)*cos(azel[1]);
+    rp = re/(re + hion)*cos(azel[1]);
-    ap = PI/2.0-azel[1]-asin(rp);
+    ap = PI/2.0 - azel[1] - asin(rp);
    sinap = sin(ap);
    tanap = tan(ap);
    cosaz = cos(azel[0]);
@@ -291,7 +297,6 @@ void Sbas_Ionosphere_Correction::searchigp(const double *pos, const Igp **igp, d
    int i;
    int latp[2];
    int lonp[4];
    //const double D2R = (PI/180.0);        /* deg to rad */
    const double R2D = (180.0/PI);   /* rad to deg */
    double lat = pos[0]*R2D;
@@ -304,24 +309,24 @@ void Sbas_Ionosphere_Correction::searchigp(const double *pos, const Igp **igp, d
    if (-55.0 <= lat && lat < 55.0)
        {
            latp[0] = (int)floor(lat/5.0)*5;
-            latp[1] = latp[0]+5;
+            latp[1] = latp[0] + 5;
            lonp[0] = lonp[1] = (int)floor(lon/5.0)*5;
            lonp[2] = lonp[3] = lonp[0] + 5;
-            *x = (lon-lonp[0])/5.0;
+            *x = (lon - lonp[0])/5.0;
-            *y = (lat-latp[0])/5.0;
+            *y = (lat - latp[0])/5.0;
        }
    else
        {
            latp[0] = (int)floor((lat-5.0)/10.0)*10+5;
-            latp[1] = latp[0]+10;
+            latp[1] = latp[0] + 10;
            lonp[0] = lonp[1] = (int)floor(lon/10.0)*10;
-            lonp[2] = lonp[3] = lonp[0]+10;
+            lonp[2] = lonp[3] = lonp[0] + 10;
            *x = (lon - lonp[0])/10.0;
            *y = (lat - latp[0])/10.0;
            if (75.0 <= lat && lat < 85.0)
                {
                    lonp[1] = (int)floor(lon/90.0)*90;
-                    lonp[3] = lonp[1]+90;
+                    lonp[3] = lonp[1] + 90;
                }
            else if (-85.0 <= lat && lat < -75.0)
                {
@@ -330,15 +335,15 @@ void Sbas_Ionosphere_Correction::searchigp(const double *pos, const Igp **igp, d
                }
            else if (lat >= 85.0)
                {
-                    for (i=0; i<4; i++) lonp[i] = (int)floor(lon/90.0)*90;
+                    for (i = 0; i < 4; i++) lonp[i] = (int)floor(lon/90.0)*90;
                }
            else if (lat <- 85.0)
                {
-                    for (i=0; i<4 ;i++) lonp[i] = (int)floor((lon - 50.0)/90.0)*90 + 40;
+                    for (i = 0; i < 4; i++) lonp[i] = (int)floor((lon - 50.0)/90.0)*90 + 40;
                }
        }
-    for (i=0; i<4; i++) if (lonp[i] == 180) lonp[i] = -180;
+    for (i = 0; i < 4; i++) if (lonp[i] == 180) lonp[i] = -180;
    // find the correction data for the grid points in latp[] and lonp[]
    // iterate over bands
@@ -356,10 +361,10 @@ void Sbas_Ionosphere_Correction::searchigp(const double *pos, const Igp **igp, d
                            int lat = igp_it->d_latitude;
                            int lon = igp_it->d_longitude;
                            //ss << " lat=" << lat << " lon=" << lon;
-                            if (lat==latp[0] && lon==lonp[0]) igp[0] = igp_it.base();
+                            if (lat == latp[0] && lon == lonp[0]) igp[0] = igp_it.base();
-                            else if (lat==latp[1] && lon==lonp[1]) igp[1] = igp_it.base();
+                            else if (lat == latp[1] && lon == lonp[1]) igp[1] = igp_it.base();
-                            else if (lat==latp[0] && lon==lonp[2]) igp[2] = igp_it.base();
+                            else if (lat == latp[0] && lon == lonp[2]) igp[2] = igp_it.base();
-                            else if (lat==latp[1] && lon==lonp[3]) igp[3] = igp_it.base();
+                            else if (lat == latp[1] && lon == lonp[3]) igp[3] = igp_it.base();
                        }
                    //VLOG(MORE) << ss.str();
                }
@@ -395,7 +400,6 @@ int Sbas_Ionosphere_Correction::sbsioncorr(const double sample_stamp, const doub
    double t;
    double w[4] = {0};
    const Igp *igp[4] = {0}; /* {ws,wn,es,en} */
    //const double D2R = (PI/180.0);        /* deg to rad */
    const double R2D = (180.0/PI);        /* rad to deg */
    trace(4, "sbsioncorr: pos=%.3f %.3f azel=%.3f %.3f", pos[0]*R2D, pos[1]*R2D, azel[0]*R2D, azel[1]*R2D);
@@ -451,7 +455,7 @@ int Sbas_Ionosphere_Correction::sbsioncorr(const double sample_stamp, const doub
            trace(2, "no sbas iono correction: lat=%3.0f lon=%4.0f", posp[0]*R2D, posp[1]*R2D);
            return 0;
        }
-    for (int i=0; i<4; i++)
+    for (int i = 0; i <4 ; i++)
        {
            if (!igp[i]) continue;
            t = (sample_stamp - igp[i]->t0); // time diff between now and reception of the igp data in seconds
--- a/src/core/system_parameters/sbas_ionospheric_correction.h
+++ b/src/core/system_parameters/sbas_ionospheric_correction.h
@@ -40,7 +40,9 @@
 #include <string>
 #include <fstream>
-
+/*!
 * \brief Struct that represents a Ionospheric Grid Point (IGP)
 */
 struct Igp
 {
 public:
@@ -50,7 +52,6 @@ public:
    int d_longitude;
    int d_give;
    double d_delay;
 private:
    friend class boost::serialization::access;
    template<class Archive>
@@ -65,13 +66,14 @@ private:
 };
-
+/*!
 * \brief Struct that represents the band of a Ionospheric Grid Point (IGP)
 */
 struct Igp_Band
 {
    //int d_iodi;
    //int d_nigp;       // number if IGPs in this band (defined by IGP mask from MT18)
    std::vector<Igp> d_igps;
 private:
    friend class boost::serialization::access;
    template<class Archive>
@@ -81,50 +83,26 @@ private:
    }
 };
-// valid ionosphere correction for GPS
+
 /*!
 * \brief Class that handles valid SBAS ionospheric correction for GPS
 */
 class Sbas_Ionosphere_Correction
 {
 private:
-    //    /* type definitions ----------------------------------------------------------*/
+    /* Inner product of vectors
    //#define MAXBAND     10                  /* max SBAS band of IGP */
    //#define MAXNIGP     201                 /* max number of IGP in SBAS band */
    //
    //    typedef struct {        /* time struct */
    //        time_t time;        /* time (s) expressed by standard time_t */
    //        double sec;         /* fraction of second under 1 s */
    //    } gtime_t;
    //
    //    typedef struct {        /* SBAS ionospheric correction type */
    //            gtime_t t0;         /* correction time */
    //            short lat,lon;      /* latitude/longitude (deg) */
    //            short give;         /* GIVI+1 */
    //            float delay;        /* vertical delay estimate (m) */
    //        } sbsigp_t;
    //
    //    typedef struct {        /* SBAS ionospheric corrections type */
    //         int iodi;           /* IODI (issue of date ionos corr) */
    //         int nigp;           /* number of igps */
    //         sbsigp_t igp[MAXNIGP]; /* ionospheric correction */
    //     } sbsion_t;
    /*!
     * \brief Inner product of vectors
     * params : double *a,*b     I   vector a,b (n x 1)
     *          int    n         I   size of vector a,b
     * return : a'*b
     */
    double dot(const double *a, const double *b, int n);
-
+    /* Multiply matrix  */
    /*!
     * \brief  multiply matrix
     */
    void matmul(const char *tr, int n, int k, int m, double alpha,
            const double *A, const double *B, double beta, double *C);
-    /*!
+
-     * \brief EFEC to local coordinate transfomartion matrix
+    /* EFEC to local coordinate transfomartion matrix
     * Compute ecef to local coordinate transfomartion matrix
     * params : double *pos      I   geodetic position {lat,lon} (rad)
     *          double *E        O   ecef to local coord transformation matrix (3x3)
@@ -133,8 +111,7 @@ private:
     */
    void xyz2enu(const double *pos, double *E);
-    /*!
+    /* Transforms ECEF vector into local tangential coordinates
     * \brief Transforms ECEF vector into local tangential coordinates
     * params : double *pos      I   geodetic position {lat,lon} (rad)
     *          double *r        I   vector in ecef coordinate {x,y,z}
     *          double *e        O   vector in local tangental coordinate {e,n,u}
@@ -142,8 +119,7 @@ private:
     */
    void ecef2enu(const double *pos, const double *r, double *e);
-    /*!
+    /* Compute satellite azimuth/elevation angle
     * \brief Compute satellite azimuth/elevation angle
     * params : double *pos      I   geodetic position {lat,lon,h} (rad,m)
     *          double *e        I   receiver-to-satellilte unit vevtor (ecef)
     *          double *azel     IO  azimuth/elevation {az,el} (rad) (NULL: no output)
@@ -152,9 +128,7 @@ private:
     */
    double satazel(const double *pos, const double *e, double *azel);
-    /*!
+    /* Debug trace functions */
     * \brief debug trace functions
     */
    void trace(int level, const char *format, ...);
    /* time difference -------------------------------------------------------------
@@ -164,8 +138,7 @@ private:
     *-----------------------------------------------------------------------------*/
    //double timediff(gtime_t t1, gtime_t t2);
-    /*!
+    /* Compute Ionospheric Pierce Point (IPP) position and slant factor
     * \brief Compute ionospheric pierce point (ipp) position and slant factor
     * params : double *pos      I   receiver position {lat,lon,h} (rad,m)
     *          double *azel     I   azimuth/elevation angle {az,el} (rad)
     *          double re        I   earth radius (km)
@@ -178,18 +151,13 @@ private:
    double ionppp(const double *pos, const double *azel, double re,
            double hion, double *posp);
-    /*!
+    /* Variance of ionosphere correction (give = GIVEI + 1) */
     * \brief Variance of ionosphere correction (give=GIVEI+1)
     */
    double varicorr(int give);
-    /*!
+    /* Search igps */
     * \brief Search igps
     */
    void searchigp(const double *pos, const Igp **igp, double *x, double *y);
-    /*!
+    /* Compute sbas ionosphric delay correction
     * \brief Compute sbas ionosphric delay correction
     * params : long     sample_stamp    I   sample stamp of observable on which the correction will be applied
     *          sbsion_t *ion    I   ionospheric correction data (implicit)
     *          double   *pos    I   receiver position {lat,lon,height} (rad/m)
@@ -211,6 +179,20 @@ private:
 public:
    std::vector<Igp_Band> d_bands;
    void print(std::ostream &out);
    /*!
     * \brief Computes SBAS ionospheric delay correction.
     *
     * \param[out] delay        Slant ionospheric delay (L1) (m)
     * \param[out] var          Variance of ionospheric delay (m^2)
     * \param[in]  sample_stamp Sample stamp of observable on which the correction will be applied
     * \param[in]  longitude_d  Receiver's longitude in terms of WGS84 (degree)
     * \param[in]  latitude_d   Receiver's latitude in terms of WGS84 (degree)
     * \param[in]  azimuth_d    Satellite azimuth/elavation angle (rad). Azimuth is the angle of
     *                             the satellite from the user<65>s location measured clockwise from north
     * \param[in]  elevation_d  Elevation is the angle of the satellite from the user's location measured
     *                             with respect to the local-tangent-plane
     */
    bool apply(double sample_stamp, double latitude_d, double longitude_d,
            double azimut_d, double evaluation_d, double &delay, double &var);
--- a/src/core/system_parameters/sbas_satellite_correction.cc
+++ b/src/core/system_parameters/sbas_satellite_correction.cc
@@ -287,10 +287,10 @@ int Sbas_Satellite_Correction::sbssatcorr(double time_stamp, double *rs, double
        {
            return 0;
        }
-    for (i=0; i<3; i++) rs[i] += drs[i];
+    for (i = 0; i < 3; i++) rs[i] += drs[i];
    dts[0] += dclk + prc/CLIGHT;
-    trace(5,"sbssatcorr: sat=%2d drs=%6.3f %6.3f %6.3f dclk=%.3f %.3f var=%.3f",
+    trace(5, "sbssatcorr: sat=%2d drs=%6.3f %6.3f %6.3f dclk=%.3f %.3f var=%.3f",
-            d_prn,drs[0],drs[1],drs[2],dclk,prc/CLIGHT,*var);
+            d_prn, drs[0], drs[1], drs[2], dclk,prc/CLIGHT, *var);
    return 1;
 }
--- a/src/core/system_parameters/sbas_satellite_correction.h
+++ b/src/core/system_parameters/sbas_satellite_correction.h
@@ -44,19 +44,23 @@ struct Fast_Correction
    int d_tlat;
 };
 struct Long_Term_Correction
 {
-    double d_trx;     // time when message was received
+    double d_trx;     //!< Time when message was received
-    int i_tapp;       // time of applicability (only valid if vel=1, equals the sent t0)
+    int i_tapp;       //!< Time of applicability (only valid if vel=1, equals the sent t0)
-    int i_vel;        // use velocity corrections if vel=1
+    int i_vel;        //!< Use velocity corrections if vel=1
    int d_iode;
-    double d_dpos[3]; // position correction
+    double d_dpos[3]; //!< position correction
-    double d_dvel[3]; // velocity correction
+    double d_dvel[3]; //!< velocity correction
-    double d_daf0;    // clock offset correction
+    double d_daf0;    //!< clock offset correction
-    double d_daf1;    // clock drift correction
+    double d_daf1;    //!< clock drift correction
 };
-// valid long and fast term correction for one SV
+
 /*!
 * \brief Valid long and fast term SBAS corrections for one SV
 */
 class Sbas_Satellite_Correction
 {
 public:
@@ -70,7 +74,6 @@ public:
    int apply_long_term_sv_pos(double sample_stamp, double sv_pos[], double &var);
    int apply_long_term_sv_clk(double sample_stamp, double &dts, double &var);
    bool alarm();
 private:
    /* debug trace functions -----------------------------------------------------*/
    void trace(int level, const char *format, ...);
--- a/src/core/system_parameters/sbas_telemetry_data.cc
+++ b/src/core/system_parameters/sbas_telemetry_data.cc
@@ -45,42 +45,48 @@
 #define FLOW 3  // logs the function calls of block processing functions
 #define DETAIL 4
 Sbas_Telemetry_Data::Sbas_Telemetry_Data()
 {
-    fp_trace = nullptr;;     /* file pointer of trace */
+    fp_trace = nullptr; // file pointer of trace
-    level_trace = 0;       /* level of trace */
+    level_trace = 0;    // level of trace
-    tick_trace = 0; /* tick time at traceopen (ms) */
+    tick_trace = 0;     // tick time at traceopen (ms)
-    raw_msg_queue = NULL;
+    raw_msg_queue = nullptr;
-    iono_queue = NULL;
+    iono_queue = nullptr;
-    sat_corr_queue = NULL;
+    sat_corr_queue = nullptr;
-    ephemeris_queue = NULL;
+    ephemeris_queue = nullptr;
    d_nav.sbssat.iodp = -1; // make sure that in any case iodp is not equal to the received one
    prn_mask_changed();     // invalidate all satellite corrections
    for(size_t band = 0; band < sizeof(d_nav.sbsion)/sizeof(sbsion_t); band++)
        {
-            d_nav.sbsion[band].iodi = -1; // make sure that in any case iodi is not euqual to the received one
+            d_nav.sbsion[band].iodi = -1; // make sure that in any case iodi is not equal to the received one
            igp_mask_changed(band);
        }
 }
 void Sbas_Telemetry_Data::set_raw_msg_queue(concurrent_queue<Sbas_Raw_Msg> *raw_msg_queue)
 {
    this->raw_msg_queue = raw_msg_queue;
 }
 void Sbas_Telemetry_Data::set_iono_queue(concurrent_queue<Sbas_Ionosphere_Correction> *iono_queue)
 {
    this->iono_queue = iono_queue;
 }
 void Sbas_Telemetry_Data::set_sat_corr_queue(concurrent_queue<Sbas_Satellite_Correction> *sat_corr_queue)
 {
    this->sat_corr_queue = sat_corr_queue;
 }
 void Sbas_Telemetry_Data::set_ephemeris_queue(concurrent_queue<Sbas_Ephemeris> *ephemeris_queue)
 {
    this->ephemeris_queue = ephemeris_queue;
@@ -137,7 +143,7 @@ int Sbas_Telemetry_Data::update(Sbas_Raw_Msg sbas_raw_msg)
    case  7:
    case 24:
    case 25: updated_satellite_corrections(); break;
-    case 18: break; // new iono band mask recieved -> dont update iono corrections because delays are not
+    case 18: break; // new iono band mask received -> dont update iono corrections because delays are not
    case 26: received_iono_correction(); break;
    case  9: /*updated_sbas_ephemeris(sbas_raw_msg);*/ break;
@@ -145,20 +151,25 @@ int Sbas_Telemetry_Data::update(Sbas_Raw_Msg sbas_raw_msg)
    }
    // send it to raw message queue
-    if(raw_msg_queue != NULL) raw_msg_queue->push(sbas_raw_msg);
+    if(raw_msg_queue != nullptr) raw_msg_queue->push(sbas_raw_msg);
    return parsing_result;
 }
 unsigned int getbitu(const unsigned char *buff, int pos, int len);
 int getbits(const unsigned char *buff, int pos, int len);
 int Sbas_Telemetry_Data::decode_mt12(Sbas_Raw_Msg sbas_raw_msg)
 {
    const double rx_delay = 38000.0/300000.0; // estimated sbas signal geosat to ground signal travel time
    unsigned char * msg = sbas_raw_msg.get_msg().data();
    uint32_t gps_tow = getbitu(msg, 121, 20);
-    uint32_t gps_week = getbitu(msg, 141, 10)+1024; // consider last gps time week overflow
+    uint32_t gps_week = getbitu(msg, 141, 10) + 1024; // consider last gps time week overflow
    double gps_tow_rx = double(gps_tow) + rx_delay;
    mt12_time_ref = Sbas_Time_Relation(sbas_raw_msg.get_sample_stamp(), gps_week, gps_tow_rx);
    VLOG(FLOW) << "<<T>> extracted GPS time from MT12: gps_tow=" << gps_tow << " gps_week=" << gps_week;
@@ -170,13 +181,10 @@ int Sbas_Telemetry_Data::decode_mt12(Sbas_Raw_Msg sbas_raw_msg)
 void Sbas_Telemetry_Data::updated_sbas_ephemeris(Sbas_Raw_Msg msg)
 {
-    VLOG(FLOW) << "<<T>> updated_sbas_ephemeris():"<< std::endl;
+    VLOG(FLOW) << "<<T>> updated_sbas_ephemeris():" << std::endl;
    Sbas_Ephemeris seph;
    int satidx = msg.get_prn() - MINPRNSBS;
    seph_t seph_rtklib = d_nav.seph[satidx];
    // copy data
    seph.i_prn = msg.get_prn();
    seph.i_t0 = seph_rtklib.t0;
@@ -188,12 +196,12 @@ void Sbas_Telemetry_Data::updated_sbas_ephemeris(Sbas_Raw_Msg msg)
    memcpy(seph.d_acc, seph_rtklib.acc, sizeof(seph.d_acc));
    seph.d_af0 = seph_rtklib.af0;
    seph.d_af1 = seph_rtklib.af1;
-
+    // print ephemeris for debugging purposes
    std::stringstream ss;
    seph.print(ss);
    VLOG(FLOW) << ss.str();
-    if(ephemeris_queue != NULL) ephemeris_queue->push(seph);
+    if(ephemeris_queue != nullptr) ephemeris_queue->push(seph);
 }
@@ -234,7 +242,7 @@ void Sbas_Telemetry_Data::received_iono_correction()
    VLOG(EVENT) << ss.str();
    // send to SBAS ionospheric correction queue
-    if(iono_queue != NULL) iono_queue->push(iono_corr);
+    if(iono_queue != nullptr) iono_queue->push(iono_corr);
 }
@@ -327,7 +335,7 @@ void Sbas_Telemetry_Data::updated_satellite_corrections()
                    // check if fast corrections got updated
                    std::map<int, Fast_Correction>::iterator it_old_fcorr = emitted_fast_corrections.find(prn);
-                    if(it_old_fcorr == emitted_fast_corrections.end() || !are_equal<Fast_Correction>(fcorr, it_old_fcorr->second ))
+                    if(it_old_fcorr == emitted_fast_corrections.end() || !are_equal < Fast_Correction>(fcorr, it_old_fcorr->second ))
                        {
                            // got updated
                            ss << " fast_correction_updated=" << true;
@@ -339,7 +347,7 @@ void Sbas_Telemetry_Data::updated_satellite_corrections()
                    // check if long term corrections got updated
                    std::map<int, Long_Term_Correction>::iterator it_old_lcorr = emitted_long_term_corrections.find(prn);
-                    if(it_old_lcorr == emitted_long_term_corrections.end() || !are_equal<Long_Term_Correction>(lcorr, it_old_lcorr->second ))
+                    if(it_old_lcorr == emitted_long_term_corrections.end() || !are_equal < Long_Term_Correction>(lcorr, it_old_lcorr->second ))
                        {
                            // got updated
                            ss << " long_term_correction_updated=" << true;
@@ -368,7 +376,7 @@ void Sbas_Telemetry_Data::updated_satellite_corrections()
                    if(fast_correction_updated || long_term_correction_updated)
                        {
-                            if(sat_corr_queue != NULL) sat_corr_queue->push(sbas_satelite_correction);
+                            if(sat_corr_queue != nullptr) sat_corr_queue->push(sbas_satelite_correction);
                        }
                }
            VLOG(FLOW) << ss.str(); ss.str("");
@@ -390,6 +398,8 @@ void Sbas_Telemetry_Data::trace(int level, const char *format, ...)
    VLOG(FLOW) << "<<T>> " << std::string(str);
 }
 /* satellite system+prn/slot number to satellite number ------------------------
 * convert satellite system+prn/slot number to satellite number
 * args   : int    sys       I   satellite system (SYS_GPS,SYS_GLO,...)
@@ -434,7 +444,7 @@ unsigned int Sbas_Telemetry_Data::getbitu(const unsigned char *buff, int pos, in
 {
    unsigned int bits = 0;
    int i;
-    for (i=pos; i<pos+len; i++) bits = (bits<<1) + ((buff[i/8]>>(7-i%8))&1u);
+    for (i = pos; i < pos + len; i++) bits = (bits << 1) + ((buff[i/8] >> (7 - i % 8)) & 1u);
    return bits;
 }
@@ -442,8 +452,8 @@ unsigned int Sbas_Telemetry_Data::getbitu(const unsigned char *buff, int pos, in
 int Sbas_Telemetry_Data::getbits(const unsigned char *buff, int pos, int len)
 {
-    unsigned int bits=getbitu(buff,pos,len);
+    unsigned int bits = getbitu(buff,pos,len);
-    if (len<=0 || 32<=len || !(bits&(1u<<(len-1)))) return (int)bits;
+    if (len <= 0 || 32 <= len || !(bits & (1u << (len - 1)))) return (int)bits;
    return (int)(bits|(~0u << len)); /* extend sign */
 }
@@ -505,27 +515,27 @@ Sbas_Telemetry_Data::gtime_t Sbas_Telemetry_Data::gpst2time(int week, double sec
 /* sbas igp definition -------------------------------------------------------*/
 const short
-Sbas_Telemetry_Data::x1[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5,  0,  5, 10, 15, 20,
+Sbas_Telemetry_Data::x1[] = {-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5,  0,  5, 10, 15, 20,
                            25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
-Sbas_Telemetry_Data::x2[]={-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5,  0,  5, 10, 15, 20, 25, 30,
+Sbas_Telemetry_Data::x2[] = {-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5,  0,  5, 10, 15, 20, 25, 30,
                            35, 40, 45, 50, 55},
-Sbas_Telemetry_Data::x3[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5,  0,  5, 10, 15, 20,
+Sbas_Telemetry_Data::x3[] = {-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5,  0,  5, 10, 15, 20,
                            25, 30, 35, 40, 45, 50, 55, 65, 75},
-Sbas_Telemetry_Data::x4[]={-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5,  0,  5, 10, 15,
+Sbas_Telemetry_Data::x4[] = {-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5,  0,  5, 10, 15,
                            20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
-Sbas_Telemetry_Data::x5[]={-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115,
+Sbas_Telemetry_Data::x5[] = {-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115,
                           -110,-105,-100,- 95,- 90,- 85,- 80,- 75,- 70,- 65,- 60,- 55,- 50,- 45,
                           - 40,- 35,- 30,- 25,- 20,- 15,- 10,-  5,   0,   5,  10,  15,  20,  25,
                             30,  35,  40,  45,  50,  55,  60,  65,  70,  75,  80,  85,  90,  95,
                            100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
                            170, 175},
-Sbas_Telemetry_Data::x6[]={-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50,
+Sbas_Telemetry_Data::x6[] = {-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50,
                            -40, -30, -20, -10,   0,  10,  20,  30,  40,  50,  60,  70,  80,  90,
                            100, 110, 120, 130, 140, 150, 160, 170},
-Sbas_Telemetry_Data::x7[]={-180,-150,-120,- 90,- 60,- 30,   0,  30,  60,  90, 120, 150},
+Sbas_Telemetry_Data::x7[] = {-180,-150,-120,- 90,- 60,- 30,   0,  30,  60,  90, 120, 150},
-Sbas_Telemetry_Data::x8[]={-170,-140,-110,- 80,- 50,- 20,  10,  40,  70, 100, 130, 160};
+Sbas_Telemetry_Data::x8[] = {-170,-140,-110,- 80,- 50,- 20,  10,  40,  70, 100, 130, 160};
-const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband1[9][8]={ /* band 0-8 */
+const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband1[9][8] = { /* band 0-8 */
        {{-180,x1,  1, 28},{-175,x2, 29, 51},{-170,x3, 52, 78},{-165,x2, 79,101},
         {-160,x3,102,128},{-155,x2,129,151},{-150,x3,152,178},{-145,x2,179,201}},
        {{-140,x4,  1, 28},{-135,x2, 29, 51},{-130,x3, 52, 78},{-125,x2, 79,101},
@@ -548,7 +558,7 @@ const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband1[9][8]={ /*
-const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband2[2][5]={ /* band 9-10 */
+const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband2[2][5] = { /* band 9-10 */
        {{  60,x5,  1, 72},{  65,x6, 73,108},{  70,x6,109,144},{  75,x6,145,180},
         {  85,x7,181,192}},
        {{- 60,x5,  1, 72},{- 65,x6, 73,108},{- 70,x6,109,144},{- 75,x6,145,180},
@@ -562,20 +572,20 @@ int Sbas_Telemetry_Data::decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
    int i, n, sat;
    // see figure A-6: i corresponds to bit number (and for the GPS satellites is identically to the PRN), n to the PRN mask number
-    trace(4,"decode_sbstype1:");
+    trace(4, "decode_sbstype1:");
-    for (i=1, n=0; i<=210 && n<MAXSAT; i++)
+    for (i = 1, n = 0; i <= 210 && n < MAXSAT; i++)
        {
-            if (getbitu(msg->msg, 13+i, 1))
+            if (getbitu(msg->msg, 13 + i, 1))
                {
-                    if      (i <= 37) sat = satno(SYS_GPS, i);      /*   0- 37: gps */
+                    if      (i <= 37) sat = satno(SYS_GPS, i);         /*   0 - 37: gps */
-                    else if (i <= 61) sat = satno(SYS_GLO, i - 37); /*  38- 61: glonass */
+                    else if (i <= 61) sat = satno(SYS_GLO, i - 37);    /*  38 - 61: glonass */
-                    else if (i <= 119) sat = 0;                     /*  62-119: future gnss */
+                    else if (i <= 119) sat = 0;                        /*  62 - 119: future gnss */
-                    else if (i <= 138) sat = satno(SYS_SBS, i);     /* 120-138: geo/waas */
+                    else if (i <= 138) sat = satno(SYS_SBS, i);        /* 120 - 138: geo/waas */
-                    else if (i <= 182) sat = 0;                     /* 139-182: reserved */
+                    else if (i <= 182) sat = 0;                        /* 139 - 182: reserved */
-                    else if (i <= 192) sat = satno(SYS_SBS, i + 10);   /* 183-192: qzss ref [2] */
+                    else if (i <= 192) sat = satno(SYS_SBS, i + 10);   /* 183 - 192: qzss ref [2] */
-                    else if (i <= 202) sat = satno(SYS_QZS, i);     /* 193-202: qzss ref [2] */
+                    else if (i <= 202) sat = satno(SYS_QZS, i);        /* 193 - 202: qzss ref [2] */
-                    else sat = 0;                                   /* 203-   : reserved */
+                    else sat = 0;                                      /* 203 -   : reserved */
                    sbssat->sat[n++].sat = sat;
                }
        }
@@ -749,8 +759,8 @@ int Sbas_Telemetry_Data::decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion)
    for (i=1, n=0; i <= 201; i++)
        {
-            if (!getbitu(msg->msg, 23+i, 1)) continue;
+            if (!getbitu(msg->msg, 23 + i, 1)) continue;
-            for (j=0; j<m; j++)
+            for (j = 0; j < m; j++)
                {
                    if (i < p[j].bits || p[j].bite < i) continue;
                    sbsion[band].igp[n].lat = band <= 8 ? p[j].y[i - p[j].bits] : p[j].x;
@@ -778,7 +788,7 @@ int Sbas_Telemetry_Data::decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *
    sbssat->sat[n - 1].lcorr.iode = getbitu(msg->msg, p + 6, 8);
-    for (i=0; i<3; i++)
+    for (i = 0; i < 3; i++)
        {
            sbssat->sat[n - 1].lcorr.dpos[i] = getbits(msg->msg, p + 14 + 9*i, 9)*0.125;
            sbssat->sat[n - 1].lcorr.dvel[i] = 0.0;
@@ -804,7 +814,7 @@ int Sbas_Telemetry_Data::decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *
    trace(4,"decode_longcorr1:");
-    if (n==0 || n>MAXSAT) return 0;
+    if (n == 0 || n > MAXSAT) return 0;
    sbssat->sat[n - 1].lcorr.iode = getbitu(msg->msg, p + 6, 8);
@@ -887,11 +897,12 @@ int Sbas_Telemetry_Data::decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat)
 int Sbas_Telemetry_Data::decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat)
 {
    trace(4,"decode_sbstype25:");
    return decode_longcorrh(msg, 14, sbssat) && decode_longcorrh(msg, 120, sbssat);
 }
 /* decode type 26: ionospheric delay corrections -----------------------------*/
 int Sbas_Telemetry_Data::decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion)
 {
@@ -903,7 +914,7 @@ int Sbas_Telemetry_Data::decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion)
    block = getbitu(msg->msg, 18, 4);
-    for (i=0; i<15; i++)
+    for (i = 0; i < 15; i++)
        {
            if ((j = block*15 + i) >= sbsion[band].nigp) continue;
            give = getbitu(msg->msg, 2 + i*13 + 9, 4);
@@ -915,7 +926,6 @@ int Sbas_Telemetry_Data::decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion)
            sbsion[band].igp[j].give = give;
            if(sbsion[band].igp[j].give > 15) sbsion[band].igp[j].give = 15; // give is not higher than 15, but to be sure
        }
    trace(5, "decode_sbstype26: band=%d block=%d", band, block);
    return 1;
--- a/src/core/system_parameters/sbas_telemetry_data.h
+++ b/src/core/system_parameters/sbas_telemetry_data.h
@@ -39,40 +39,34 @@
 #include <bitset>
 #include "boost/assign.hpp"
 #include <cmath>
 //#include "sbas_satellite_correction.h"
 //#include "sbas_ionospheric_correction.h"
 #include "concurrent_queue.h"
 #include "sbas_time.h"
 class Sbas_Ionosphere_Correction;
 class Sbas_Satellite_Correction;
 struct Fast_Correction;
 struct Long_Term_Correction;
 class Sbas_Ephemeris;
-/*
+
 /*!
 * \brief Represents a raw SBAS message of 250cbits + 6 bits padding
 *  (8b preamble + 6b message type + 212b data + 24b CRC + 6b zero padding)
 */
 class Sbas_Raw_Msg
 {
 public:
-    Sbas_Raw_Msg(){rx_time = Sbas_Time(0); i_prn = -1;};
+    Sbas_Raw_Msg(){ rx_time = Sbas_Time(0); i_prn = -1; };
    //Sbas_Raw_Msg(int week, int tow, int prn, const std::vector<unsigned char> msg) : d_week(week), d_tow(tow), d_prn(prn), d_msg(msg) {}
    Sbas_Raw_Msg(double sample_stamp, int prn, const std::vector<unsigned char> msg) : rx_time(sample_stamp), i_prn(prn), d_msg(msg) {}
-    //int get_week() {return d_week;}
+    double get_sample_stamp() { return rx_time.get_time_stamp(); } //!< Time of reception sample stamp (first sample of preample)
    //int get_tow() {return d_tow;}
    double get_sample_stamp() {return rx_time.get_time_stamp();} // time of reception sample stamp (first sample of preample)
    void relate(Sbas_Time_Relation time_relation)
    {
        rx_time.relate(time_relation);
    }
-    Sbas_Time get_rx_time_obj(){return rx_time;}
+    Sbas_Time get_rx_time_obj(){ return rx_time; }
-    int get_prn() {return i_prn;}
+    int get_prn() { return i_prn; }
-    std::vector<unsigned char> get_msg() const {return d_msg;}
+    std::vector<unsigned char> get_msg() const { return d_msg; }
    int get_preamble()
    {
        return d_msg[0];
@@ -88,10 +82,7 @@ public:
        unsigned char crc_first_byte = (d_msg[28] << 2) && (d_msg[29] >> 6);
        return ((unsigned int)(crc_first_byte) << 16) && ((unsigned int)(crc_middle_byte) << 8) && crc_last_byte;
    }
 private:
    //int d_week; /* reception time */
    //int d_tow;  /* reception time */
    Sbas_Time rx_time;
    int i_prn;                        /* SBAS satellite PRN number */
    std::vector<unsigned char> d_msg; /* SBAS message (226 bit) padded by 0 */
@@ -411,6 +402,7 @@ private:
     * return : satellite number (0:error)
     *-----------------------------------------------------------------------------*/
    int satno(int sys, int prn);
    /* extract unsigned/signed bits ------------------------------------------------
     * extract unsigned/signed bits from byte data
     * args   : unsigned char *buff I byte data
@@ -419,6 +411,7 @@ private:
     * return : extracted unsigned/signed bits
     *-----------------------------------------------------------------------------*/
    unsigned int getbitu(const unsigned char *buff, int pos, int len);
    int getbits(const unsigned char *buff, int pos, int len);
    /* convert calendar day/time to time -------------------------------------------
@@ -428,12 +421,14 @@ private:
     * notes  : proper in 1970-2037 or 1970-2099 (64bit time_t)
     *-----------------------------------------------------------------------------*/
    gtime_t epoch2time(const double *ep);
    /* time difference -------------------------------------------------------------
     * difference between gtime_t structs
     * args   : gtime_t t1,t2    I   gtime_t structs
     * return : time difference (t1-t2) (s)
     *-----------------------------------------------------------------------------*/
    double timediff(gtime_t t1, gtime_t t2);
    /* gps time to time ------------------------------------------------------------
     * convert week and tow in gps time to gtime_t struct
     * args   : int    week      I   week number in gps time
--- a/src/core/system_parameters/sbas_time.h
+++ b/src/core/system_parameters/sbas_time.h
@@ -54,7 +54,6 @@ public:
        i_gps_week = gps_week;
        d_delta_sec = gps_sec - time_stamp_sec;
        b_valid = true;
        VLOG(FLOW) << "<<R>> new time relation: i_gps_week=" << i_gps_week << " d_delta_sec=" << d_delta_sec;
    }