Merge branch 'next' into vtl

.github/workflows/citation.yml

@@ -19,7 +19,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Validate CITATION.cff
         uses: dieghernan/cff-validator@main
       # Upload artifact in case of failure

.github/workflows/gnss-sdr_archs.yml

@@ -40,8 +40,8 @@ jobs:
           #   compiler: { name: g++-12, cc: gcc-12, cxx: g++-12 }
 
     steps:
-      - uses: actions/checkout@v3.1.0
+      - uses: actions/checkout@v4
-      - uses: uraimo/run-on-arch-action@v2.5.0
+      - uses: uraimo/run-on-arch-action@v2.6.0
         name: Test in non-x86 container
         continue-on-error: ${{ contains(fromJson('["ppc64le", "s390x"]'), matrix.arch) }}
         id: test

.github/workflows/main.yml

@@ -15,7 +15,7 @@ jobs:
   build-ubuntu:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           sudo apt-get update -y
@@ -39,14 +39,23 @@ jobs:
   build-macos:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           brew update
-          brew install --overwrite python@3.10 python@3.11
+          rm /usr/local/bin/2to3 || true
-          python3.11 -m pip install mako
+          rm /usr/local/bin/idle3 || true
-          brew install ninja pkg-config hdf5 automake armadillo lapack \
+          rm /usr/local/bin/pydoc3 || true
+          rm /usr/local/bin/python3 || true
+          rm /usr/local/bin/python3-config || true
+          rm /usr/local/bin/2to3-3.1* || true
+          rm /usr/local/bin/idle3.1* || true
+          rm /usr/local/bin/pydoc3.1* || true
+          rm /usr/local/bin/python3.1* || true
+          export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
+          brew install ninja hdf5 automake armadillo lapack libmatio \
           gflags glog gnuradio log4cpp openssl pugixml protobuf
+          pip3 install mako
       - name: configure
         run: cd build && cmake -GNinja ..
       - name: build
@@ -59,14 +68,23 @@ jobs:
   build-macos-xcode:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           brew update
-          brew install --overwrite python@3.10 python@3.11
+          rm /usr/local/bin/2to3 || true
-          python3.11 -m pip install mako
+          rm /usr/local/bin/idle3 || true
-          brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog \
+          rm /usr/local/bin/pydoc3 || true
-          gnuradio log4cpp openssl pugixml protobuf
+          rm /usr/local/bin/python3 || true
+          rm /usr/local/bin/python3-config || true
+          rm /usr/local/bin/2to3-3.1* || true
+          rm /usr/local/bin/idle3.1* || true
+          rm /usr/local/bin/pydoc3.1* || true
+          rm /usr/local/bin/python3.1* || true
+          export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
+          brew install ninja pkg-config hdf5 automake armadillo lapack libmatio \
+          gflags glog gnuradio log4cpp openssl pugixml protobuf
+          pip3 install mako
       - name: configure
         run: cd build && cmake -GXcode ..
       - name: build
@@ -87,7 +105,7 @@ jobs:
   clang-format:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: run clang-format
         uses: jidicula/clang-format-action@v4.11.0
         with:
@@ -98,14 +116,23 @@ jobs:
   clang-tidy:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           brew update
-          brew install --overwrite python@3.10 python@3.11
+          rm /usr/local/bin/2to3 || true
-          python3.11 -m pip install mako
+          rm /usr/local/bin/idle3 || true
+          rm /usr/local/bin/pydoc3 || true
+          rm /usr/local/bin/python3 || true
+          rm /usr/local/bin/python3-config || true
+          rm /usr/local/bin/2to3-3.1* || true
+          rm /usr/local/bin/idle3.1* || true
+          rm /usr/local/bin/pydoc3.1* || true
+          rm /usr/local/bin/python3.1* || true
+          export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
           brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio \
           log4cpp openssl pugixml protobuf
+          pip3 install mako
           ln -s $(brew --prefix llvm)/bin/clang-tidy /usr/local/bin
           ln -s $(brew --prefix llvm)/bin/clang-apply-replacements /usr/local/bin
           ln -s $(brew --prefix llvm)/bin/run-clang-tidy /usr/local/bin
@@ -123,7 +150,7 @@ jobs:
   cpplint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo apt-get install python3-pip && sudo pip3 install cpplint
       - name: run checks
@@ -144,7 +171,7 @@ jobs:
   prettier-markdown:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo npm install --global prettier
       - name: check markdown
@@ -153,7 +180,7 @@ jobs:
   cmakelint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           sudo python -m pip install --upgrade pip
@@ -164,8 +191,10 @@ jobs:
   volk-gnsssdr-windows:
     runs-on: windows-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: actions/setup-python@v4
+        with:
+          python-version: '3.12'
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
@@ -186,7 +215,7 @@ jobs:
   volk-gnsssdr-ubuntu:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo apt install python3-mako liborc-dev
       - name: configure
@@ -201,7 +230,7 @@ jobs:
   volk-gnsssdr-macos:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: pip3 install mako
       - name: configure
@@ -214,7 +243,7 @@ jobs:
   volk-gnsssdr-macos-xcode:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: pip3 install mako
       - name: configure
@@ -229,7 +258,7 @@ jobs:
   shellcheck:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo apt install shellcheck
       - name: check scripts
@@ -238,7 +267,7 @@ jobs:
   REUSE-compliance:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Check REUSE compliance
         uses: docker://fsfe/reuse
         with:

.github/workflows/volk_gnsssdr_android.yml

@@ -28,7 +28,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Update repositories
         run: sudo apt update
       - name: Install dependencies

.github/workflows/volk_gnsssdr_archs.yml

@@ -44,8 +44,8 @@ jobs:
             compiler: { name: g++-12, cc: gcc-12, cxx: g++-12 }
 
     steps:
-      - uses: actions/checkout@v3.1.0
+      - uses: actions/checkout@v4
-      - uses: uraimo/run-on-arch-action@v2.5.0
+      - uses: uraimo/run-on-arch-action@v2.6.0
         name: Build in non-x86 container
         # continue-on-error: ${{ contains(fromJson('["ppc64le", "s390x"]'), matrix.arch) }}
         id: build
@@ -71,7 +71,6 @@ jobs:
             cmake ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/
             echo "Build with $(nproc) thread(s)"
             make -j$(nproc)
-            ./cpu_features/list_cpu_features
             ./apps/volk_gnsssdr-config-info --alignment
             ./apps/volk_gnsssdr-config-info --avail-machines
             ./apps/volk_gnsssdr-config-info --all-machines

CMakeLists.txt

@@ -1,7 +1,7 @@
 # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
 # This file is part of GNSS-SDR.
 #
-# SPDX-FileCopyrightText: 2010-2023 C. Fernandez-Prades cfernandez(at)cttc.es
+# SPDX-FileCopyrightText: 2010-2024 C. Fernandez-Prades cfernandez(at)cttc.es
 # SPDX-License-Identifier: BSD-3-Clause
 
 ################################################################################
@@ -16,7 +16,7 @@ endif()
 # Build type can still be overridden by setting -DCMAKE_BUILD_TYPE=
 set(CMAKE_BUILD_TYPE "Release" CACHE STRING "")
 
-cmake_minimum_required(VERSION 2.8.12...3.26)
+cmake_minimum_required(VERSION 2.8.12...3.28)
 project(gnss-sdr CXX C)
 
 set(GNSSSDR_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}) # Allows to be a sub-project
@@ -335,16 +335,16 @@ set(GNSSSDR_PYTHON3_MIN_VERSION "3.4")
 ################################################################################
 # Versions to download and build (but not to install system-wide) if not found
 ################################################################################
-set(GNSSSDR_ARMADILLO_LOCAL_VERSION "12.2.x")
+set(GNSSSDR_ARMADILLO_LOCAL_VERSION "12.6.x")
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.6.0")
-set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.23")
+set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.26")
-set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "22.4")
+set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "25.0")
-set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.13")
+set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.14")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.13.0")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GNSSTK_LOCAL_VERSION "14.0.0")
-set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.8.1")
+set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.8.3")
 set(GNSSSDR_MATHJAX_EXTERNAL_VERSION "2.7.7")
 
 # Downgrade versions if requirements are not met
@@ -361,6 +361,13 @@ if(CMAKE_VERSION VERSION_LESS "3.0.2")
     set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.4")    # Fix for Ubuntu 14.04
 endif()
 
+if(CMAKE_VERSION VERSION_LESS "3.5")
+    set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.13")
+endif()
+if(CMAKE_VERSION VERSION_LESS "3.4")
+    set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.10")
+endif()
+
 if(CMAKE_CROSSCOMPILING OR CMAKE_VERSION VERSION_LESS "3.13")
     set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "21.12")
 endif()
@@ -904,6 +911,11 @@ if((Boost_VERSION_STRING VERSION_GREATER 1.71) AND (Boost_VERSION_STRING VERSION
     endif()
 endif()
 
+# Workaround for macOS Sonoma
+if((CMAKE_CXX_STANDARD EQUAL 17) AND ((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_GREATER "22.99")))
+    add_definitions(-D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION=1)
+endif()
+
 # Fix for Boost Asio < 1.70 when using Clang in macOS
 if(Boost_VERSION_STRING VERSION_LESS 1.70.0)
     # Check if we have std::string_view
@@ -1109,7 +1121,7 @@ if(NOT VOLKGNSSSDR_FOUND)
         endif()
     endif()
 
-    if(PYTHONINTERP_FOUND)
+    if(CMAKE_VERSION VERSION_LESS 3.27 AND PYTHONINTERP_FOUND)
         set_package_properties(PythonInterp PROPERTIES
             URL "https://www.python.org/"
             DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: v${PYTHON_VERSION_STRING})"
@@ -1201,8 +1213,14 @@ if(NOT VOLKGNSSSDR_FOUND)
     endif()
     include(GNUInstallDirs)
     set(SUPPORTED_CPU_FEATURES_ARCH FALSE)
-    if(CMAKE_SYSTEM_PROCESSOR MATCHES
+    if(CMAKE_SYSTEM_PROCESSOR MATCHES "^mips" OR
-        "(^mips)|(^arm)|(^aarch64)|(x86_64)|(AMD64|amd64)|(^i.86$)|(^powerpc)|(^ppc)|(^s390x)|^riscv")
+    CMAKE_SYSTEM_PROCESSOR MATCHES "(^aarch64)|(^arm64)|(^ARM64)" OR
+    CMAKE_SYSTEM_PROCESSOR MATCHES "^arm" OR
+    CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(x86_64)|(AMD64|amd64)|(^i.86$)" OR
+    CMAKE_SYSTEM_PROCESSOR MATCHES "^(powerpc|ppc)" OR
+    CMAKE_SYSTEM_PROCESSOR MATCHES "^(s390x)" OR
+    CMAKE_SYSTEM_PROCESSOR MATCHES "^riscv" OR
+    CMAKE_SYSTEM_PROCESSOR MATCHES "^loongarch")
         set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
     endif()
     if(${CMAKE_INSTALL_LIBDIR} MATCHES lib64)
@@ -1241,14 +1259,14 @@ if(NOT VOLKGNSSSDR_FOUND)
                 set_package_properties(CPUFEATURES PROPERTIES
                     DESCRIPTION "A cross platform C99 library to get CPU features at runtime (version: ${CPUFEATURES_VERSION})"
                 )
-                if((CMAKE_SYSTEM_PROCESSOR MATCHES "(^s390x)|^riscv") AND (CPUFEATURES_VERSION VERSION_LESS "0.8.0")) # detect cpu_features without s390x / riscv support
+                if((CMAKE_SYSTEM_PROCESSOR MATCHES "(^s390x)|(^riscv)|(^loongarch)") AND (CPUFEATURES_VERSION VERSION_LESS "0.8.0")) # detect cpu_features without s390x / riscv support
                     set(ENABLE_CPUFEATURES OFF)
                 endif()
             else()
                 set_package_properties(CPUFEATURES PROPERTIES
                     DESCRIPTION "A cross platform C99 library to get CPU features at runtime"
                 )
-                if(DEFINED VOLK_VERSION AND VOLK_VERSION VERSION_GREATER "2.3") # avoid clash with volk's cpufeatures.
+                if((DEFINED VOLK_VERSION AND VOLK_VERSION VERSION_GREATER "2.3") OR (CMAKE_VERSION VERSION_LESS "3.13")) # avoid clash with volk's cpufeatures.
                     set(ENABLE_CPUFEATURES OFF)
                 else()
                     set_package_properties(CPUFEATURES PROPERTIES
@@ -1810,7 +1828,7 @@ endif()
 # Check that BLAS (Basic Linear Algebra Subprograms) is found in the system
 # See https://www.netlib.org/blas/
 ################################################################################
-if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+if((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_LESS "23"))
     # Avoid using the implementation that comes with the Accelerate framework
     include(AvoidAccelerate)
 else()
@@ -1857,7 +1875,7 @@ endif()
 # Check that LAPACK (Linear Algebra PACKage) is found in the system
 # See https://www.netlib.org/lapack/
 ################################################################################
-if(NOT (${CMAKE_SYSTEM_NAME} MATCHES "Darwin"))
+if(NOT((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_LESS "23")))
     find_package(LAPACK)
     set_package_properties(LAPACK PROPERTIES
         URL "https://www.netlib.org/lapack/"
@@ -1868,13 +1886,15 @@ if(NOT (${CMAKE_SYSTEM_NAME} MATCHES "Darwin"))
 endif()
 if(NOT LAPACK_FOUND)
     message(" The LAPACK library has not been found.")
-    message(" You can try to install it by typing:")
+    if(LINUX_DISTRIBUTION)
-    if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
+        message(" You can try to install it by typing:")
-        message(" sudo yum install lapack-devel")
+        if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
-    elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
+            message(" sudo yum install lapack-devel")
-        message(" sudo zypper install lapack-devel")
+        elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
-    else()
+            message(" sudo zypper install lapack-devel")
-        message(" sudo apt-get install liblapack-dev")
+        else()
+            message(" sudo apt-get install liblapack-dev")
+        endif()
     endif()
     message(FATAL_ERROR "LAPACK is required to build gnss-sdr")
 endif()
@@ -2041,7 +2061,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
         IMPORTED_LOCATION_RELWITHDEBINFO ${ARMADILLO_STATIC_LIBRARY}
         IMPORTED_LOCATION_MINSIZEREL ${ARMADILLO_STATIC_LIBRARY}
         INTERFACE_INCLUDE_DIRECTORIES ${GNSSSDR_BINARY_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include
-        INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${ARMADILLO_STATIC_LIBRARY}
+        INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES};${LAPACK_LIBRARIES};${GFORTRAN};${ARMADILLO_STATIC_LIBRARY}"
     )
     if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
         set_target_properties(Armadillo::armadillo PROPERTIES
@@ -2049,7 +2069,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
             IMPORTED_LOCATION_RELEASE ${binary_dir}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
             IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
             IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES};${LAPACK_LIBRARIES};${GFORTRAN};${binary_dir}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
         )
     endif()
     set_package_properties(Armadillo PROPERTIES

README.md

@@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
 )
 
 [comment]: # (
-SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+SPDX-FileCopyrightText: 2011-2024 Carles Fernandez-Prades <carles.fernandez@cttc.es>
 )
 <!-- prettier-ignore-end -->
 
@@ -799,7 +799,7 @@ Of course, you will also need a GPU that
 ## macOS
 
 GNSS-SDR can be built on macOS (or the former Mac OS X), starting from 10.9
-(Mavericks) and including 11 (Big Sur). If you still have not installed
+(Mavericks) and including 14 (Sonoma). If you still have not installed
 [Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App
 Store (it's free). You will also need the Xcode Command Line Tools, which do not
 come by default in macOS versions older than Big Sur. If you are using an older
@@ -830,12 +830,19 @@ In a terminal, type:
 ```
 $ sudo port selfupdate
 $ sudo port upgrade outdated
-$ sudo port install armadillo cmake gnuradio gnutls lapack libad9361-iio libiio \
+$ sudo port install armadillo cmake pkgconfig protobuf3-cpp pugixml gnutls
-    matio pkgconfig protobuf3-cpp pugixml google-glog +gflags
+$ sudo port install gnuradio +uhd +grc +zeromq
-$ sudo port install py37-mako
+$ sudo port install boost matio libad9361-iio libiio google-glog +gflags
+$ sudo port install py311-mako
 $ sudo port install doxygen +docs
 ```
 
+For macOS versions older than Sonoma, you will also need LAPACK:
+
+```
+$ sudo port install lapack
+```
+
 You also might need to activate a Python installation. The list of installed
 versions can be retrieved with:
 
@@ -846,7 +853,7 @@ $ port select --list python
 and you can activate a certain version by typing:
 
 ```
-$ sudo port select --set python python37
+$ sudo port select --set python python311
 ```
 
 ### Homebrew
@@ -871,13 +878,19 @@ Install the required dependencies:
 
 ```
 $ brew update && brew upgrade
-$ brew install armadillo cmake hdf5 gflags glog gnuradio lapack libmatio log4cpp \
+$ brew install armadillo cmake hdf5 gflags glog gnuradio libmatio log4cpp \
     openssl pkg-config protobuf pugixml
 $ pip3 install mako
 $ brew install --cask mactex  # when completed, restart Terminal
 $ brew install graphviz doxygen
 ```
 
+For macOS versions older than Sonoma, you will also need LAPACK:
+
+```
+$ brew install lapack
+```
+
 ### Other package managers
 
 GNU Radio and other dependencies can also be installed using other package

cmake/Modules/AvoidAccelerate.cmake

@@ -27,6 +27,7 @@ find_library(BLAS_LIBRARIES
         /opt/local/lib/lapack
         /opt/local/lib/
         /usr/local/opt/lapack/lib
+        /opt/homebrew/opt/lapack/lib
     NO_DEFAULT_PATH
     NO_SYSTEM_ENVIRONMENT_PATH
     NO_CMAKE_ENVIRONMENT_PATH
@@ -47,6 +48,7 @@ find_library(LAPACK_LIBRARIES
         ${BLAS_ROOT_USER_DEFINED}/lapack
         /opt/local/lib/lapack
         /usr/local/opt/lapack/lib
+        /opt/homebrew/opt/lapack/lib
     NO_DEFAULT_PATH
     NO_SYSTEM_ENVIRONMENT_PATH
     NO_CMAKE_ENVIRONMENT_PATH

cmake/Modules/BuildProtobuf.cmake

@@ -13,7 +13,7 @@
 
 
 if(NOT GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION)
-    set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "22.4")
+    set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "25.0")
 endif()
 
 if(NOT GNSSSDR_BINARY_DIR)

cmake/Modules/FindGFLAGS.cmake

@@ -44,6 +44,7 @@ if(APPLE)
             ${GFLAGS_ROOT_USER_PROVIDED}/lib
             /usr/local/lib
             /opt/local/lib
+            /opt/homebrew/opt/gflags/lib
     )
 else()
     find_path(GFlags_ROOT_DIR
@@ -84,6 +85,7 @@ else()
 endif()
 
 if(GFlags_ROOT_DIR)
+    unset(GFlags_INCLUDE_DIRS CACHE)
     # We are testing only a couple of files in the include directories
     find_path(GFlags_INCLUDE_DIRS
         gflags/gflags.h
@@ -93,6 +95,7 @@ if(GFlags_ROOT_DIR)
             /usr/include
             /usr/local/include
             /opt/local/include
+            /opt/homebrew/opt/gflags/include
     )
 
     # Find the libraries

cmake/Modules/FindGFORTRAN.cmake

@@ -20,7 +20,7 @@ if(DEFINED ENV{GFORTRAN_ROOT})
     )
 endif()
 
-set(GCC_MAJOR_SERIES 13 12 11 10 9 8 7 6 5)
+set(GCC_MAJOR_SERIES 14 13 12 11 10 9 8 7 6 5)
 set(GCC4_SERIES 4.9.1 4.9 4.8.3 4.8.1 4.7.2 4.7 4.8.2 4.8 4.7 4.6 4.5 4.4.4 4.4)
 set(GCC_SERIES ${GCC_MAJOR_SERIES} ${GCC4_SERIES})
 

cmake/Modules/FindGLOG.cmake

@@ -109,6 +109,7 @@ else()
             /usr/include/glog
             /usr/local/include/glog
             /opt/local/include/glog   # default location in Macports
+            /opt/homebrew/opt/glog/include/glog
             ${GLOG_ROOT}/include/glog
     )
 endif()

cmake/Modules/FindGNURADIO.cmake

@@ -406,7 +406,7 @@ if(GNURADIO_RUNTIME_INCLUDE_DIRS)
             if("#include <log4cpp/Category.hh>" STREQUAL "${_file_line}")
                 set(_uses_log4cpp TRUE)
             endif()
-            if("#include <spdlog/common.h>" STREQUAL "${_file_line}")
+            if("#include <spdlog/spdlog.h>" STREQUAL "${_file_line}")
                 set(_uses_spdlog TRUE)
             endif()
         endforeach()

cmake/Modules/FindGOOGLETEST.cmake

@@ -47,6 +47,7 @@ find_path(LIBGTEST_DEV_DIR
         /usr/include/gtest
         /usr/local/src/googletest/googletest
         /opt/local/src/gtest-1.7.0
+        /opt/homebrew/opt/googletest/include/googletest/googletest
 )
 
 find_path(GTEST_INCLUDE_DIRS
@@ -57,6 +58,7 @@ find_path(GTEST_INCLUDE_DIRS
         /usr/include
         /usr/local/include
         /opt/local/src/gtest-1.7.0/include
+        /opt/homebrew/opt/googletest/include
 )
 
 include(FindPackageHandleStandardArgs)

cmake/Modules/GnsssdrBuildTypes.cmake

@@ -191,9 +191,9 @@ endif()
 # NOTE: This is not defined on Windows systems.
 ########################################################################
 if(NOT WIN32)
-  set(CMAKE_CXX_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+  set(CMAKE_CXX_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fsanitize=undefined -fno-omit-frame-pointer" CACHE STRING
     "Flags used by the C++ compiler during Address Sanitized builds." FORCE)
-  set(CMAKE_C_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+  set(CMAKE_C_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fsanitize=undefined -fno-omit-frame-pointer" CACHE STRING
     "Flags used by the C compiler during Address Sanitized builds." FORCE)
   set(CMAKE_EXE_LINKER_FLAGS_ASAN
     "-W" CACHE STRING

cmake/Modules/RemoveDuplicates.cmake

@@ -0,0 +1,22 @@
+# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+# This file is part of GNSS-SDR.
+#
+# SPDX-FileCopyrightText: 2024 C. Fernandez-Prades cfernandez(at)cttc.es
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Usage:
+# include(RemoveDuplicates)
+# remove_duplicate_linked_libraries(my_target)
+
+if(DEFINED __INCLUDED_REMOVE_DUPLICATE_LINKED_LIBRARIES_MODULE)
+    return()
+endif()
+set(__INCLUDED_REMOVE_DUPLICATE_LINKED_LIBRARIES_MODULE TRUE)
+
+function(remove_duplicate_linked_libraries target_name)
+    if(CMAKE_VERSION VERSION_GREATER 3.5)
+        get_target_property(LINK_LIBRARIES ${target_name} LINK_LIBRARIES)
+        list(REMOVE_DUPLICATES LINK_LIBRARIES)
+        set_target_properties(${target_name} PROPERTIES LINK_LIBRARIES "${LINK_LIBRARIES}")
+    endif()
+endfunction()

cmake/Modules/SetupPython.cmake

@@ -48,9 +48,25 @@ if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         string(FIND "${PYTHON_EXECUTABLE}" "python3" IS_PYTHON3)
         if(IS_PYTHON3 EQUAL -1)
-            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
+            else()
+                set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+                find_package(Python2 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python2_Interpreter_FOUND)
+                set(PYTHON_VERSION_MAJOR "${Python2_VERSION_MAJOR}")
+                set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
+            endif()
         else()
-            find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
+            else()
+                set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+                find_package(Python3 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python3_Interpreter_FOUND)
+                set(PYTHON_VERSION_MAJOR "${Python3_VERSION_MAJOR}")
+                set(PYTHON_VERSION_STRING "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
+            endif()
         endif()
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
@@ -59,11 +75,28 @@ if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
         endif()
     else()
         message(STATUS "PYTHON_EXECUTABLE not set - trying by default python3")
-        set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9)
+        if(CMAKE_VERSION VERSION_LESS "3.24")
-        find_package(PythonInterp ${GNSSSDR_PYTHON_MIN3_VERSION})
+            set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11)
+            find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+        else()
+            find_package(Python COMPONENTS Interpreter)
+            set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+            set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+            set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+        endif()
         if(NOT PYTHONINTERP_FOUND)
             message(STATUS "python3 not found - trying with python2.7")
-            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11)
+                find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+            else()
+                find_package(Python2 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python2_Interpreter_FOUND)
+                set(PYTHON_EXECUTABLE "${Python2_EXECUTABLE}")
+                set(PYTHON_VERSION_MAJOR "${Python2_VERSION_MAJOR}")
+                set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
+            endif()
         endif()
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
@@ -76,13 +109,17 @@ else()
         set(_previous ${CMAKE_FIND_FRAMEWORK})
         set(CMAKE_FIND_FRAMEWORK LAST)
     endif()
+    if(PYTHON_EXECUTABLE)
+        set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+    endif()
     find_package(Python3 COMPONENTS Interpreter)
     if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
         set(CMAKE_FIND_FRAMEWORK ${_previous})
     endif()
     if(Python3_FOUND)
         set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
-        set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
+        set(PYTHON_VERSION_MAJOR "${Python3_VERSION_MAJOR}")
+        set(PYTHON_VERSION_STRING "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
     endif()
@@ -91,23 +128,60 @@ else()
         if(Python2_FOUND)
             set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
             set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
+            set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
             gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
             gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
             gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
         endif()
         if(NOT MAKO_FOUND OR NOT SIX_FOUND)
             unset(PYTHON_EXECUTABLE)
-            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+            else()
+                find_package(Python COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+                set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+                set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+                set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            endif()
             gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
             gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
-            if(PYTHON_VERSION_STRING VERSION_LESS "3.0")
+            if(NOT MAKO_FOUND)
+                unset(PYTHON_EXECUTABLE)
+                unset(PYTHON_VERSION_STRING)
+                unset(PYTHON_VERSION_MAJOR)
+                find_program(PYTHON_EXECUTABLE NAMES python3 python)
+                if(PYTHON_EXECUTABLE)
+                    set(PYTHONINTERP_FOUND TRUE)
+                    execute_process(COMMAND ${PYTHON_EXECUTABLE} --version OUTPUT_VARIABLE PYTHON_VERSION_STRING_AUX)
+                    string(FIND "${PYTHON_VERSION_STRING_AUX}" " " blank_char_index)
+                    if(blank_char_index GREATER -1)
+                        math(EXPR start_index "${blank_char_index} + 1")
+                        string(SUBSTRING "${PYTHON_VERSION_STRING_AUX}" ${start_index} -1 PYTHON_VERSION_STRING)
+                        string(STRIP ${PYTHON_VERSION_STRING} PYTHON_VERSION_STRING)
+                        string(SUBSTRING "${PYTHON_VERSION_STRING_AUX}" ${start_index} 1 PYTHON_VERSION_MAJOR)
+                        message(STATUS "Found Python: ${PYTHON_EXECUTABLE} (found version: ${PYTHON_VERSION_STRING})")
+                    else()
+                        string(FIND ${PYTHON_EXECUTABLE} "python3" is_python3)
+                        if(is_python3 GREATER -1)
+                            set(PYTHON_VERSION_MAJOR "3")
+                            set(PYTHON_VERSION_STRING "3.10") # ?
+                        else()
+                            set(PYTHON_VERSION_MAJOR "2")
+                            set(PYTHON_VERSION_STRING "2.7")
+                        endif()
+                    endif()
+                endif()
+                gnsssdr_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+            endif()
+            if(MAKO_FOUND AND PYTHON_VERSION_STRING VERSION_LESS "3.0")
                 gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
             endif()
         endif()
     endif()
 endif()
 
-if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
+if("${PYTHON_VERSION_MAJOR}" VERSION_EQUAL 3)
     set(PYTHON3 TRUE)
 endif()
 

docs/CHANGELOG.md

@@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
 )
 
 [comment]: # (
-SPDX-FileCopyrightText: 2011-2023 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+SPDX-FileCopyrightText: 2011-2024 Carles Fernandez-Prades <carles.fernandez@cttc.es>
 )
 <!-- prettier-ignore-end -->
 
@@ -14,7 +14,45 @@ All notable changes to GNSS-SDR will be documented in this file.
 
 ## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
 
-### Improvements in Repeatability
+### Improvements in Efficiency:
+
+- Fixed some performance inefficiencies detected by Coverity Scan.
+
+### Improvements in Interoperability:
+
+- Added a new PVT configuration boolean flag (`flag_geohash_log_out`) that
+  enables or disables the Position Geohash tag output in INFO log files. Set to
+  `false` by default.
+- New fields have been added to the custom output stream defined by
+  `monitor_pvt.proto`:
+  - `utc_time` (a [RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime
+    string),
+  - velocity in the local ENU frame (`vel_e`, `vel_n`, and `vel_u`), in m/s,
+  - the course over ground, `cog`, in degrees,
+  - the status of the Galileo's High Accuracy Service, `galhas_status`:
+    - 0: HAS data not available
+    - 1: HAS Corrections applied
+  - `geohash`, an
+    [encoded geographic location](https://en.wikipedia.org/wiki/Geohash).
+
+### Improvements in Maintainability
+
+- Removed useless casts and shadowed variables, improving source code
+  readability.
+
+### Improvements in Portability:
+
+- Updated local `cpu_features` library to v0.9.0.
+- `volk_gnsssdr`: fix syntax for Python 3.12 without breaking backward
+  compatibility with Python 2.7.
+- Fixed linking against GNU Radio v3.10.9.1.
+- Make use of new API if linking against VOLK >= 3.1.
+- Fixed undefined behaviour in `volk_gnsssdr` arising from incompatibility
+  between complex numbers in C and C++.
+- Now build system paths are not leaked when cross-compiling.
+- Enabled building using macOS Sonoma and `arm64` processor architecture.
+
+### Improvements in Repeatability:
 
 - A Kalman filter is now available in the PVT block, smoothing the outputs of a
   simple Least Squares solution and improving the precision of delivered fixes.
@@ -26,6 +64,43 @@ All notable changes to GNSS-SDR will be documented in this file.
   `PVT.kf_system_ecef_pos_sd_m=0.01`, in [m]; and
   `PVT.kf_system_ecef_vel_sd_ms=0.001`, in [m/s].
 
+### Improvements in Scalability:
+
+- Fixed some potential data race conditions detected by Coverity Scan.
+
+### Improvements in Usability:
+
+- The Galileo E1B Reduced CED parameters usage has been set to `false` by
+  default. You can activate its usage with `Galileo_E1B_Telemetry_Decoder=true`
+  in your configuration file.
+- The generation of Galileo E6B observables has been disabled if the user sets
+  `PVT.use_e6_for_pvt=false`, fixing the PVT computation in some multi-band
+  configurations.
+- Fix bug in the custom binary output (`PVT.enable_monitor=true`) output rate.
+  Before this fix, it was outputting data every 20 ms, instead of observing the
+  `PVT.output_rate_ms` setting.
+- Now the program exits properly if a SIGINT signal is received (_e.g._, the
+  user pressing Ctrl+C, or another user application sending an interruption
+  signal).
+- The estimated CN0 value is now printed in the terminal when navigation data is
+  succesfully decoded.
+- Fixed GPS navigation message satellite validation.
+- Latitude and longitude are now reported in the terminal with six decimal
+  places (the sixth decimal place worths up to 0.11 m), instead of the
+  overkilling nine (the ninth decimal place worths up to 110 microns).
+  Similarly, height in meters is now reported with two decimal places instead of
+  three, and velocity in m/s also with two decimal places instead of three.
+- Fixed the rate at which KLM, GPX, GeoJSON, and NMEA annotations are made. The
+  rate is now set by `PVT.output_rate_ms` (`500` ms by default), and can be
+  particularized by `PVT.kml_rate_ms`, `PVT.gpx_rate_ms`, `PVT.geojson_rate_ms`,
+  and `PVT.nmea_rate_ms`. Those values should be multiples of
+  `PVT.output_rate_ms`, or the least common multiple will be taken.
+
+See the definitions of concepts and metrics at
+https://gnss-sdr.org/design-forces/
+
+&nbsp;
+
 ## [GNSS-SDR v0.0.18](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.18) - 2023-04-06
 
 [![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.7805514.svg)](https://doi.org/10.5281/zenodo.7805514)

docs/protobuf/monitor_pvt.proto

@@ -7,39 +7,49 @@ package gnss_sdr;
 /* MonitorPvt represents a search query, with pagination options to
  * indicate which results to include in the response. */
 message MonitorPvt {
-uint32 tow_at_current_symbol_ms = 1;  // Time of week of the current symbol, in ms
+  uint32 tow_at_current_symbol_ms = 1;  // Time of week of the current symbol, in ms
-uint32 week = 2;  // PVT GPS week
+  uint32 week = 2;                      // PVT GPS week
-double rx_time = 3;  // PVT GPS time
+  double rx_time = 3;                   // PVT GPS time
-double user_clk_offset = 4;  // User clock offset, in s
+  double user_clk_offset = 4;           // User clock offset, in s
 
-double pos_x = 5;  // Position X component in ECEF, expressed in m
+  double pos_x = 5;  // Position X component in ECEF, expressed in m
-double pos_y = 6;  // Position Y component in ECEF, expressed in m
+  double pos_y = 6;  // Position Y component in ECEF, expressed in m
-double pos_z = 7;  // Position Z component in ECEF, expressed in m
+  double pos_z = 7;  // Position Z component in ECEF, expressed in m
-double vel_x = 8;  // Velocity X component in ECEF, in m/s
+  double vel_x = 8;  // Velocity X component in ECEF, in m/s
-double vel_y = 9;  // Velocity Y component in ECEF, in m/s
+  double vel_y = 9;  // Velocity Y component in ECEF, in m/s
-double vel_z = 10;  // Velocity Z component in ECEF, in m/s
+  double vel_z = 10;  // Velocity Z component in ECEF, in m/s
 
-double cov_xx = 11;  // Position variance in the Y component, in m2
+  double cov_xx = 11;  // Position variance in the Y component, in m2
-double cov_yy = 12;  // Position variance in the Y component, in m2
+  double cov_yy = 12;  // Position variance in the Y component, in m2
-double cov_zz = 13;  // Position variance in the Z component, in m2
+  double cov_zz = 13;  // Position variance in the Z component, in m2
-double cov_xy = 14;  // Position XY covariance, in m2
+  double cov_xy = 14;  // Position XY covariance, in m2
-double cov_yz = 15;  // Position YZ covariance, in m2
+  double cov_yz = 15;  // Position YZ covariance, in m2
-double cov_zx = 16;  // Position ZX covariance, in m2
+  double cov_zx = 16;  // Position ZX covariance, in m2
 
-double latitude = 17;  // Latitude, in deg. Positive: North
+  double latitude = 17;   // Latitude, in deg. Positive: North
-double longitude = 18;  // Longitude, in deg. Positive: East
+  double longitude = 18;  // Longitude, in deg. Positive: East
-double height = 19;  // Height, in m
+  double height = 19;     // Height, in m
 
-uint32 valid_sats = 20;  // Number of valid satellites
+  uint32 valid_sats = 20;         // Number of valid satellites
-uint32 solution_status = 21;  // RTKLIB solution status
+  uint32 solution_status = 21;    // RTKLIB solution status
-uint32 solution_type = 22;  // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
+  uint32 solution_type = 22;      // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
-float ar_ratio_factor = 23;  // Ambiguity resolution ratio factor for validation
+  float ar_ratio_factor = 23;     // Ambiguity resolution ratio factor for validation
-float ar_ratio_threshold = 24;  // Ambiguity resolution ratio threshold for validation
+  float ar_ratio_threshold = 24;  // Ambiguity resolution ratio threshold for validation
 
-double gdop = 25;  // Geometric Dilution of Precision
+  double gdop = 25;  // Geometric Dilution of Precision
-double pdop = 26;  // Position (3D) Dilution of Precision
+  double pdop = 26;  // Position (3D) Dilution of Precision
-double hdop = 27;  // Horizontal Dilution of Precision
+  double hdop = 27;  // Horizontal Dilution of Precision
-double vdop = 28;  // Vertical Dilution of Precision
+  double vdop = 28;  // Vertical Dilution of Precision
 
-double user_clk_drift_ppm = 29;  // User clock drift [ppm]
+  double user_clk_drift_ppm = 29;  // User clock drift [ppm]
+  string utc_time = 30;            // PVT UTC time (rfc 3339 datetime string)
+
+  double vel_e = 31;  // Velocity East component in the local frame, in m/s
+  double vel_n = 32;  // Velocity North component in the local frame, in m/s
+  double vel_u = 33;  // Velocity Up component in the local frame, in m/s
+
+  double cog = 34;  // Course Over Ground, in deg
+
+  uint32 galhas_status = 35;  // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not available
+  string geohash = 36;        // Encoded geographic location. See https://en.wikipedia.org/wiki/Geohash
 }

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -412,6 +412,10 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
         {
             pvt_output_parameters.type_of_receiver = 107;  // GPS L1 C/A + Galileo E6B
         }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 108;  // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
+        }
     // BeiDou B1I Receiver
     if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
         {
@@ -857,6 +861,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
     pvt_output_parameters.xml_output_path = configuration->property(role + ".xml_output_path", default_output_path);
     pvt_output_parameters.nmea_output_file_path = configuration->property(role + ".nmea_output_file_path", default_output_path);
     pvt_output_parameters.rtcm_output_file_path = configuration->property(role + ".rtcm_output_file_path", default_output_path);
+    pvt_output_parameters.has_output_file_path = configuration->property(role + ".has_output_file_path", default_output_path);
 
     // Read PVT MONITOR Configuration
     pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -230,7 +230,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
                 {
                     std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
                     dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
-                    d_dump_filename = dump_filename_;
+                    d_dump_filename = std::move(dump_filename_);
                 }
             else
                 {
@@ -440,10 +440,10 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
         }
 
     // Initialize HAS simple printer
-    d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 107)) && (conf_.output_enabled));
+    d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 109)) && (conf_.output_enabled));
     if (d_enable_has_messages)
         {
-            d_has_simple_printer = std::make_unique<Has_Simple_Printer>();
+            d_has_simple_printer = std::make_unique<Has_Simple_Printer>(conf_.has_output_file_path);
         }
     else
         {
@@ -504,7 +504,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::ostringstream os;
 #ifdef HAS_PUT_TIME
     time_t when = std::time(nullptr);
-    auto const tm = *std::localtime(&when);
+    const auto& tm = *std::localtime(&when);
     os << std::put_time(&tm, "%z");
 #endif
     std::string utc_diff_str = os.str();  // in ISO 8601 format: "+HHMM" or "-HHMM"
@@ -540,22 +540,19 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
         {
             // setup two PVT solvers: internal solver for rx clock and user solver
             // user PVT solver
-            d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
+            d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
-            d_user_pvt_solver->set_averaging_depth(1);
             d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
 
             // internal PVT solver, mainly used to estimate the receiver clock
             rtk_t internal_rtk = rtk;
             internal_rtk.opt.mode = PMODE_SINGLE;  // use single positioning mode in internal PVT solver
-            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, conf_);
+            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, false, false);
-            d_internal_pvt_solver->set_averaging_depth(1);
             d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
         }
     else
         {
             // only one solver, customized by the user options
-            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
+            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
-            d_internal_pvt_solver->set_averaging_depth(1);
             d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
             d_user_pvt_solver = d_internal_pvt_solver;
         }
@@ -2115,7 +2112,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                     // old_time_debug = d_gnss_observables_map.cbegin()->second.RX_time * 1000.0;
                     uint32_t current_RX_time_ms = 0;
                     // #### solve PVT and store the corrected observable set
-                    if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, false, d_enable_vtl, d_close_vtl_loop))
+                    if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, d_observable_interval_ms / 1000.0, false, d_enable_vtl, d_close_vtl_loop))
                         {
                             // ****** experimental VTL tests
                             if (d_close_vtl_loop == true and d_enable_vtl == true)
@@ -2307,6 +2304,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                             // VTP To.Do: Check why get_PVT is triggered twice. Leave only one get_PVT.
 
                             //flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false);
+                            flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, d_observable_interval_ms / 1000.0, false, d_enable_vtl, d_close_vtl_loop);
                         }
 
                     if (flag_pvt_valid == true)
@@ -2411,28 +2409,28 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                         {
                                             if (current_RX_time_ms % d_kml_rate_ms == 0)
                                                 {
-                                                    d_kml_dump->print_position(d_user_pvt_solver.get(), false);
+                                                    d_kml_dump->print_position(d_user_pvt_solver.get());
                                                 }
                                         }
                                     if (d_gpx_output_enabled)
                                         {
                                             if (current_RX_time_ms % d_gpx_rate_ms == 0)
                                                 {
-                                                    d_gpx_dump->print_position(d_user_pvt_solver.get(), false);
+                                                    d_gpx_dump->print_position(d_user_pvt_solver.get());
                                                 }
                                         }
                                     if (d_geojson_output_enabled)
                                         {
                                             if (current_RX_time_ms % d_geojson_rate_ms == 0)
                                                 {
-                                                    d_geojson_printer->print_position(d_user_pvt_solver.get(), false);
+                                                    d_geojson_printer->print_position(d_user_pvt_solver.get());
                                                 }
                                         }
                                     if (d_nmea_output_file_enabled)
                                         {
                                             if (current_RX_time_ms % d_nmea_rate_ms == 0)
                                                 {
-                                                    d_nmea_printer->Print_Nmea_Line(d_user_pvt_solver.get(), false);
+                                                    d_nmea_printer->Print_Nmea_Line(d_user_pvt_solver.get());
                                                 }
                                         }
                                     if (d_rinex_output_enabled)
@@ -2482,22 +2480,17 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                             std::cout
                                 << TEXT_BOLD_GREEN
                                 << "Position at " << time_solution << UTC_solution_str
-                                << " using " << d_user_pvt_solver->get_num_valid_observations()
+                                << " using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = "
-                                << std::fixed << std::setprecision(9)
+                                << std::fixed << std::setprecision(6) << d_user_pvt_solver->get_latitude()
-                                << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
+                                << " [deg], Long = " << d_user_pvt_solver->get_longitude() << " [deg], Height = "
-                                << std::fixed << std::setprecision(3)
+                                << std::fixed << std::setprecision(2) << d_user_pvt_solver->get_height() << std::setprecision(ss) << " [m]" << TEXT_RESET << std::endl;
-                                << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]" << TEXT_RESET << '\n';
-
-                            std::cout << std::setprecision(ss);
                             DLOG(INFO) << "RX clock offset: " << d_user_pvt_solver->get_time_offset_s() << "[s]";
 
                             std::cout
                                 << TEXT_BOLD_GREEN
-                                << "Velocity: " << std::fixed << std::setprecision(3)
+                                << "Velocity: " << std::fixed << std::setprecision(2)
                                 << "East: " << d_user_pvt_solver->get_rx_vel()[0] << " [m/s], North: " << d_user_pvt_solver->get_rx_vel()[1]
-                                << " [m/s], Up = " << d_user_pvt_solver->get_rx_vel()[2] << " [m/s]" << TEXT_RESET << '\n';
+                                << " [m/s], Up = " << d_user_pvt_solver->get_rx_vel()[2] << std::setprecision(ss) << " [m/s]" << TEXT_RESET << std::endl;
-
-                            std::cout << std::setprecision(ss);
                             DLOG(INFO) << "RX clock drift: " << d_user_pvt_solver->get_clock_drift_ppm() << " [ppm]";
 
                             // boost::posix_time::ptime p_time;
@@ -2506,21 +2499,22 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                             // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
                             // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << '\n';
 
-                            LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
+                            DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
-                                      << " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
+                                       << " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
-                                      << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
+                                       << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
-                            LOG(INFO) << "geohash=" << d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
+
                             /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
-                                         << " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
+                                 << " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
-                                         << d_user_pvt_solver->get_vdop()
+                                 << d_user_pvt_solver->get_vdop()
-                                         << " GDOP = " << d_user_pvt_solver->get_gdop() << '\n'; */
+                                 << " GDOP = " << d_user_pvt_solver->get_gdop() << '\n'; */
                         }
 
                     // PVT MONITOR
-                    if (d_user_pvt_solver->is_valid_position())
+                    if (d_user_pvt_solver->is_valid_position() && flag_compute_pvt_output == true)
                         {
                             const std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_user_pvt_solver->get_monitor_pvt());
-
+                            monitor_pvt->geohash = d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
+                            DLOG(INFO) << "geohash=" << monitor_pvt->geohash;
                             // publish new position to the gnss_flowgraph channel status monitor
                             if (current_RX_time_ms % d_report_rate_ms == 0)
                                 {

src/algorithms/PVT/libs/an_packet_printer.cc

@@ -171,9 +171,9 @@ void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const
     _packet->gps_satellites = num_gps_sats;
     _packet->galileo_satellites = num_gal_sats;
     _packet->microseconds = static_cast<uint32_t>(elapsed_seconds.count() * 1.0e6);
-    _packet->latitude = static_cast<double>(pvt->get_latitude()) * (M_PI / 180.0);
+    _packet->latitude = pvt->get_latitude() * (M_PI / 180.0);
-    _packet->longitude = static_cast<double>(pvt->get_longitude()) * (M_PI / 180.0);
+    _packet->longitude = pvt->get_longitude() * (M_PI / 180.0);
-    _packet->height = static_cast<double>(pvt->get_height());
+    _packet->height = pvt->get_height();
     _packet->velocity[0] = static_cast<float>(pvt->get_rx_vel()[1]);
     _packet->velocity[1] = static_cast<float>(pvt->get_rx_vel()[0]);
     _packet->velocity[2] = static_cast<float>(-pvt->get_rx_vel()[2]);
@@ -196,11 +196,11 @@ void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const
 void An_Packet_Printer::encode_sdr_gnss_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const
 {
     uint8_t offset = 0;
-    LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->nsvfix), offset, _packet->data, sizeof(sdr_gnss_packet->nsvfix));
+    LSB_bytes_to_array(&sdr_gnss_packet->nsvfix, offset, _packet->data, sizeof(sdr_gnss_packet->nsvfix));
     offset += sizeof(sdr_gnss_packet->nsvfix);
-    LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->gps_satellites), offset, _packet->data, sizeof(sdr_gnss_packet->gps_satellites));
+    LSB_bytes_to_array(&sdr_gnss_packet->gps_satellites, offset, _packet->data, sizeof(sdr_gnss_packet->gps_satellites));
     offset += sizeof(sdr_gnss_packet->gps_satellites);
-    LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->galileo_satellites), offset, _packet->data, sizeof(sdr_gnss_packet->galileo_satellites));
+    LSB_bytes_to_array(&sdr_gnss_packet->galileo_satellites, offset, _packet->data, sizeof(sdr_gnss_packet->galileo_satellites));
     offset += sizeof(sdr_gnss_packet->galileo_satellites);
     LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->microseconds), offset, _packet->data, sizeof(sdr_gnss_packet->microseconds));
     offset += sizeof(sdr_gnss_packet->microseconds);
@@ -218,9 +218,9 @@ void An_Packet_Printer::encode_sdr_gnss_packet(sdr_gnss_packet_t* sdr_gnss_packe
     offset += sizeof(sdr_gnss_packet->velocity[2]);
     for (auto& sat : sdr_gnss_packet->sats)
         {
-            LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sat.prn), offset, _packet->data, sizeof(sat.prn));
+            LSB_bytes_to_array(&sat.prn, offset, _packet->data, sizeof(sat.prn));
             offset += sizeof(sat.prn);
-            LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sat.snr), offset, _packet->data, sizeof(sat.snr));
+            LSB_bytes_to_array(&sat.snr, offset, _packet->data, sizeof(sat.snr));
             offset += sizeof(sat.snr);
             LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sat.doppler), offset, _packet->data, sizeof(sat.doppler));
             offset += sizeof(sat.doppler);

src/algorithms/PVT/libs/geojson_printer.cc

@@ -156,24 +156,11 @@ bool GeoJSON_Printer::set_headers(const std::string& filename, bool time_tag_nam
 }
 
 
-bool GeoJSON_Printer::print_position(const Pvt_Solution* const position, bool print_average_values)
+bool GeoJSON_Printer::print_position(const Pvt_Solution* const position)
 {
-    double latitude;
+    const double latitude = position->get_latitude();
-    double longitude;
+    const double longitude = position->get_longitude();
-    double height;
+    const double height = position->get_height();
-
-    if (print_average_values == false)
-        {
-            latitude = position->get_latitude();
-            longitude = position->get_longitude();
-            height = position->get_height();
-        }
-    else
-        {
-            latitude = position->get_avg_latitude();
-            longitude = position->get_avg_longitude();
-            height = position->get_avg_height();
-        }
 
     if (geojson_file.is_open())
         {

src/algorithms/PVT/libs/geojson_printer.h

@@ -42,7 +42,7 @@ public:
     explicit GeoJSON_Printer(const std::string& base_path = ".");
     ~GeoJSON_Printer();
     bool set_headers(const std::string& filename, bool time_tag_name = true);
-    bool print_position(const Pvt_Solution* const position, bool print_average_values);
+    bool print_position(const Pvt_Solution* const position);
     bool close_file();
 
 private:

src/algorithms/PVT/libs/gpx_printer.cc

@@ -140,12 +140,8 @@ bool Gpx_Printer::set_headers(const std::string& filename, bool time_tag_name)
 }
 
 
-bool Gpx_Printer::print_position(const Pvt_Solution* const position, bool print_average_values)
+bool Gpx_Printer::print_position(const Pvt_Solution* const position)
 {
-    double latitude;
-    double longitude;
-    double height;
-
     positions_printed = true;
 
     const double speed_over_ground = position->get_speed_over_ground();    // expressed in m/s
@@ -162,18 +158,9 @@ bool Gpx_Printer::print_position(const Pvt_Solution* const position, bool print_
     utc_time.resize(23, '0');  // time up to ms
     utc_time.append("Z");      // UTC time zone
 
-    if (print_average_values == false)
+    const double latitude = position->get_latitude();
-        {
+    const double longitude = position->get_longitude();
-            latitude = position->get_latitude();
+    const double height = position->get_height();
-            longitude = position->get_longitude();
-            height = position->get_height();
-        }
-    else
-        {
-            latitude = position->get_avg_latitude();
-            longitude = position->get_avg_longitude();
-            height = position->get_avg_height();
-        }
 
     if (gpx_file.is_open())
         {

src/algorithms/PVT/libs/gpx_printer.h

@@ -42,7 +42,7 @@ public:
     explicit Gpx_Printer(const std::string& base_path = ".");
     ~Gpx_Printer();
     bool set_headers(const std::string& filename, bool time_tag_name = true);
-    bool print_position(const Pvt_Solution* const position, bool print_average_values);
+    bool print_position(const Pvt_Solution* const position);
     bool close_file();
 
 private:

src/algorithms/PVT/libs/kml_printer.cc

@@ -210,12 +210,8 @@ bool Kml_Printer::set_headers(const std::string& filename, bool time_tag_name)
 }
 
 
-bool Kml_Printer::print_position(const Pvt_Solution* const position, bool print_average_values)
+bool Kml_Printer::print_position(const Pvt_Solution* const position)
 {
-    double latitude;
-    double longitude;
-    double height;
-
     positions_printed = true;
 
     const double speed_over_ground = position->get_speed_over_ground();    // expressed in m/s
@@ -232,18 +228,9 @@ bool Kml_Printer::print_position(const Pvt_Solution* const position, bool print_
     utc_time.resize(23, '0');  // time up to ms
     utc_time.append("Z");      // UTC time zone
 
-    if (print_average_values == false)
+    const double latitude = position->get_latitude();
-        {
+    const double longitude = position->get_longitude();
-            latitude = position->get_latitude();
+    const double height = position->get_height();
-            longitude = position->get_longitude();
-            height = position->get_height();
-        }
-    else
-        {
-            latitude = position->get_avg_latitude();
-            longitude = position->get_avg_longitude();
-            height = position->get_avg_height();
-        }
 
     if (kml_file.is_open() && tmp_file.is_open())
         {

src/algorithms/PVT/libs/kml_printer.h

@@ -41,7 +41,7 @@ public:
     explicit Kml_Printer(const std::string& base_path = std::string("."));
     ~Kml_Printer();
     bool set_headers(const std::string& filename, bool time_tag_name = true);
-    bool print_position(const Pvt_Solution* const position, bool print_average_values);
+    bool print_position(const Pvt_Solution* const position);
     bool close_file();
 
 private:

src/algorithms/PVT/libs/monitor_pvt.h

@@ -19,6 +19,7 @@
 
 #include <boost/serialization/nvp.hpp>
 #include <cstdint>
+#include <string>
 
 /** \addtogroup PVT
  * \{ */
@@ -63,6 +64,16 @@ public:
     double longitude;
     // GEO user position Height [m]
     double height;
+    // East, Nord, Up (ENU) Velocity [m/s]
+    double vel_e;
+    double vel_n;
+    double vel_u;
+
+    // Course Over Ground (COG) [deg]
+    double cog;
+
+    // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
+    uint32_t galhas_status;
 
     // NUMBER OF VALID SATS
     uint8_t valid_sats;
@@ -84,6 +95,11 @@ public:
     // User clock drift [ppm]
     double user_clk_drift_ppm;
 
+    // PVT UTC Time (rfc 3339 datetime string)
+    std::string utc_time;
+
+    std::string geohash;  // See https://en.wikipedia.org/wiki/Geohash
+
     /*!
      * \brief This member function serializes and restores
      * Monitor_Pvt objects from a byte stream.
@@ -131,6 +147,14 @@ public:
         ar& BOOST_SERIALIZATION_NVP(vdop);
 
         ar& BOOST_SERIALIZATION_NVP(user_clk_drift_ppm);
+        ar& BOOST_SERIALIZATION_NVP(utc_time);
+
+        ar& BOOST_SERIALIZATION_NVP(vel_e);
+        ar& BOOST_SERIALIZATION_NVP(vel_n);
+        ar& BOOST_SERIALIZATION_NVP(vel_u);
+
+        ar& BOOST_SERIALIZATION_NVP(cog);
+        ar& BOOST_SERIALIZATION_NVP(geohash);
     }
 };
 

src/algorithms/PVT/libs/nmea_printer.cc

@@ -100,7 +100,7 @@ Nmea_Printer::Nmea_Printer(const std::string& filename,
         {
             nmea_dev_descriptor = -1;
         }
-    print_avg_pos = false;
+
     d_PVT_data = nullptr;
 }
 
@@ -190,11 +190,10 @@ void Nmea_Printer::close_serial() const
 }
 
 
-bool Nmea_Printer::Print_Nmea_Line(const Rtklib_Solver* const pvt_data, bool print_average_values)
+bool Nmea_Printer::Print_Nmea_Line(const Rtklib_Solver* const pvt_data)
 {
     // set the new PVT data
     d_PVT_data = pvt_data;
-    print_avg_pos = print_average_values;
 
     // generate the NMEA sentences
 

src/algorithms/PVT/libs/nmea_printer.h

@@ -57,7 +57,7 @@ public:
     /*!
      * \brief Print NMEA PVT and satellite info to the initialized device
      */
-    bool Print_Nmea_Line(const Rtklib_Solver* const pvt_data, bool print_average_values);
+    bool Print_Nmea_Line(const Rtklib_Solver* const pvt_data);
 
 private:
     int init_serial(const std::string& serial_device);  // serial port control
@@ -80,8 +80,6 @@ private:
     std::string nmea_devname;
 
     int nmea_dev_descriptor;  // NMEA serial device descriptor (i.e. COM port)
-
-    bool print_avg_pos;
     bool d_flag_nmea_output_file;
 };
 

src/algorithms/PVT/libs/pvt_conf.h

@@ -46,6 +46,7 @@ public:
     std::string kml_output_path = std::string(".");
     std::string xml_output_path = std::string(".");
     std::string rtcm_output_file_path = std::string(".");
+    std::string has_output_file_path = std::string(".");
     std::string udp_addresses;
     std::string udp_eph_addresses;
     std::string log_source_timetag_file;
@@ -55,13 +56,13 @@ public:
 
     int32_t output_rate_ms = 0;
     int32_t display_rate_ms = 0;
-    int32_t kml_rate_ms = 1000;
+    int32_t kml_rate_ms = 20;
-    int32_t gpx_rate_ms = 1000;
+    int32_t gpx_rate_ms = 20;
-    int32_t geojson_rate_ms = 1000;
+    int32_t geojson_rate_ms = 20;
-    int32_t nmea_rate_ms = 1000;
+    int32_t nmea_rate_ms = 20;
     int32_t rinex_version = 0;
     int32_t rinexobs_rate_ms = 0;
-    int32_t an_rate_ms = 1000;
+    int32_t an_rate_ms = 20;
     int32_t max_obs_block_rx_clock_offset_ms = 40;
     int udp_port = 0;
     int udp_eph_port = 0;
@@ -90,7 +91,7 @@ public:
     bool pre_2009_file = false;
     bool dump = false;
     bool dump_mat = true;
-    bool log_source_timetag;
+    bool log_source_timetag = false;
     bool use_e6_for_pvt = true;
     bool enable_vtl = false;
     bool close_vtl_loop = true;

src/algorithms/PVT/libs/pvt_kf.cc

@@ -19,16 +19,16 @@
 #include <glog/logging.h>
 
 
-void Pvt_Kf::init_kf(const arma::vec& p,
+void Pvt_Kf::init_Kf(const arma::vec& p,
     const arma::vec& v,
-    double solver_interval_s,
+    double update_interval_s,
     double measures_ecef_pos_sd_m,
     double measures_ecef_vel_sd_ms,
     double system_ecef_pos_sd_m,
     double system_ecef_vel_sd_ms)
 {
     // Kalman Filter class variables
-    const double Ti = solver_interval_s;
+    const double Ti = update_interval_s;
 
     d_F = {{1.0, 0.0, 0.0, Ti, 0.0, 0.0},
         {0.0, 1.0, 0.0, 0.0, Ti, 0.0},
@@ -68,7 +68,7 @@ void Pvt_Kf::init_kf(const arma::vec& p,
     d_x_old_old.subvec(0, 2) = p;
     d_x_old_old.subvec(3, 5) = v;
 
-    initialized = true;
+    d_initialized = true;
 
     DLOG(INFO) << "Ti: " << Ti;
     DLOG(INFO) << "F: " << d_F;
@@ -80,28 +80,54 @@ void Pvt_Kf::init_kf(const arma::vec& p,
 }
 
 
+bool Pvt_Kf::is_initialized() const
+{
+    return d_initialized;
+}
+
+
+void Pvt_Kf::reset_Kf()
+{
+    d_initialized = false;
+}
+
+
 void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v)
 {
-    // Kalman loop
+    if (d_initialized)
-    // Prediction
+        {
-    d_x_new_old = d_F * d_x_old_old;
+            // Kalman loop
-    d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
+            // Prediction
+            d_x_new_old = d_F * d_x_old_old;
+            d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
 
-    // Measurement update
+            // Measurement update
-    arma::vec z = arma::join_cols(p, v);
+            try
-    arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R);  // Kalman gain
+                {
+                    arma::vec z = arma::join_cols(p, v);
+                    arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R);  // Kalman gain
 
-    d_x_new_new = d_x_new_old + K * (z - d_H * d_x_new_old);
+                    d_x_new_new = d_x_new_old + K * (z - d_H * d_x_new_old);
-    d_P_new_new = (arma::eye(6, 6) - K * d_H) * d_P_new_old;
+                    d_P_new_new = (arma::eye(6, 6) - K * d_H) * d_P_new_old;
 
-    // prepare data for next KF epoch
+                    // prepare data for next KF epoch
-    d_x_old_old = d_x_new_new;
+                    d_x_old_old = d_x_new_new;
-    d_P_old_old = d_P_new_new;
+                    d_P_old_old = d_P_new_new;
+                }
+            catch (...)
+                {
+                    d_x_new_new = d_x_new_old;
+                    this->reset_Kf();
+                }
+        }
 }
 
 
-void Pvt_Kf::get_pvt(arma::vec& p, arma::vec& v)
+void Pvt_Kf::get_pv_Kf(arma::vec& p, arma::vec& v) const
 {
-    p = d_x_new_new.subvec(0, 2);
+    if (d_initialized)
-    v = d_x_new_new.subvec(3, 5);
+        {
+            p = d_x_new_new.subvec(0, 2);
+            v = d_x_new_new.subvec(3, 5);
+        }
 }

src/algorithms/PVT/libs/pvt_kf.h

@@ -35,16 +35,17 @@ class Pvt_Kf
 public:
     Pvt_Kf() = default;
     virtual ~Pvt_Kf() = default;
-    void init_kf(const arma::vec& p,
+    void init_Kf(const arma::vec& p,
         const arma::vec& v,
-        double solver_interval_s,
+        double update_interval_s,
         double measures_ecef_pos_sd_m,
         double measures_ecef_vel_sd_ms,
         double system_ecef_pos_sd_m,
         double system_ecef_vel_sd_ms);
+    bool is_initialized() const;
     void run_Kf(const arma::vec& p, const arma::vec& v);
-    void get_pvt(arma::vec& p, arma::vec& v);
+    void get_pv_Kf(arma::vec& p, arma::vec& v) const;
-    bool initialized{false};
+    void reset_Kf();
 
 private:
     // Kalman Filter class variables
@@ -58,6 +59,7 @@ private:
     arma::vec d_x_old_old;
     arma::vec d_x_new_old;
     arma::vec d_x_new_new;
+    bool d_initialized{false};
 };
 
 

src/algorithms/PVT/libs/pvt_solution.cc

@@ -69,70 +69,6 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
 }
 
 
-void Pvt_Solution::set_averaging_depth(int depth)
-{
-    d_averaging_depth = depth;
-}
-
-
-void Pvt_Solution::set_averaging_flag(bool flag)
-{
-    d_flag_averaging = flag;
-}
-
-
-void Pvt_Solution::perform_pos_averaging()
-{
-    // MOVING AVERAGE PVT
-    bool avg = d_flag_averaging;
-    if (avg == true)
-        {
-            if (d_hist_longitude_d.size() == static_cast<unsigned int>(d_averaging_depth))
-                {
-                    // Pop oldest value
-                    d_hist_longitude_d.pop_back();
-                    d_hist_latitude_d.pop_back();
-                    d_hist_height_m.pop_back();
-                    // Push new values
-                    d_hist_longitude_d.push_front(d_longitude_d);
-                    d_hist_latitude_d.push_front(d_latitude_d);
-                    d_hist_height_m.push_front(d_height_m);
-
-                    d_avg_latitude_d = 0.0;
-                    d_avg_longitude_d = 0.0;
-                    d_avg_height_m = 0.0;
-                    for (size_t i = 0; i < d_hist_longitude_d.size(); i++)
-                        {
-                            d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
-                            d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
-                            d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
-                        }
-                    d_avg_latitude_d = d_avg_latitude_d / static_cast<double>(d_averaging_depth);
-                    d_avg_longitude_d = d_avg_longitude_d / static_cast<double>(d_averaging_depth);
-                    d_avg_height_m = d_avg_height_m / static_cast<double>(d_averaging_depth);
-                    d_valid_position = true;
-                }
-            else
-                {
-                    // int current_depth=d_hist_longitude_d.size();
-                    // Push new values
-                    d_hist_longitude_d.push_front(d_longitude_d);
-                    d_hist_latitude_d.push_front(d_latitude_d);
-                    d_hist_height_m.push_front(d_height_m);
-
-                    d_avg_latitude_d = d_latitude_d;
-                    d_avg_longitude_d = d_longitude_d;
-                    d_avg_height_m = d_height_m;
-                    d_valid_position = false;
-                }
-        }
-    else
-        {
-            d_valid_position = true;
-        }
-}
-
-
 double Pvt_Solution::get_time_offset_s() const
 {
     return d_rx_dt_s;
@@ -199,30 +135,6 @@ double Pvt_Solution::get_course_over_ground() const
 }
 
 
-double Pvt_Solution::get_avg_latitude() const
-{
-    return d_avg_latitude_d;
-}
-
-
-double Pvt_Solution::get_avg_longitude() const
-{
-    return d_avg_longitude_d;
-}
-
-
-double Pvt_Solution::get_avg_height() const
-{
-    return d_avg_height_m;
-}
-
-
-bool Pvt_Solution::is_averaging() const
-{
-    return d_flag_averaging;
-}
-
-
 bool Pvt_Solution::is_valid_position() const
 {
     return d_valid_position;

src/algorithms/PVT/libs/pvt_solution.h

@@ -20,7 +20,6 @@
 
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <array>
-#include <deque>
 
 /** \addtogroup PVT
  * \{ */
@@ -38,20 +37,10 @@ public:
     Pvt_Solution() = default;
     virtual ~Pvt_Solution() = default;
 
-    void set_rx_pos(const std::array<double, 3> &pos);  //!< Set position: X, Y, Z in Cartesian ECEF coordinates [m]
+    virtual double get_hdop() const = 0;
-    void set_rx_vel(const std::array<double, 3> &vel);  //!< Set velocity: East [m/s], North [m/s], Up [m/s]
+    virtual double get_vdop() const = 0;
-    void set_position_UTC_time(const boost::posix_time::ptime &pt);
+    virtual double get_pdop() const = 0;
-    void set_time_offset_s(double offset);             //!< Set RX time offset [s]
+    virtual double get_gdop() const = 0;
-    void set_clock_drift_ppm(double clock_drift_ppm);  //!< Set the Rx clock drift [ppm]
-    void set_speed_over_ground(double speed_m_s);      //!< Set RX speed over ground [m/s]
-    void set_course_over_ground(double cog_deg);       //!< Set RX course over ground [deg]
-    void set_valid_position(bool is_valid);
-    void set_num_valid_observations(int num);    //!< Set the number of valid pseudorange observations (valid satellites)
-    void set_pre_2009_file(bool pre_2009_file);  //!< Flag for the week rollover computation in post processing mode for signals older than 2009
-    // averaging
-    void set_averaging_depth(int depth);  //!< Set length of averaging window
-    void set_averaging_flag(bool flag);
-    void perform_pos_averaging();
 
     std::array<double, 3> get_rx_pos() const;
     std::array<double, 3> get_rx_vel() const;
@@ -63,18 +52,20 @@ public:
     double get_clock_drift_ppm() const;      //!< Get the Rx clock drift [ppm]
     double get_speed_over_ground() const;    //!< Get RX speed over ground [m/s]
     double get_course_over_ground() const;   //!< Get RX course over ground [deg]
-    double get_avg_latitude() const;         //!< Get RX position averaged Latitude WGS84 [deg]
-    double get_avg_longitude() const;        //!< Get RX position averaged Longitude WGS84 [deg]
-    double get_avg_height() const;           //!< Get RX position averaged height WGS84 [m]
     int get_num_valid_observations() const;  //!< Get the number of valid pseudorange observations (valid satellites)
     bool is_pre_2009() const;
     bool is_valid_position() const;
-    bool is_averaging() const;
 
-    virtual double get_hdop() const = 0;
+    void set_rx_pos(const std::array<double, 3> &pos);  //!< Set position: X, Y, Z in Cartesian ECEF coordinates [m]
-    virtual double get_vdop() const = 0;
+    void set_rx_vel(const std::array<double, 3> &vel);  //!< Set velocity: East [m/s], North [m/s], Up [m/s]
-    virtual double get_pdop() const = 0;
+    void set_position_UTC_time(const boost::posix_time::ptime &pt);
-    virtual double get_gdop() const = 0;
+    void set_time_offset_s(double offset);             //!< Set RX time offset [s]
+    void set_clock_drift_ppm(double clock_drift_ppm);  //!< Set the Rx clock drift [ppm]
+    void set_speed_over_ground(double speed_m_s);      //!< Set RX speed over ground [m/s]
+    void set_course_over_ground(double cog_deg);       //!< Set RX course over ground [deg]
+    void set_valid_position(bool is_valid);
+    void set_num_valid_observations(int num);    //!< Set the number of valid pseudorange observations (valid satellites)
+    void set_pre_2009_file(bool pre_2009_file);  //!< Flag for the week rollover computation in post processing mode for signals older than 2009
 
 private:
     /*
@@ -98,10 +89,6 @@ private:
     std::array<double, 3> d_rx_vel{};
     boost::posix_time::ptime d_position_UTC_time;
 
-    std::deque<double> d_hist_latitude_d;
-    std::deque<double> d_hist_longitude_d;
-    std::deque<double> d_hist_height_m;
-
     double d_latitude_d{0.0};             // RX position Latitude WGS84 [deg]
     double d_longitude_d{0.0};            // RX position Longitude WGS84 [deg]
     double d_height_m{0.0};               // RX position height WGS84 [m]
@@ -110,16 +97,10 @@ private:
     double d_speed_over_ground_m_s{0.0};  // RX speed over ground [m/s]
     double d_course_over_ground_d{0.0};   // RX course over ground [deg]
 
-    double d_avg_latitude_d{0.0};   // Averaged latitude in degrees
-    double d_avg_longitude_d{0.0};  // Averaged longitude in degrees
-    double d_avg_height_m{0.0};     // Averaged height [m]
-
-    int d_averaging_depth{0};     // Length of averaging window
     int d_valid_observations{0};  // Number of valid observations in this epoch
 
     bool d_pre_2009_file{false};  // Flag to correct week rollover in post processing mode for signals older than 2009
     bool d_valid_position{false};
-    bool d_flag_averaging{false};
 };
 
 

src/algorithms/PVT/libs/rinex_printer.h

@@ -39,14 +39,15 @@
 #define GNSS_SDR_RINEX_PRINTER_H
 
 #include <boost/date_time/posix_time/posix_time.hpp>
-#include <cstdint>  // for int32_t
+#include <cstdint>        // for int32_t
-#include <cstdlib>  // for strtol, strtod
+#include <cstdlib>        // for strtol, strtod
-#include <fstream>  // for fstream
+#include <fstream>        // for fstream
-#include <iomanip>  // for setprecision
+#include <iomanip>        // for setprecision
-#include <map>      // for map
+#include <map>            // for map
-#include <sstream>  // for stringstream
+#include <sstream>        // for stringstream
-#include <string>   // for string
+#include <string>         // for string
-#include <vector>
+#include <unordered_map>  // for unordered_map
+#include <vector>         // for vector
 
 
 /** \addtogroup PVT
@@ -143,6 +144,7 @@ public:
      *    105   |  Galileo E1B + Galileo E5b + Galileo E6B
      *    106   |  GPS L1 C/A + Galileo E1B + Galileo E6B
      *    107   |  GPS L1 C/A + Galileo E6B
+     *    108   |  GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
      *    500   |  BeiDou B1I
      *    501   |  BeiDou B1I + GPS L1 C/A
      *    502   |  BeiDou B1I + Galileo E1B
@@ -232,6 +234,14 @@ public:
 
 
 private:
+    const std::unordered_map<std::string, std::string> satelliteSystem = {
+        {"GPS", "G"},
+        {"GLONASS", "R"},
+        {"SBAS payload", "S"},
+        {"Galileo", "E"},
+        {"Beidou", "C"},
+        {"Mixed", "M"}};  // RINEX v3.02 codes
+
     /*
      * Generates the GPS Observation data header
      */
@@ -984,7 +994,6 @@ private:
 
     inline std::string asFixWidthString(int x, int width, char fill_digit) const;
 
-    std::map<std::string, std::string> satelliteSystem;  // GPS, GLONASS, SBAS payload, Galileo or Beidou
     std::map<std::string, std::string> observationType;  // PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
     std::map<std::string, std::string> observationCode;  // GNSS observation descriptors
 

src/algorithms/PVT/libs/rtcm.cc

@@ -929,7 +929,7 @@ int32_t Rtcm::read_MT1005(const std::string& message, uint32_t& ref_id, double&
     const uint32_t reserved_field_length = 6;
     uint32_t index = preamble_length + reserved_field_length;
 
-    uint32_t read_message_length = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    uint32_t read_message_length = Rtcm::bin_to_uint(message_bin.substr(index, 10));
     index += 10;
     if (read_message_length != 19)
         {
@@ -1601,7 +1601,7 @@ int32_t Rtcm::read_MT1019(const std::string& message, Gps_Ephemeris& gps_eph) co
     const uint32_t reserved_field_length = 6;
     uint32_t index = preamble_length + reserved_field_length;
 
-    const uint32_t read_message_length = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    const uint32_t read_message_length = Rtcm::bin_to_uint(message_bin.substr(index, 10));
     index += 10;
 
     if (read_message_length != 61)
@@ -1621,7 +1621,7 @@ int32_t Rtcm::read_MT1019(const std::string& message, Gps_Ephemeris& gps_eph) co
         }
 
     // Fill Gps Ephemeris with message data content
-    gps_eph.PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    gps_eph.PRN = Rtcm::bin_to_uint(message_bin.substr(index, 6));
     index += 6;
 
     gps_eph.WN = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
@@ -1835,7 +1835,7 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
     const uint32_t reserved_field_length = 6;
     uint32_t index = preamble_length + reserved_field_length;
 
-    const uint32_t read_message_length = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    const uint32_t read_message_length = Rtcm::bin_to_uint(message_bin.substr(index, 10));
     index += 10;
 
     if (read_message_length != 45)  // 360 bits = 45 bytes
@@ -1855,7 +1855,7 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
         }
 
     // Fill Gps Ephemeris with message data content
-    glonass_gnav_eph.i_satellite_slot_number = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    glonass_gnav_eph.i_satellite_slot_number = Rtcm::bin_to_uint(message_bin.substr(index, 6));
     index += 6;
 
     glonass_gnav_eph.i_satellite_freq_channel = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 5)) - 7.0);
@@ -2138,7 +2138,7 @@ int32_t Rtcm::read_MT1045(const std::string& message, Galileo_Ephemeris& gal_eph
     const uint32_t reserved_field_length = 6;
     uint32_t index = preamble_length + reserved_field_length;
 
-    const uint32_t read_message_length = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    const uint32_t read_message_length = Rtcm::bin_to_uint(message_bin.substr(index, 10));
     index += 10;
 
     if (read_message_length != 62)
@@ -2158,7 +2158,7 @@ int32_t Rtcm::read_MT1045(const std::string& message, Galileo_Ephemeris& gal_eph
         }
 
     // Fill Galileo Ephemeris with message data content
-    gal_eph.PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    gal_eph.PRN = Rtcm::bin_to_uint(message_bin.substr(index, 6));
     index += 6;
 
     gal_eph.WN = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 12)));
@@ -2233,7 +2233,7 @@ int32_t Rtcm::read_MT1045(const std::string& message, Galileo_Ephemeris& gal_eph
     gal_eph.BGD_E1E5a = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 10)));
     index += 10;
 
-    gal_eph.E5a_HS = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    gal_eph.E5a_HS = Rtcm::bin_to_uint(message_bin.substr(index, 2));
     index += 2;
 
     gal_eph.E5a_DVS = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));

src/algorithms/PVT/libs/rtcm.h

@@ -587,16 +587,24 @@ private:
 
         inline bool decode_header()
         {
-            char header[header_length + 1] = "";
+            std::string header(data_.data(), header_length);
-            std::strncat(header, data_.data(), header_length);
             if (header[0] != 'G' || header[1] != 'S')
                 {
                     return false;
                 }
 
-            char header2_[header_length - 1] = "";
+            auto header2 = header.substr(2);
-            std::strncat(header2_, data_.data() + 2, header_length - 2);
+            try
-            body_length_ = std::atoi(header2_);
+                {
+                    body_length_ = std::stoi(header2);
+                }
+            catch (const std::exception& e)
+                {
+                    // invalid stoi conversion
+                    body_length_ = 0;
+                    return false;
+                }
+
             if (body_length_ == 0)
                 {
                     return false;
@@ -612,11 +620,11 @@ private:
 
         inline void encode_header()
         {
-            char header[header_length + 1] = "";
             std::stringstream ss;
             ss << "GS" << std::setw(4) << std::max(std::min(static_cast<int>(body_length_), static_cast<int>(max_body_length)), 0);
-            std::copy_n(ss.str().c_str(), header_length + 1, header);
+            std::string header = ss.str();
-            std::copy_n(header, header_length, data_.data());
+            header.resize(header_length, ' ');
+            std::copy(header.begin(), header.end(), data_.begin());
         }
 
     private:
@@ -639,7 +647,7 @@ private:
         inline void join(const std::shared_ptr<RtcmListener>& participant)
         {
             participants_.insert(participant);
-            for (auto msg : recent_msgs_)
+            for (const auto& msg : recent_msgs_)
                 {
                     participant->deliver(msg);
                 }
@@ -802,7 +810,7 @@ private:
         inline void write(const Rtcm_Message& msg)
         {
             io_context_.post(
-                [this, msg]() {
+                [this, &msg]() {
                     bool write_in_progress = !write_msgs_.empty();
                     write_msgs_.push_back(msg);
                     if (!write_in_progress)

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -49,16 +49,16 @@
 using namespace std;
 
 Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
+    const Pvt_Conf &conf,
     const std::string &dump_filename,
     uint32_t type_of_rx,
     bool flag_dump_to_file,
-    bool flag_dump_to_mat,
+    bool flag_dump_to_mat) : d_dump_filename(dump_filename),
-    Pvt_Conf conf) : d_dump_filename(dump_filename),
+                             d_rtk(rtk),
-                     d_rtk(rtk),
+                             d_conf(conf),
-                     d_conf(std::move(conf)),
+                             d_type_of_rx(type_of_rx),
-                     d_type_of_rx(type_of_rx),
+                             d_flag_dump_enabled(flag_dump_to_file),
-                     d_flag_dump_enabled(flag_dump_to_file),
+                             d_flag_dump_mat_enabled(flag_dump_to_mat)
-                     d_flag_dump_mat_enabled(flag_dump_to_mat)
 {
     // TODO: temporal VTL config parameters are hardcoded here. Move it to PVT adapter config (javi)
     Vtl_Conf new_vtl_conf;
@@ -67,9 +67,6 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
     vtl_engine.configure(new_vtl_conf);
     vtl_engine.reset();
 
-
-    this->set_averaging_flag(false);
-
     // see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
     // function: satwavelen
     d_rtklib_freq_index[0] = 0;
@@ -142,6 +139,10 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
             d_rtklib_band_index["E6"] = 1;
             d_rtklib_freq_index[1] = 3;
             break;
+        case 108:  // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
+            d_rtklib_band_index["E6"] = 2;
+            d_rtklib_freq_index[2] = 3;
+            break;
         }
     // auto empty_map = std::map < int, HAS_obs_corrections >> ();
     // d_has_obs_corr_map["L1 C/A"] = empty_map;
@@ -1198,8 +1199,7 @@ void Rtklib_Solver::get_current_has_obs_correction(const std::string &signal, ui
         }
 }
 
-
+bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, double kf_update_interval_s, bool flag_averaging, bool enable_vtl, bool close_vtl_loop)
-bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging, bool enable_vtl, bool close_vtl_loop)
 {
     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
     std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
@@ -1210,8 +1210,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
 
     const Glonass_Gnav_Utc_Model &gnav_utc = this->glonass_gnav_utc_model;
 
-    this->set_averaging_flag(flag_averaging);
-
     // ********************************************************************************
     // ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
     // ********************************************************************************
@@ -1813,7 +1811,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     this->set_num_valid_observations(0);
                     if (d_conf.enable_pvt_kf == true)
                         {
-                            d_pvt_kf.initialized = false;
+                            d_pvt_kf.reset_Kf();
                         }
                 }
             else
@@ -1855,14 +1853,14 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
 
                     if (d_conf.enable_pvt_kf == true)
                         {
-                            if (d_pvt_kf.initialized == false)
+                            if (d_pvt_kf.is_initialized() == false)
                                 {
                                     arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
                                     arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
 
-                                    d_pvt_kf.init_kf(p,
+                                    d_pvt_kf.init_Kf(p,
                                         v,
-                                        d_conf.observable_interval_ms / 1000.0,
+                                        kf_update_interval_s,
                                         d_conf.measures_ecef_pos_sd_m,
                                         d_conf.measures_ecef_vel_sd_ms,
                                         d_conf.system_ecef_pos_sd_m,
@@ -1873,7 +1871,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                     arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
                                     arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
                                     d_pvt_kf.run_Kf(p, v);
-                                    d_pvt_kf.get_pvt(p, v);
+                                    d_pvt_kf.get_pv_Kf(p, v);
                                     pvt_sol.rr[0] = p[0];  // [m]
                                     pvt_sol.rr[1] = p[1];  // [m]
                                     pvt_sol.rr[2] = p[2];  // [m]
@@ -2000,7 +1998,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     ecef2pos(pvt_sol.rr, pos.data());
                     ecef2enu(pos.data(), &pvt_sol.rr[3], enuv.data());
                     this->set_speed_over_ground(norm_rtk(enuv.data(), 2));
-                    double new_cog;
+                    double new_cog = -9999.0;  // COG not estimated due to insuficient velocity
                     if (ground_speed_ms >= 1.0)
                         {
                             new_cog = atan2(enuv[0], enuv[1]) * R2D;
@@ -2082,12 +2080,41 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
 
                     this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
 
+                    // ENU vel [m/s]
+                    d_monitor_pvt.vel_e = enuv[0];
+                    d_monitor_pvt.vel_n = enuv[1];
+                    d_monitor_pvt.vel_u = enuv[2];
+
+                    // Course Over Ground (cog) [deg]
+                    d_monitor_pvt.cog = new_cog;
+
+                    // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
+                    if (d_has_obs_corr_map.empty())
+                        {
+                            d_monitor_pvt.galhas_status = 0;
+                        }
+                    else
+                        {
+                            d_monitor_pvt.galhas_status = 1;
+                        }
+
                     const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
 
                     this->set_clock_drift_ppm(clock_drift_ppm);
                     // User clock drift [ppm]
                     d_monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
 
+                    // write UTC time string
+
+                    // Use a facet to display time in a custom format (only hour and minutes).
+                    auto *facet = new boost::posix_time::time_facet();
+                    facet->format("%Y-%m-%dT%H:%M:%S%F");
+                    std::stringstream stream;
+                    stream.imbue(std::locale(std::locale::classic(), facet));
+                    stream << p_time;
+                    stream << 'Z';
+                    d_monitor_pvt.utc_time = stream.str();
+
                     // ######## LOG FILE #########
                     if (d_flag_dump_enabled == true)
                         {

src/algorithms/PVT/libs/rtklib_solver.h

@@ -84,14 +84,15 @@ class Rtklib_Solver : public Pvt_Solution
 {
 public:
     Rtklib_Solver(const rtk_t& rtk,
+        const Pvt_Conf& conf,
         const std::string& dump_filename,
         uint32_t type_of_rx,
         bool flag_dump_to_file,
-        bool flag_dump_to_mat,
+        bool flag_dump_to_mat);
-        Pvt_Conf conf);
+
     ~Rtklib_Solver();
 
-    bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging, bool enable_vtl, bool close_vtl_loop);
+    bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double kf_update_interval_s, bool flag_averaging, bool enable_vtl, bool close_vtl_loop);
 
     Vtl_Data vtl_data;
 

src/algorithms/PVT/libs/serdes_monitor_pvt.h

@@ -112,6 +112,13 @@ public:
         monitor_.set_hdop(monitor->hdop);
         monitor_.set_vdop(monitor->vdop);
         monitor_.set_user_clk_drift_ppm(monitor->user_clk_drift_ppm);
+        monitor_.set_utc_time(monitor->utc_time);
+        monitor_.set_vel_e(monitor->vel_e);
+        monitor_.set_vel_n(monitor->vel_n);
+        monitor_.set_vel_u(monitor->vel_u);
+        monitor_.set_cog(monitor->cog);
+        monitor_.set_galhas_status(monitor->galhas_status);
+        monitor_.set_geohash(monitor->geohash);
 
         monitor_.SerializeToString(&data);
         return data;
@@ -150,6 +157,13 @@ public:
         monitor.hdop = mon.hdop();
         monitor.vdop = mon.vdop();
         monitor.user_clk_drift_ppm = mon.user_clk_drift_ppm();
+        monitor.utc_time = mon.utc_time();
+        monitor.vel_e = mon.vel_e();
+        monitor.vel_n = mon.vel_n();
+        monitor.vel_u = mon.vel_u();
+        monitor.cog = mon.cog();
+        monitor.galhas_status = mon.galhas_status();
+        monitor.geohash = mon.geohash();
 
         return monitor;
     }

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h

@@ -30,6 +30,7 @@
 #include <cstdint>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -96,8 +97,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h

@@ -29,6 +29,7 @@
 #include <cstdint>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -95,8 +96,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h

@@ -24,6 +24,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -92,8 +93,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h

@@ -27,6 +27,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -95,8 +96,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -44,7 +44,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
       out_streams_(out_streams),
       acquire_pilot_(configuration->property(role + ".acquire_pilot", false))
 {
-    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
 
     if (FLAGS_doppler_max != 0)
         {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -25,6 +25,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -121,8 +122,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_fpga_->set_channel_fsm(channel_fsm);
+        acquisition_fpga_->set_channel_fsm(channel_fsm_);
     }
 
     /*!
@@ -181,9 +182,9 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 4;  // downampling factor in the FPGA
+    static const uint32_t downsampling_factor_default = 4;
-    static const uint32_t fpga_buff_num = 0;             // L1/E1 band
+    static const uint32_t fpga_buff_num = 0;  // L1/E1 band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h

@@ -24,6 +24,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -93,8 +94,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h

@@ -24,6 +24,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -93,9 +94,10 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
+
     /*!
      * \brief Set statistics threshold of PCPS algorithm
      */

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h

@@ -24,6 +24,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -93,9 +94,10 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
+
     /*!
      * \brief Set statistics threshold of TONG algorithm
      */

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h

@@ -29,6 +29,7 @@
 #include "gnss_synchro.h"
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -93,8 +94,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h

@@ -25,6 +25,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -86,8 +87,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -43,7 +43,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
       acq_pilot_(configuration->property(role + ".acquire_pilot", false)),
       acq_iq_(configuration->property(role + ".acquire_iq", false))
 {
-    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
 
     if (FLAGS_doppler_max != 0)
         {

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -25,6 +25,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -121,8 +122,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_fpga_->set_channel_fsm(channel_fsm);
+        acquisition_fpga_->set_channel_fsm(channel_fsm_);
     }
 
     /*!
@@ -188,9 +189,9 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 1;  // downampling factor in the FPGA
+    static const uint32_t downsampling_factor_default = 1;
-    static const uint32_t fpga_buff_num = 1;             // L5/E5a band
+    static const uint32_t fpga_buff_num = 1;  // L5/E5a band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.

src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h

@@ -26,6 +26,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -117,8 +118,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc

@@ -43,7 +43,7 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
       acq_pilot_(configuration->property(role + ".acquire_pilot", false)),
       acq_iq_(configuration->property(role + ".acquire_iq", false))
 {
-    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
     if (FLAGS_doppler_max != 0)
         {
             acq_parameters_.doppler_max = FLAGS_doppler_max;

src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h

@@ -26,6 +26,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -120,8 +121,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_fpga_->set_channel_fsm(channel_fsm);
+        acquisition_fpga_->set_channel_fsm(channel_fsm_);
     }
 
     /*!
@@ -187,9 +188,9 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 1;  // downampling factor in the FPGA
+    static const uint32_t downsampling_factor_default = 1;
-    static const uint32_t fpga_buff_num = 1;             // E5b band
+    static const uint32_t fpga_buff_num = 1;  // E5b band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.

src/algorithms/acquisition/adapters/galileo_e6_pcps_acquisition.h

@@ -27,6 +27,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -95,8 +96,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

@@ -29,6 +29,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -97,8 +98,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h

@@ -28,6 +28,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -96,8 +97,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h

@@ -31,6 +31,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * Classes for GNSS signal acquisition
@@ -101,8 +102,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc

@@ -55,7 +55,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
     acq_parameters.fs_in = fs_in_;
     acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD_S * static_cast<float>(acq_parameters.fs_in)));
     acq_parameters.dump = dump_;
-    dump_filename_ = configuration->property(role_ + ".dump_filename", default_dump_filename);
+    dump_filename_ = configuration->property(role_ + ".dump_filename", std::move(default_dump_filename));
     acq_parameters.dump_filename = dump_filename_;
     if (FLAGS_doppler_max != 0)
         {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h

@@ -25,6 +25,7 @@
 #include "pcps_acquisition_fine_doppler_cc.h"
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -95,8 +96,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -43,7 +43,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
 
     DLOG(INFO) << "role " << role;
 

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h

@@ -28,6 +28,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -122,8 +123,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_fpga_->set_channel_fsm(channel_fsm);
+        acquisition_fpga_->set_channel_fsm(channel_fsm_);
     }
 
     /*!
@@ -185,10 +186,9 @@ public:
 
 private:
     static const uint32_t NUM_PRNs = 32;
-
+    static const uint32_t downsampling_factor_default = 4;
-    static const uint32_t fpga_downsampling_factor = 4;  // downampling factor in the FPGA
+    static const uint32_t fpga_buff_num = 0;  // L1/E1 band
-    static const uint32_t fpga_buff_num = 0;             // L1/E1 band
+    static const uint32_t fpga_blk_exp = 10;  // default block exponent
-    static const uint32_t fpga_blk_exp = 10;             // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc

@@ -46,7 +46,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
 {
     const std::string default_item_type("gr_complex");
     std::string default_dump_filename = "./data/acquisition.dat";
-    dump_filename_ = configuration->property(role_ + ".dump_filename", default_dump_filename);
+    dump_filename_ = configuration->property(role_ + ".dump_filename", std::move(default_dump_filename));
     item_type_ = configuration->property(role_ + ".item_type", default_item_type);
     int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h

@@ -25,6 +25,7 @@
 #include "pcps_assisted_acquisition_cc.h"
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -94,8 +95,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h

@@ -24,6 +24,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -92,8 +93,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc

@@ -99,7 +99,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
             max_dwells_ = 2;
         }
 
-    dump_filename_ = configuration_->property(role_ + ".dump_filename", default_dump_filename);
+    dump_filename_ = configuration_->property(role_ + ".dump_filename", std::move(default_dump_filename));
 
     bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
 

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h

@@ -26,6 +26,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -95,8 +96,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc

@@ -61,7 +61,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
     item_type_ = configuration_->property(role_ + ".item_type", default_item_type);
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
-    dump_filename_ = configuration_->property(role_ + ".dump_filename", default_dump_filename);
+    dump_filename_ = configuration_->property(role_ + ".dump_filename", std::move(default_dump_filename));
 
     if (FLAGS_doppler_max != 0)
         {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h

@@ -25,6 +25,7 @@
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -93,8 +94,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_cc_->set_channel_fsm(channel_fsm);
+        acquisition_cc_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -28,6 +28,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -97,8 +98,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -43,7 +43,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
 
     LOG(INFO) << "role " << role;
 

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h

@@ -29,6 +29,7 @@
 #include <cstddef>  // for size_t
 #include <memory>   // for weak_ptr
 #include <string>   // for string
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -97,8 +98,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_fpga_->set_channel_fsm(channel_fsm);
+        acquisition_fpga_->set_channel_fsm(channel_fsm_);
     }
 
     /*!
@@ -149,9 +150,9 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 4;  // downampling factor in the FPGA
+    static const uint32_t downsampling_factor_default = 1;
-    static const uint32_t fpga_buff_num = 0;             // L2 band
+    static const uint32_t fpga_buff_num = 0;  // L2 band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     static const uint32_t NUM_PRNs = 32;
     static const uint32_t QUANT_BITS_LOCAL_CODE = 16;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -28,6 +28,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 
 /** \addtogroup Acquisition
  * \{ */
@@ -96,8 +97,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_->set_channel_fsm(channel_fsm);
+        acquisition_->set_channel_fsm(channel_fsm_);
     }
 
     /*!

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -44,7 +44,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
 
     LOG(INFO) << "role " << role;
 

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -28,6 +28,7 @@
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 /** \addtogroup Acquisition
@@ -124,8 +125,8 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
-        channel_fsm_ = channel_fsm;
+        channel_fsm_ = std::move(channel_fsm);
-        acquisition_fpga_->set_channel_fsm(channel_fsm);
+        acquisition_fpga_->set_channel_fsm(channel_fsm_);
     }
 
     /*!
@@ -185,10 +186,9 @@ public:
 
 private:
     static const uint32_t NUM_PRNs = 32;
-
+    static const uint32_t downsampling_factor_default = 1;
-    static const uint32_t fpga_downsampling_factor = 1;  // downampling factor in the FPGA
+    static const uint32_t fpga_buff_num = 1;  // L5/E5a band
-    static const uint32_t fpga_buff_num = 1;             // L5/E5a band
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -101,6 +101,14 @@ if(ENABLE_OPENCL)
     )
 endif()
 
+if(VOLK_VERSION)
+    if(VOLK_VERSION VERSION_GREATER 3.0.99)
+        target_compile_definitions(acquisition_gr_blocks
+            PRIVATE -DVOLK_EQUAL_OR_GREATER_31=1
+        )
+    endif()
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(acquisition_gr_blocks

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc

@@ -184,10 +184,16 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
     if (d_sampled_ms > 1)
         {
             // DATA CODE B: First replica is inverted (0,1,1)
+#if VOLK_EQUAL_OR_GREATER_31
+            auto minus_one = gr_complex(-1, 0);
+            volk_32fc_s32fc_multiply2_32fc(&(d_fft_if->get_inbuf())[0],
+                &codeI[0], &minus_one,
+                d_samples_per_code);
+#else
             volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0],
                 &codeI[0], gr_complex(-1, 0),
                 d_samples_per_code);
-
+#endif
             d_fft_if->execute();  // We need the FFT of local code
 
             // Conjugate the local code
@@ -196,9 +202,16 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
             if (d_both_signal_components == true)
                 {
                     // PILOT CODE B: First replica is inverted (0,1,1)
+#if VOLK_EQUAL_OR_GREATER_31
+                    auto minus_one = gr_complex(-1, 0);
+                    volk_32fc_s32fc_multiply2_32fc(&(d_fft_if->get_inbuf())[0],
+                        &codeQ[0], &minus_one,
+                        d_samples_per_code);
+#else
                     volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0],
                         &codeQ[0], gr_complex(-1, 0),
                         d_samples_per_code);
+#endif
                     d_fft_if->execute();  // We need the FFT of local code
 
                     // Conjugate the local code
@@ -613,15 +626,15 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
                                     {
                                         d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1.0F - weighting_factor * static_cast<float>((doppler_index - i)));
                                     }
-                                d_CAF_vector[doppler_index] /= static_cast<float>(1.0F + static_cast<float>(CAF_bins_half + doppler_index) - weighting_factor * static_cast<float>(CAF_bins_half) * ((static_cast<float>(CAF_bins_half) + 1.0F) / 2.0F) - weighting_factor * static_cast<float>(doppler_index) * (static_cast<float>(doppler_index) + 1.0F) / 2.0F);  // triangles = [n*(n+1)/2]
+                                d_CAF_vector[doppler_index] /= 1.0F + static_cast<float>(CAF_bins_half + doppler_index) - weighting_factor * static_cast<float>(CAF_bins_half) * ((static_cast<float>(CAF_bins_half) + 1.0F) / 2.0F) - weighting_factor * static_cast<float>(doppler_index) * (static_cast<float>(doppler_index) + 1.0F) / 2.0F;  // triangles = [n*(n+1)/2]
                                 if (d_both_signal_components)
                                     {
                                         accum[0] = 0;
                                         for (int i = 0; i < CAF_bins_half + doppler_index + 1; i++)
                                             {
-                                                accum[0] += static_cast<float>(d_CAF_vector_Q[i] * (1.0F - weighting_factor * static_cast<float>(abs(doppler_index - i))));
+                                                accum[0] += d_CAF_vector_Q[i] * (1.0F - weighting_factor * static_cast<float>(abs(doppler_index - i)));
                                             }
-                                        accum[0] /= static_cast<float>(1.0F + static_cast<float>(CAF_bins_half + doppler_index) - weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1) / 2.0F - weighting_factor * static_cast<float>(doppler_index) * static_cast<float>(doppler_index + 1) / 2.0F);  // triangles = [n*(n+1)/2]
+                                        accum[0] /= 1.0F + static_cast<float>(CAF_bins_half + doppler_index) - weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1) / 2.0F - weighting_factor * static_cast<float>(doppler_index) * static_cast<float>(doppler_index + 1) / 2.0F;  // triangles = [n*(n+1)/2]
                                         d_CAF_vector[doppler_index] += accum[0];
                                     }
                             }
@@ -629,19 +642,19 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
                         for (int doppler_index = CAF_bins_half; doppler_index < d_num_doppler_bins - CAF_bins_half; doppler_index++)
                             {
                                 d_CAF_vector[doppler_index] = 0;
-                                for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++)
+                                for (int i = doppler_index - CAF_bins_half; i < doppler_index + CAF_bins_half + 1; i++)
                                     {
                                         d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1.0F - weighting_factor * static_cast<float>((doppler_index - i)));
                                     }
-                                d_CAF_vector[doppler_index] /= static_cast<float>(1.0F + 2.0F * static_cast<float>(CAF_bins_half) - 2.0F * weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1) / 2.0F);
+                                d_CAF_vector[doppler_index] /= 1.0F + 2.0F * static_cast<float>(CAF_bins_half) - 2.0F * weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1) / 2.0F;
                                 if (d_both_signal_components)
                                     {
                                         accum[0] = 0;
-                                        for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++)
+                                        for (int i = doppler_index - CAF_bins_half; i < doppler_index + CAF_bins_half + 1; i++)
                                             {
-                                                accum[0] += static_cast<float>(d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<float>((doppler_index - i))));
+                                                accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<float>((doppler_index - i)));
                                             }
-                                        accum[0] /= static_cast<float>(1.0F + 2.0F * static_cast<float>(CAF_bins_half) - 2.0F * weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1) / 2.0F);
+                                        accum[0] /= 1.0F + 2.0F * static_cast<float>(CAF_bins_half) - 2.0F * weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1) / 2.0F;
                                         d_CAF_vector[doppler_index] += accum[0];
                                     }
                             }
@@ -653,13 +666,13 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
                                     {
                                         d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1.0F - weighting_factor * static_cast<float>(abs(doppler_index - i)));
                                     }
-                                d_CAF_vector[doppler_index] /= static_cast<float>(1.0F + static_cast<float>(CAF_bins_half) + static_cast<float>(d_num_doppler_bins - doppler_index - 1) - weighting_factor * static_cast<float>(CAF_bins_half) * (static_cast<float>(CAF_bins_half) + 1.0F) / 2.0F - weighting_factor * static_cast<float>(d_num_doppler_bins - doppler_index - 1) * static_cast<float>(d_num_doppler_bins - doppler_index) / 2.0F);
+                                d_CAF_vector[doppler_index] /= 1.0F + static_cast<float>(CAF_bins_half) + static_cast<float>(d_num_doppler_bins - doppler_index - 1) - weighting_factor * static_cast<float>(CAF_bins_half) * (static_cast<float>(CAF_bins_half) + 1.0F) / 2.0F - weighting_factor * (d_num_doppler_bins - doppler_index - 1) * static_cast<float>(d_num_doppler_bins - doppler_index) / 2.0F;
                                 if (d_both_signal_components)
                                     {
                                         accum[0] = 0;
                                         for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++)
                                             {
-                                                accum[0] += static_cast<float>(d_CAF_vector_Q[i] * (1.0F - weighting_factor * static_cast<float>(abs(doppler_index - i))));
+                                                accum[0] += d_CAF_vector_Q[i] * (1.0F - weighting_factor * static_cast<float>(abs(doppler_index - i)));
                                             }
                                         accum[0] /= static_cast<float>(1.0F + static_cast<float>(CAF_bins_half) + static_cast<float>(d_num_doppler_bins - doppler_index - 1) - weighting_factor * static_cast<float>(CAF_bins_half) * static_cast<float>(CAF_bins_half + 1.0) / 2.0 - weighting_factor * static_cast<float>(d_num_doppler_bins - doppler_index - 1) * static_cast<float>(d_num_doppler_bins - doppler_index) / 2.0);
                                         d_CAF_vector[doppler_index] += accum[0];
@@ -730,7 +743,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
                         auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                         Gnss_Synchro current_synchro_data = Gnss_Synchro();
                         current_synchro_data = *d_gnss_synchro;
-                        *out[0] = current_synchro_data;
+                        *out[0] = std::move(current_synchro_data);
                         return_value = 1;  // Number of Gnss_Synchro objects produced
                     }
 

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc

@@ -124,10 +124,16 @@ void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
     volk_32fc_conjugate_32fc(d_fft_code_A.data(), d_fft_if->get_outbuf(), d_fft_size);
 
     // code B: two replicas of a primary code; the second replica is inverted.
+#if VOLK_EQUAL_OR_GREATER_31
+    auto minus_one = gr_complex(-1, 0);
+    volk_32fc_s32fc_multiply2_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code],
+        &code[d_samples_per_code], &minus_one,
+        d_samples_per_code);
+#else
     volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code],
         &code[d_samples_per_code], gr_complex(-1, 0),
         d_samples_per_code);
-
+#endif
     d_fft_if->execute();  // We need the FFT of local code
 
     // Conjugate the local code
@@ -381,7 +387,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
                         auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                         Gnss_Synchro current_synchro_data = Gnss_Synchro();
                         current_synchro_data = *d_gnss_synchro;
-                        *out[0] = current_synchro_data;
+                        *out[0] = std::move(current_synchro_data);
                         noutput_items = 1;  // Number of Gnss_Synchro objects produced
                     }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -259,7 +259,7 @@ void pcps_acquisition::init()
     d_mag = 0.0;
     d_input_power = 0.0;
 
-    d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(d_acq_parameters.doppler_max) - static_cast<int32_t>(-d_acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
+    d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(2 * d_acq_parameters.doppler_max) / static_cast<double>(d_doppler_step)));
 
     // Create the carrier Doppler wipeoff signals
     if (d_grid_doppler_wipeoffs.empty())
@@ -872,6 +872,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
 // Called by gnuradio to enable drivers, etc for i/o devices.
 bool pcps_acquisition::start()
 {
+    gr::thread::scoped_lock lk(d_setlock);
     d_sample_counter = 0ULL;
     calculate_threshold();
     return true;
@@ -1018,7 +1019,7 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
                         {
                             Gnss_Synchro current_synchro_data = d_monitor_queue.front();
                             d_monitor_queue.pop();
-                            *out[i] = current_synchro_data;
+                            *out[i] = std::move(current_synchro_data);
                         }
                     return num_gnss_synchro_objects;
                 }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc

@@ -84,7 +84,7 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
                 {
                     std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
                     dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
-                    d_dump_filename = dump_filename_;
+                    d_dump_filename = std::move(dump_filename_);
                 }
             else
                 {
@@ -566,7 +566,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
                     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                     Gnss_Synchro current_synchro_data = Gnss_Synchro();
                     current_synchro_data = *d_gnss_synchro;
-                    *out[0] = current_synchro_data;
+                    *out[0] = std::move(current_synchro_data);
                     return_value = 1;  // Number of Gnss_Synchro objects produced
                 }
             break;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -33,6 +33,7 @@
 #include <cstdint>  // for uint32_t
 #include <memory>   // for shared_ptr
 #include <string>   // for string
+#include <utility>  // for move
 
 /** \addtogroup Acquisition
  * \{ */
@@ -118,7 +119,7 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
 
     /*!

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -427,7 +427,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
                     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                     Gnss_Synchro current_synchro_data = Gnss_Synchro();
                     current_synchro_data = *d_gnss_synchro;
-                    *out[0] = current_synchro_data;
+                    *out[0] = std::move(current_synchro_data);
                     noutput_items = 1;  // Number of Gnss_Synchro objects produced
                 }
             break;

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc

@@ -403,7 +403,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
                         auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                         Gnss_Synchro current_synchro_data = Gnss_Synchro();
                         current_synchro_data = *d_gnss_synchro;
-                        *out[0] = current_synchro_data;
+                        *out[0] = std::move(current_synchro_data);
                         noutput_items = 1;  // Number of Gnss_Synchro objects produced
                     }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc

@@ -765,7 +765,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
                         auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                         Gnss_Synchro current_synchro_data = Gnss_Synchro();
                         current_synchro_data = *d_gnss_synchro;
-                        *out[0] = current_synchro_data;
+                        *out[0] = std::move(current_synchro_data);
                         noutput_items = 1;  // Number of Gnss_Synchro objects produced
                     }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc

@@ -507,7 +507,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                         auto** out = reinterpret_cast<Gnss_Synchro**>(&output_items[0]);
                         Gnss_Synchro current_synchro_data = Gnss_Synchro();
                         current_synchro_data = *d_gnss_synchro;
-                        *out[0] = current_synchro_data;
+                        *out[0] = std::move(current_synchro_data);
                         noutput_items = 1;  // Number of Gnss_Synchro objects produced
                     }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc

@@ -403,7 +403,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
                         auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
                         Gnss_Synchro current_synchro_data = Gnss_Synchro();
                         current_synchro_data = *d_gnss_synchro;
-                        *out[0] = current_synchro_data;
+                        *out[0] = std::move(current_synchro_data);
                         noutput_items = 1;  // Number of Gnss_Synchro objects produced
                     }
 

src/algorithms/acquisition/libs/acq_conf_fpga.cc

@@ -21,9 +21,10 @@
 #include <glog/logging.h>
 #include <cmath>
 #include <iostream>
+#include <utility>
 
 void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration,
-    const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips)
+    const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, uint32_t downsampling_factor_default, double chip_rate, double code_length_chips)
 {
     // sampling frequency
     const int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
@@ -33,7 +34,8 @@ void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configura
     doppler_max = configuration->property(role + ".doppler_max", doppler_max);
 
     // downsampling factor
-    uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", downs_factor);
+    downsampling_factor = configuration->property(role + ".downsampling_factor", downsampling_factor_default);
+
     fs_in = fs_in / downsampling_factor;
 
     // code length in samples
@@ -57,7 +59,7 @@ void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configura
             std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
             throw std::exception();
         }
-    device_name = device_io_name;
+    device_name = std::move(device_io_name);
 
     // exclusion limit
     excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / chip_rate) * static_cast<float>(fs_in)));

src/algorithms/acquisition/libs/acq_conf_fpga.h

@@ -35,7 +35,7 @@ class Acq_Conf_Fpga
 public:
     Acq_Conf_Fpga() = default;
 
-    void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips);
+    void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, uint32_t downsampling_factor_default, double chip_rate, double code_length_chips);
 
     /* PCPS Acquisition configuration */
     std::string device_name = "uio0";

src/algorithms/channel/adapters/channel.cc

@@ -212,6 +212,13 @@ gr::basic_block_sptr Channel::get_right_block()
 }
 
 
+Gnss_Signal Channel::get_signal()
+{
+    std::lock_guard<std::mutex> lk(mx_);
+    return gnss_signal_;
+}
+
+
 void Channel::set_signal(const Gnss_Signal& gnss_signal)
 {
     std::lock_guard<std::mutex> lk(mx_);

src/algorithms/channel/adapters/channel.h

@@ -84,7 +84,7 @@ public:
     inline std::string role() override { return role_; }
     inline std::string implementation() override { return std::string("Channel"); }  //!< Returns "Channel"
     inline size_t item_size() override { return 2 * sizeof(float); }
-    inline Gnss_Signal get_signal() const override { return gnss_signal_; }
+    Gnss_Signal get_signal() override;
     void start_acquisition() override;                          //!< Start the State Machine
     void stop_channel() override;                               //!< Stop the State Machine
     void set_signal(const Gnss_Signal& gnss_signal_) override;  //!< Sets the channel GNSS signal

src/algorithms/conditioner/adapters/array_signal_conditioner.cc

@@ -73,7 +73,7 @@ void ArraySignalConditioner::disconnect(gr::top_block_sptr top_block)
 
     // data_type_adapt_->disconnect(top_block);
     in_filt_->disconnect(top_block);
-    res_->disconnect(top_block);
+    res_->disconnect(std::move(top_block));
 
     connected_ = false;
 }

src/algorithms/conditioner/adapters/signal_conditioner.cc

@@ -101,7 +101,7 @@ void SignalConditioner::disconnect(gr::top_block_sptr top_block)
 
     data_type_adapt_->disconnect(top_block);
     in_filt_->disconnect(top_block);
-    res_->disconnect(top_block);
+    res_->disconnect(std::move(top_block));
 
     connected_ = false;
 }

src/algorithms/data_type_adapter/adapters/byte_to_short.cc

@@ -26,7 +26,7 @@ ByteToShort::ByteToShort(const ConfigurationInterface* configuration,
     unsigned int out_streams) : role_(std::move(role)),
                                 in_streams_(in_streams),
                                 out_streams_(out_streams),
-                                dump_(configuration->property(role + ".dump", false))
+                                dump_(configuration->property(role_ + ".dump", false))
 {
     const std::string default_input_item_type("byte");
     const std::string default_output_item_type("short");

src/algorithms/input_filter/adapters/freq_xlating_fir_filter.cc

@@ -32,7 +32,7 @@ FreqXlatingFirFilter::FreqXlatingFirFilter(const ConfigurationInterface* configu
     : role_(std::move(role)),
       in_streams_(in_streams),
       out_streams_(out_streams),
-      dump_(configuration->property(role + ".dump", false))
+      dump_(configuration->property(role_ + ".dump", false))
 {
     const std::string default_input_item_type("gr_complex");
     const std::string default_output_item_type("gr_complex");

src/algorithms/libs/gps_l2c_signal_replica.cc

@@ -24,7 +24,7 @@
 
 uint32_t gps_l2c_m_shift(uint32_t x)
 {
-    return static_cast<uint32_t>((x >> 1U) xor ((x & 1U) * 0445112474U));
+    return ((x >> 1U) xor ((x & 1U) * 0445112474U));
 }