From a5b0d58746f6d412a43af8d019a7cab0d6cb2ea9 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 001/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 138140d34..23827ba70 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -573,6 +573,12 @@ void GNSSFlowgraph::set_signals_list()
                     11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
                     29, 30, 31, 32, 33, 34, 35, 36};
 
+    /*
+     * Only 24 operational
+     */
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
     if( sv_list.length() > 0 )
@@ -621,6 +627,22 @@ void GNSSFlowgraph::set_signals_list()
                 }
         }
 
+    sv_list = configuration_->property("Glonass.prns", std::string("") );
+
+    if( sv_list.length() > 0 )
+        {
+            // Reset the available prns:
+            std::set< unsigned int > tmp_set;
+            boost::tokenizer<> tok( sv_list );
+            std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
+                    boost::lexical_cast<unsigned int, std::string> );
+
+            if( tmp_set.size() > 0 )
+                {
+                    available_glonass_prn = tmp_set;
+                }
+        }
+
     if (configuration_->property("Channels_1C.count", 0) > 0 )
         {
             /*
@@ -691,6 +713,20 @@ void GNSSFlowgraph::set_signals_list()
                             *available_gnss_prn_iter), std::string("5X")));
                 }
         }
+
+        if (configuration_->property("Channels_1G.count", 0) > 0 )
+        {
+            /*
+             * Loop to create the list of GLONASS L1 C/A signals
+             */
+            for (available_gnss_prn_iter = available_glonass_prn.begin();
+                    available_gnss_prn_iter != available_glonass_prn.end();
+                    available_gnss_prn_iter++)
+                {
+                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+                            *available_gnss_prn_iter), std::string("5X")));
+                }
+        }
     /*
      * Ordering the list of signals from configuration file
      */
@@ -704,6 +740,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
+            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From c8c79b0e5aa1e28f3651fc551849d9af7530d9b8 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 002/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 23827ba70..8ef37b7c3 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -724,7 +724,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-                            *available_gnss_prn_iter), std::string("5X")));
+                            *available_gnss_prn_iter), std::string("1G")));
                 }
         }
     /*

From 1acd107d51b9e6bea98faac2adcc9cf46c3178e7 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 003/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/CMakeLists.txt            |   1 +
 .../libs/glonass_l1_signal_processing.cc      | 131 ++++++++++++++++++
 .../libs/glonass_l1_signal_processing.h       |  47 +++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.cc
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.h

diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt
index f0a62912f..7a42ad90e 100644
--- a/src/algorithms/libs/CMakeLists.txt
+++ b/src/algorithms/libs/CMakeLists.txt
@@ -23,6 +23,7 @@ set(GNSS_SPLIBS_SOURCES
     gnss_sdr_valve.cc
     gnss_signal_processing.cc
     gps_sdr_signal_processing.cc
+    glonass_l1_signal_processing.cc
     pass_through.cc
     galileo_e5_signal_processing.cc
     complex_byte_to_float_x2.cc
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
new file mode 100644
index 000000000..ff3ab5a2d
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -0,0 +1,131 @@
+/*!
+ * \file glonass_l1_signal_processing.cc
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_l1_signal_processing.h"
+
+auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
+
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+{
+    const unsigned int _code_length = 511;
+    bool G1[_code_length];
+    bool G1_register[9];
+    bool feedback1;
+    bool aux;
+    unsigned int lcv, lcv2;
+
+    for(lcv = 0; lcv < 9; lcv++)
+        {
+            G1_register[lcv] = 1;
+        }
+
+    /* Generate G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            G1[lcv] = G1_register[2];
+
+            feedback1 = G1_register[4]^G1_register[0];
+
+            for(lcv2 = 0; lcv2 < 8; lcv2++)
+                {
+                    G1_register[lcv2] = G1_register[lcv2 + 1];
+                }
+
+            G1_register[8] = feedback1;
+        }
+
+    /* Generate PRN from G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[lcv];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+        }
+}
+
+
+/*
+ *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
+ */
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+{
+    // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
+    std::complex<float> _code[511];
+    signed int _samplesPerCode, _codeValueIndex;
+    float _ts;
+    float _tc;
+    float aux;
+    const signed int _codeFreqBasis = 511000; //Hz
+    const signed int _codeLength = 511;
+
+    //--- Find number of samples per spreading code ----------------------------
+    _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
+
+    //--- Find time constants --------------------------------------------------
+    _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
+    _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
+    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+
+    for (signed int i = 0; i < _samplesPerCode; i++)
+        {
+            //=== Digitizing =======================================================
+
+            //--- Make index array to read C/A code values -------------------------
+            // The length of the index array depends on the sampling frequency -
+            // number of samples per millisecond (because one C/A code period is one
+            // millisecond).
+
+            // _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
+            aux = (_ts * (i + 1)) / _tc;   
+            _codeValueIndex = auxCeil( aux ) - 1;
+
+            //--- Make the digitized version of the C/A code -----------------------
+            // The "upsampled" code is made by selecting values form the CA code
+            // chip array (caCode) for the time instances of each sample.
+            if (i == _samplesPerCode - 1)
+                {
+                    //--- Correct the last index (due to number rounding issues) -----------
+                    _dest[i] = _code[_codeLength - 1];
+
+                }
+            else
+                {
+                    _dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
+                }
+        }
+}
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
new file mode 100644
index 000000000..b181d68ae
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -0,0 +1,47 @@
+/*!
+ * \file glonass_l1_signal_processing.h
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo(at)ieee.org
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+
+#include <complex>
+
+//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From 3f0b10f3ef7bd02cae06924e78191037f413ecd0 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 004/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  1 +
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  1 +
 src/core/system_parameters/Glonass_L1_CA.h    | 63 +++++++++++++++++++
 3 files changed, 65 insertions(+)
 create mode 100644 src/core/system_parameters/Glonass_L1_CA.h

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index c7910ff97..01fd3fe57 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -41,6 +41,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index a0ab23131..bea0170ea 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -56,6 +56,7 @@
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/fft/fft.h>
 #include "gnss_synchro.h"
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 class pcps_acquisition_cc;
 
diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
new file mode 100644
index 000000000..f6391c56b
--- /dev/null
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -0,0 +1,63 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_H_
+#define GNSS_SDR_GLONASS_L1_CA_H_
+
+#include <vector>
+#include <utility> // std::pair
+#include "MATH_CONSTANTS.h"
+
+// Physical constants
+const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
+const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
+const double GLONASS_PI          = 3.1415926535898;  //!< Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_TWO_PI      = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_OMEGA_EARTH_DOT     = 7.292115e-5;  //!< Earth rotation rate, [rad/s]
+const double GLONASS_GM          = 3.986004418e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+// const double F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
+
+// Geodesic constants and parameters
+const double fMa                = 0.35e9;           //!< The Gravitational constant of atmosphere, [m^3/s^2]
+const double SEMI_MAJOR_AXIS    = 6378136;          //!< The Semi-major axis, [m]
+const double FLATTENING         = 1/298.25784;      //!< The Orbital Flattening
+const double EQUATORIAL_GRAVITY = 978032.84;        //!< The Equatorial acceleration of gravity, [mGal]
+const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
+const double SECOND_HARMONIC    = 1082625.75e-9;    //!< Second zonal harmonic of the geopotential (J_2^0)
+const double FOURTH_HARMONIC    = -2370.89e-9;    //!< Fourth zonal harmonic of the geopotential (J_4^0)
+const double SIXTH_HARMONIC     = 6.08e-9;    //!< Sixth zonal harmonic of the geopotential (J_6^0)
+const double EIGHTH_HARMONIC    = 1.40e-11;     //!< Eighth zonal harmonic of the geopotential (J_8^0)
+const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
+
+
+// carrier and code frequencies
+const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
+const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
+const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
+const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
+
+// GLONASS SV's orbital slots
+const short int GLONASS_PRN[24] = { 1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2,   //Plane 3
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2};  //Plane 3
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From e291d95658d21cd8fbc2fc1ef032524f3e9c638c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:45:16 -0300
Subject: [PATCH 005/379] Add pcps acquisition adapter for glonass l1 ca signal

---
 .../acquisition/adapters/CMakeLists.txt       |   1 +
 .../glonass_l1_ca_pcps_acquisition.cc         | 366 ++++++++++++++++++
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 138 +++++++
 3 files changed, 505 insertions(+)
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt
index 1ead04df8..b2395dc6d 100644
--- a/src/algorithms/acquisition/adapters/CMakeLists.txt
+++ b/src/algorithms/acquisition/adapters/CMakeLists.txt
@@ -31,6 +31,7 @@ set(ACQ_ADAPTER_SOURCES
     galileo_e1_pcps_tong_ambiguous_acquisition.cc
     galileo_e1_pcps_8ms_ambiguous_acquisition.cc
     galileo_e5a_noncoherent_iq_acquisition_caf.cc
+    glonass_l1_ca_pcps_acquisition.cc
 )
 
 
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
new file mode 100644
index 000000000..a8e25b151
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -0,0 +1,366 @@
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include <boost/math/distributions/exponential.hpp>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+    role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    configuration_ = configuration;
+    std::string default_item_type = "gr_complex";
+    std::string default_dump_filename = "./data/acquisition.dat";
+
+    DLOG(INFO) << "role " << role;
+
+    item_type_ = configuration_->property(role + ".item_type", default_item_type);
+
+    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    if_ = configuration_->property(role + ".if", 0);
+    dump_ = configuration_->property(role + ".dump", false);
+    doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
+
+    bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
+    use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
+
+    max_dwells_ = configuration_->property(role + ".max_dwells", 1);
+
+    dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
+
+    //--- Find number of samples per spreading code -------------------------
+    code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    LOG(ERROR) << "fs_in_ " << fs_in_;
+    LOG(ERROR) << "code_length_ " << code_length_;
+
+    vector_length_ = code_length_ * sampled_ms_;
+
+    LOG(ERROR) << "vector_length_ " << vector_length_;
+    
+
+    if( bit_transition_flag_ )
+        {
+            vector_length_ *= 2;
+        }
+
+    code_ = new gr_complex[vector_length_];
+
+    if (item_type_.compare("cshort") == 0 )
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
+                    doppler_max_, if_, fs_in_, code_length_, code_length_,
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+            DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
+
+        }else{
+                item_size_ = sizeof(gr_complex);
+                acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
+                        doppler_max_, if_, fs_in_, code_length_, code_length_,
+                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
+        }
+
+    stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
+    DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
+    
+    if (item_type_.compare("cbyte") == 0)
+        {
+            cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
+            float_to_complex_ = gr::blocks::float_to_complex::make();
+        }
+
+    channel_ = 0;
+    threshold_ = 0.0;
+    doppler_step_ = 0;
+    gnss_synchro_ = 0;
+}
+
+
+GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
+{
+    delete[] code_;
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_channel(channel_);
+        }
+    else
+        {
+            acquisition_cc_->set_channel(channel_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
+{
+    float pfa = configuration_->property(role_ + ".pfa", 0.0);
+
+    if(pfa == 0.0)
+        {
+            threshold_ = threshold;
+        }
+    else
+        {
+            threshold_ = calculate_threshold(pfa);
+        }
+
+    DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
+
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_threshold(threshold_);
+        }
+    else
+        {
+            acquisition_cc_->set_threshold(threshold_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
+{
+    doppler_max_ = doppler_max;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_max(doppler_max_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_max(doppler_max_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
+{
+    doppler_step_ = doppler_step;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_step(doppler_step_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_step(doppler_step_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
+{
+    gnss_synchro_ = gnss_synchro;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_gnss_synchro(gnss_synchro_);
+        }
+    else
+        {
+            acquisition_cc_->set_gnss_synchro(gnss_synchro_);
+        }
+}
+
+
+signed int GlonassL1CaPcpsAcquisition::mag()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_->mag();
+        }
+    else
+        {
+            return acquisition_cc_->mag();
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::init()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->init();
+        }
+    else
+        {
+            acquisition_cc_->init();
+        }
+
+    set_local_code();
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_local_code()
+{
+
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0);
+
+    for (unsigned int i = 0; i < sampled_ms_; i++)
+        {
+            memcpy(&(code_[i*code_length_]), code,
+                    sizeof(gr_complex)*code_length_);
+        }
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_local_code(code_);
+        }
+    else
+        {
+            acquisition_cc_->set_local_code(code_);
+        }
+
+    delete[] code;
+}
+
+
+void GlonassL1CaPcpsAcquisition::reset()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_active(true);
+        }
+    else
+        {
+            acquisition_cc_->set_active(true);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_state(int state)
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_state(state);
+        }
+    else
+        {
+            acquisition_cc_->set_state(state);
+        }
+}
+
+
+float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
+{
+    //Calculate the threshold
+    unsigned int frequency_bins = 0;
+    /*
+    for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
+        {
+            frequency_bins++;
+        }
+    */
+
+    frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_;
+
+    DLOG(INFO) << "Channel " << channel_ << "  Pfa = " << pfa;
+    unsigned int ncells = vector_length_ * frequency_bins;
+    double exponent = 1 / static_cast<double>(ncells);
+    double val = pow(1.0 - pfa, exponent);
+    double lambda = double(vector_length_);
+    boost::math::exponential_distribution<double> mydist (lambda);
+    float threshold = (float)quantile(mydist,val);
+
+    return threshold;
+}
+
+
+void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            // Since a byte-based acq implementation is not available,
+            // we just convert cshorts to gr_complex
+            top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            return cbyte_to_float_x2_;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+            return nullptr;
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_;
+        }
+    else
+        {
+            return acquisition_cc_;
+        }
+}
+
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
new file mode 100644
index 000000000..2cc43c90f
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -0,0 +1,138 @@
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+
+#include <string>
+#include <gnuradio/blocks/stream_to_vector.h>
+#include <gnuradio/blocks/float_to_complex.h>
+#include "gnss_synchro.h"
+#include "acquisition_interface.h"
+#include "pcps_acquisition_cc.h"
+#include "pcps_acquisition_sc.h"
+#include "complex_byte_to_float_x2.h"
+#include <volk_gnsssdr/volk_gnsssdr.h>
+
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
+ *  for GPS L1 C/A signals
+ */
+class GlonassL1CaPcpsAcquisition: public AcquisitionInterface
+{
+public:
+    GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
+            std::string role, unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaPcpsAcquisition();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    /*!
+     * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
+     */
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_PCPS_Acquisition";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and
+     *  tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    /*!
+     * \brief Set acquisition channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set statistics threshold of PCPS algorithm
+     */
+    void set_threshold(float threshold);
+
+    /*!
+     * \brief Set maximum Doppler off grid search
+     */
+    void set_doppler_max(unsigned int doppler_max);
+
+    /*!
+     * \brief Set Doppler steps for the grid search
+     */
+    void set_doppler_step(unsigned int doppler_step);
+
+    /*!
+     * \brief Initializes acquisition algorithm.
+     */
+    void init();
+
+    /*!
+     * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
+     */
+    void set_local_code();
+
+    /*!
+     * \brief Returns the maximum peak of grid search
+     */
+    signed int mag();
+
+    /*!
+     * \brief Restart acquisition algorithm
+     */
+    void reset();
+
+    /*!
+     * \brief If state = 1, it forces the block to start acquiring from the first sample
+     */
+    void set_state(int state);
+
+private:
+    ConfigurationInterface* configuration_;
+    pcps_acquisition_cc_sptr acquisition_cc_;
+    pcps_acquisition_sc_sptr acquisition_sc_;
+    gr::blocks::stream_to_vector::sptr stream_to_vector_;
+    gr::blocks::float_to_complex::sptr float_to_complex_;
+    complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int vector_length_;
+    unsigned int code_length_;
+    bool bit_transition_flag_;
+    bool use_CFAR_algorithm_flag_;
+    unsigned int channel_;
+    float threshold_;
+    unsigned int doppler_max_;
+    unsigned int doppler_step_;
+    unsigned int sampled_ms_;
+    unsigned int max_dwells_;
+    long fs_in_;
+    long if_;
+    bool dump_;
+    std::string dump_filename_;
+    std::complex<float> * code_;
+    Gnss_Synchro * gnss_synchro_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+
+    float calculate_threshold(float pfa);
+};
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ */

From 34b813d84df5b48f1873e833c603e528064f88d4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 006/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 8 +++++---
 src/algorithms/libs/glonass_l1_signal_processing.h  | 6 +++---
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index ff3ab5a2d..d19b349ab 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -34,7 +34,7 @@
 
 auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
 
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _prn,*/ unsigned int _chip_shift)
 {
     const unsigned int _code_length = 511;
     bool G1[_code_length];
@@ -76,13 +76,15 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
+
+    /* TODO: Implement the chip shifting*/
 }
 
 
 /*
  *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
  */
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
 {
     // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
     std::complex<float> _code[511];
@@ -99,7 +101,7 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned
     //--- Find time constants --------------------------------------------------
     _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
     _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
-    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+    glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
 
     for (signed int i = 0; i < _samplesPerCode; i++)
         {
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index b181d68ae..40fcd6ad1 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,12 +36,12 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
 
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From a1d683a8ca7f721b815fe6912b1fab5b24997a0c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:50:12 -0300
Subject: [PATCH 007/379] fix ifndef include

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 40fcd6ad1..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -30,8 +30,8 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
-#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
 #include <complex>
 
@@ -44,4 +44,4 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

From 2d9fe6a0671df011f80c1c05cbe1ac27d9942941 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:53:17 -0300
Subject: [PATCH 008/379] Add Glonass L1 C/A channel to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 116 +++++++++++++++++++++++-
 src/core/receiver/gnss_block_factory.h  |   4 +
 2 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 9e4a4d478..b000d3392 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -78,6 +78,7 @@
 #include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
 #include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_tcp_connector_tracking.h"
@@ -514,6 +515,74 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
     return channel_;
 }
 
+//********* GLONASS L1 C/A CHANNEL *****************
+std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
+        std::shared_ptr<ConfigurationInterface> configuration,
+        std::string acq, std::string trk, std::string tlm, int channel,
+        boost::shared_ptr<gr::msg_queue> queue)
+{
+    std::stringstream stream;
+    stream << channel;
+    std::string id = stream.str();
+    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
+              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
+
+    std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix1;
+    if(aux.compare("W") != 0)
+        {
+            appendix1 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix1 = "";
+        }
+    aux = configuration->property("Tracking_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix2;
+    if(aux.compare("W") != 0)
+        {
+            appendix2 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix2 = "";
+        }
+    aux = configuration->property("TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix3;
+    if(aux.compare("W") != 0)
+        {
+            appendix3 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix3 = "";
+        }
+    // Automatically detect input data type
+    std::shared_ptr<InMemoryConfiguration> config;
+    config = std::make_shared<InMemoryConfiguration>();
+    std::string default_item_type = "gr_complex";
+    std::string acq_item_type = configuration->property("Acquisition_1G" + appendix1 + ".item_type", default_item_type);
+    std::string trk_item_type = configuration->property("Tracking_1G" + appendix2 + ".item_type", default_item_type);
+    if(acq_item_type.compare(trk_item_type))
+        {
+            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
+        }
+    config->set_property("Channel.item_type", acq_item_type);
+
+    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
+    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
+    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G"+ appendix2, trk, 1, 1);
+    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
+
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+            std::move(acq_),
+            std::move(trk_),
+            std::move(tlm_),
+            "Channel", "1G", queue));
+
+    return channel_;
+}
+
 
 std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
         std::shared_ptr<ConfigurationInterface> configuration, boost::shared_ptr<gr::msg_queue> queue)
@@ -529,11 +598,13 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
     unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
     unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0);
     unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
+    unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0);
 
     unsigned int total_channels = Channels_1C_count +
             Channels_2S_count +
             Channels_1B_count +
-            Channels_5X_count;
+            Channels_5X_count +
+            Channels_1G_count;
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
 
     //**************** GPS L1 C/A  CHANNELS **********************
@@ -657,6 +728,37 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                 channel_absolute_id++;
            }
 
+
+    //**************** GLONASS L1 C/A  CHANNELS **********************
+    LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
+    acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
+    tracking_implementation  = configuration->property("Tracking_1G.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation);
+
+    for (unsigned int i = 0; i < Channels_1G_count; i++)
+        {
+            //(i.e. Acquisition_1G0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                            "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            acquisition_implementation);
+            //(i.e. Tracking_1G0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                            "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                            "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            telemetry_decoder_implementation);
+
+            // Push back the channel to the vector of channels
+             channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
+                     acquisition_implementation_specific,
+                     tracking_implementation_specific,
+                     telemetry_decoder_implementation_specific,
+                     channel_absolute_id,
+                     queue));
+             channel_absolute_id++;
+        }
+
     return channels;
 }
 
@@ -976,6 +1078,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
 
 
@@ -1228,6 +1336,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.
diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h
index 13c614ee8..6dd6ae11f 100644
--- a/src/core/receiver/gnss_block_factory.h
+++ b/src/core/receiver/gnss_block_factory.h
@@ -94,6 +94,10 @@ private:
             std::string acq, std::string trk, std::string tlm, int channel,
             boost::shared_ptr<gr::msg_queue> queue);
 
+    std::unique_ptr<GNSSBlockInterface> GetChannel_1G(std::shared_ptr<ConfigurationInterface> configuration,
+            std::string acq, std::string trk, std::string tlm, int channel,
+            boost::shared_ptr<gr::msg_queue> queue);
+
     std::unique_ptr<AcquisitionInterface> GetAcqBlock(
             std::shared_ptr<ConfigurationInterface> configuration,
             std::string role,

From 60ac371f534d415ccad01fff4e16f674114020d6 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:56:01 -0300
Subject: [PATCH 009/379] Only 24 SV's available

---
 src/core/receiver/gnss_flowgraph.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 8ef37b7c3..3c981643e 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -556,7 +556,8 @@ void GNSSFlowgraph::set_signals_list()
     unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
             configuration_->property("Channels_2S.count", 0) +
             configuration_->property("Channels_1B.count", 0) +
-            configuration_->property("Channels_5X.count", 0);
+            configuration_->property("Channels_5X.count", 0) + 
+            configuration_->property("Channels_1G.count", 0);
 
     /*
      * Loop to create the list of GNSS Signals
@@ -577,7 +578,7 @@ void GNSSFlowgraph::set_signals_list()
      * Only 24 operational
      */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 

From 14e501ffec6932bf0cd8ca2ff5ddcd1a48306931 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 010/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index bea0170ea..38eb7f98c 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -145,6 +145,12 @@ public:
      void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
      {
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From c381e10dc3b71a0a762b27c06ac828557d2ddf4e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:58:59 -0300
Subject: [PATCH 011/379] Change Glonass string

---
 src/core/system_parameters/gnss_satellite.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index c56bbe52d..2970447d1 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -61,9 +61,9 @@ Gnss_Satellite::~Gnss_Satellite()
 
 void Gnss_Satellite::reset()
 {
-    system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"};
+    system_set = {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"};
     satelliteSystem["GPS"] = "G";
-    satelliteSystem["GLONASS"] = "R";
+    satelliteSystem["Glonass"] = "R";
     satelliteSystem["SBAS"] = "S";
     satelliteSystem["Galileo"] = "E";
     satelliteSystem["Beidou"] = "C";
@@ -120,7 +120,7 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite &rhs) {
 
 void Gnss_Satellite::set_system(const std::string& system_)
 {
-    // Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
+    // Set the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Compass"}
     std::set<std::string>::iterator it = system_set.find(system_);
 
     if(it != system_set.end())
@@ -129,7 +129,7 @@ void Gnss_Satellite::set_system(const std::string& system_)
         }
     else
         {
-            DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Beidou}. Initialization?";
+            DLOG(INFO) << "System " << system_ << " is not defined {GPS, Glonass, SBAS, Galileo, Beidou}. Initialization?";
             system =  std::string("");
         }
 }
@@ -220,7 +220,7 @@ unsigned int Gnss_Satellite::get_PRN() const
 
 std::string Gnss_Satellite::get_system() const
 {
-    // Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
+    // Get the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"}
     std::string system_;
     system_ = system;
     return system_;

From aa33b8528dcb740d8484cf7e57399bbc65bf6b09 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 012/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index f57f3ca04..eb4429fd5 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -598,6 +598,12 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
+    /*
+     * Only 24 operational
+     */
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
     if( sv_list.length() > 0 )
@@ -646,6 +652,22 @@ void GNSSFlowgraph::set_signals_list()
                 }
         }
 
+    sv_list = configuration_->property("Glonass.prns", std::string("") );
+
+    if( sv_list.length() > 0 )
+        {
+            // Reset the available prns:
+            std::set< unsigned int > tmp_set;
+            boost::tokenizer<> tok( sv_list );
+            std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
+                    boost::lexical_cast<unsigned int, std::string> );
+
+            if( tmp_set.size() > 0 )
+                {
+                    available_glonass_prn = tmp_set;
+                }
+        }
+
     if (configuration_->property("Channels_1C.count", 0) > 0 )
         {
             /*
@@ -716,6 +738,20 @@ void GNSSFlowgraph::set_signals_list()
                             *available_gnss_prn_iter), std::string("5X")));
                 }
         }
+
+        if (configuration_->property("Channels_1G.count", 0) > 0 )
+        {
+            /*
+             * Loop to create the list of GLONASS L1 C/A signals
+             */
+            for (available_gnss_prn_iter = available_glonass_prn.begin();
+                    available_gnss_prn_iter != available_glonass_prn.end();
+                    available_gnss_prn_iter++)
+                {
+                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+                            *available_gnss_prn_iter), std::string("5X")));
+                }
+        }
     /*
      * Ordering the list of signals from configuration file
      */
@@ -729,6 +765,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
+            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From 53b87db8771d35a786ac91e5a32d2b969eda7c9f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 013/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index eb4429fd5..d79808f1d 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -749,7 +749,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-                            *available_gnss_prn_iter), std::string("5X")));
+                            *available_gnss_prn_iter), std::string("1G")));
                 }
         }
     /*

From fd431f2626786d8885fee722ed3a70851e26bb16 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 014/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/CMakeLists.txt            |   1 +
 .../libs/glonass_l1_signal_processing.cc      | 131 ++++++++++++++++++
 .../libs/glonass_l1_signal_processing.h       |  47 +++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.cc
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.h

diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt
index f15c9ddb8..f9f6e0e49 100644
--- a/src/algorithms/libs/CMakeLists.txt
+++ b/src/algorithms/libs/CMakeLists.txt
@@ -25,6 +25,7 @@ set(GNSS_SPLIBS_SOURCES
     gnss_sdr_sample_counter.cc
     gnss_signal_processing.cc
     gps_sdr_signal_processing.cc
+    glonass_l1_signal_processing.cc
     pass_through.cc
     galileo_e5_signal_processing.cc
     complex_byte_to_float_x2.cc
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
new file mode 100644
index 000000000..ff3ab5a2d
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -0,0 +1,131 @@
+/*!
+ * \file glonass_l1_signal_processing.cc
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_l1_signal_processing.h"
+
+auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
+
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+{
+    const unsigned int _code_length = 511;
+    bool G1[_code_length];
+    bool G1_register[9];
+    bool feedback1;
+    bool aux;
+    unsigned int lcv, lcv2;
+
+    for(lcv = 0; lcv < 9; lcv++)
+        {
+            G1_register[lcv] = 1;
+        }
+
+    /* Generate G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            G1[lcv] = G1_register[2];
+
+            feedback1 = G1_register[4]^G1_register[0];
+
+            for(lcv2 = 0; lcv2 < 8; lcv2++)
+                {
+                    G1_register[lcv2] = G1_register[lcv2 + 1];
+                }
+
+            G1_register[8] = feedback1;
+        }
+
+    /* Generate PRN from G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[lcv];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+        }
+}
+
+
+/*
+ *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
+ */
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+{
+    // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
+    std::complex<float> _code[511];
+    signed int _samplesPerCode, _codeValueIndex;
+    float _ts;
+    float _tc;
+    float aux;
+    const signed int _codeFreqBasis = 511000; //Hz
+    const signed int _codeLength = 511;
+
+    //--- Find number of samples per spreading code ----------------------------
+    _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
+
+    //--- Find time constants --------------------------------------------------
+    _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
+    _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
+    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+
+    for (signed int i = 0; i < _samplesPerCode; i++)
+        {
+            //=== Digitizing =======================================================
+
+            //--- Make index array to read C/A code values -------------------------
+            // The length of the index array depends on the sampling frequency -
+            // number of samples per millisecond (because one C/A code period is one
+            // millisecond).
+
+            // _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
+            aux = (_ts * (i + 1)) / _tc;   
+            _codeValueIndex = auxCeil( aux ) - 1;
+
+            //--- Make the digitized version of the C/A code -----------------------
+            // The "upsampled" code is made by selecting values form the CA code
+            // chip array (caCode) for the time instances of each sample.
+            if (i == _samplesPerCode - 1)
+                {
+                    //--- Correct the last index (due to number rounding issues) -----------
+                    _dest[i] = _code[_codeLength - 1];
+
+                }
+            else
+                {
+                    _dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
+                }
+        }
+}
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
new file mode 100644
index 000000000..b181d68ae
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -0,0 +1,47 @@
+/*!
+ * \file glonass_l1_signal_processing.h
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo(at)ieee.org
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+
+#include <complex>
+
+//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From 9b528ccd24cdab4bd3a5e20c61141893bb03cfca Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 015/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  1 +
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  1 +
 src/core/system_parameters/Glonass_L1_CA.h    | 63 +++++++++++++++++++
 3 files changed, 65 insertions(+)
 create mode 100644 src/core/system_parameters/Glonass_L1_CA.h

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 449433328..99982e5e6 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -41,6 +41,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 00a602fc4..0472df354 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -56,6 +56,7 @@
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/fft/fft.h>
 #include "gnss_synchro.h"
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 class pcps_acquisition_cc;
 
diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
new file mode 100644
index 000000000..f6391c56b
--- /dev/null
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -0,0 +1,63 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_H_
+#define GNSS_SDR_GLONASS_L1_CA_H_
+
+#include <vector>
+#include <utility> // std::pair
+#include "MATH_CONSTANTS.h"
+
+// Physical constants
+const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
+const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
+const double GLONASS_PI          = 3.1415926535898;  //!< Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_TWO_PI      = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_OMEGA_EARTH_DOT     = 7.292115e-5;  //!< Earth rotation rate, [rad/s]
+const double GLONASS_GM          = 3.986004418e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+// const double F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
+
+// Geodesic constants and parameters
+const double fMa                = 0.35e9;           //!< The Gravitational constant of atmosphere, [m^3/s^2]
+const double SEMI_MAJOR_AXIS    = 6378136;          //!< The Semi-major axis, [m]
+const double FLATTENING         = 1/298.25784;      //!< The Orbital Flattening
+const double EQUATORIAL_GRAVITY = 978032.84;        //!< The Equatorial acceleration of gravity, [mGal]
+const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
+const double SECOND_HARMONIC    = 1082625.75e-9;    //!< Second zonal harmonic of the geopotential (J_2^0)
+const double FOURTH_HARMONIC    = -2370.89e-9;    //!< Fourth zonal harmonic of the geopotential (J_4^0)
+const double SIXTH_HARMONIC     = 6.08e-9;    //!< Sixth zonal harmonic of the geopotential (J_6^0)
+const double EIGHTH_HARMONIC    = 1.40e-11;     //!< Eighth zonal harmonic of the geopotential (J_8^0)
+const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
+
+
+// carrier and code frequencies
+const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
+const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
+const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
+const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
+
+// GLONASS SV's orbital slots
+const short int GLONASS_PRN[24] = { 1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2,   //Plane 3
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2};  //Plane 3
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 74b481e69d614ee7b100a8b08e26a266e29a002f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:45:16 -0300
Subject: [PATCH 016/379] Add pcps acquisition adapter for glonass l1 ca signal

---
 .../acquisition/adapters/CMakeLists.txt       |   1 +
 .../glonass_l1_ca_pcps_acquisition.cc         | 366 ++++++++++++++++++
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 138 +++++++
 3 files changed, 505 insertions(+)
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt
index d7b00edc1..a036ff089 100644
--- a/src/algorithms/acquisition/adapters/CMakeLists.txt
+++ b/src/algorithms/acquisition/adapters/CMakeLists.txt
@@ -31,6 +31,7 @@ set(ACQ_ADAPTER_SOURCES
     galileo_e1_pcps_tong_ambiguous_acquisition.cc
     galileo_e1_pcps_8ms_ambiguous_acquisition.cc
     galileo_e5a_noncoherent_iq_acquisition_caf.cc
+    glonass_l1_ca_pcps_acquisition.cc
 )
 
 if(ENABLE_FPGA)
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
new file mode 100644
index 000000000..a8e25b151
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -0,0 +1,366 @@
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include <boost/math/distributions/exponential.hpp>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+    role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    configuration_ = configuration;
+    std::string default_item_type = "gr_complex";
+    std::string default_dump_filename = "./data/acquisition.dat";
+
+    DLOG(INFO) << "role " << role;
+
+    item_type_ = configuration_->property(role + ".item_type", default_item_type);
+
+    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    if_ = configuration_->property(role + ".if", 0);
+    dump_ = configuration_->property(role + ".dump", false);
+    doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
+
+    bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
+    use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
+
+    max_dwells_ = configuration_->property(role + ".max_dwells", 1);
+
+    dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
+
+    //--- Find number of samples per spreading code -------------------------
+    code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    LOG(ERROR) << "fs_in_ " << fs_in_;
+    LOG(ERROR) << "code_length_ " << code_length_;
+
+    vector_length_ = code_length_ * sampled_ms_;
+
+    LOG(ERROR) << "vector_length_ " << vector_length_;
+    
+
+    if( bit_transition_flag_ )
+        {
+            vector_length_ *= 2;
+        }
+
+    code_ = new gr_complex[vector_length_];
+
+    if (item_type_.compare("cshort") == 0 )
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
+                    doppler_max_, if_, fs_in_, code_length_, code_length_,
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+            DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
+
+        }else{
+                item_size_ = sizeof(gr_complex);
+                acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
+                        doppler_max_, if_, fs_in_, code_length_, code_length_,
+                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
+        }
+
+    stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
+    DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
+    
+    if (item_type_.compare("cbyte") == 0)
+        {
+            cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
+            float_to_complex_ = gr::blocks::float_to_complex::make();
+        }
+
+    channel_ = 0;
+    threshold_ = 0.0;
+    doppler_step_ = 0;
+    gnss_synchro_ = 0;
+}
+
+
+GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
+{
+    delete[] code_;
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_channel(channel_);
+        }
+    else
+        {
+            acquisition_cc_->set_channel(channel_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
+{
+    float pfa = configuration_->property(role_ + ".pfa", 0.0);
+
+    if(pfa == 0.0)
+        {
+            threshold_ = threshold;
+        }
+    else
+        {
+            threshold_ = calculate_threshold(pfa);
+        }
+
+    DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
+
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_threshold(threshold_);
+        }
+    else
+        {
+            acquisition_cc_->set_threshold(threshold_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
+{
+    doppler_max_ = doppler_max;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_max(doppler_max_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_max(doppler_max_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
+{
+    doppler_step_ = doppler_step;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_step(doppler_step_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_step(doppler_step_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
+{
+    gnss_synchro_ = gnss_synchro;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_gnss_synchro(gnss_synchro_);
+        }
+    else
+        {
+            acquisition_cc_->set_gnss_synchro(gnss_synchro_);
+        }
+}
+
+
+signed int GlonassL1CaPcpsAcquisition::mag()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_->mag();
+        }
+    else
+        {
+            return acquisition_cc_->mag();
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::init()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->init();
+        }
+    else
+        {
+            acquisition_cc_->init();
+        }
+
+    set_local_code();
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_local_code()
+{
+
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0);
+
+    for (unsigned int i = 0; i < sampled_ms_; i++)
+        {
+            memcpy(&(code_[i*code_length_]), code,
+                    sizeof(gr_complex)*code_length_);
+        }
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_local_code(code_);
+        }
+    else
+        {
+            acquisition_cc_->set_local_code(code_);
+        }
+
+    delete[] code;
+}
+
+
+void GlonassL1CaPcpsAcquisition::reset()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_active(true);
+        }
+    else
+        {
+            acquisition_cc_->set_active(true);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_state(int state)
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_state(state);
+        }
+    else
+        {
+            acquisition_cc_->set_state(state);
+        }
+}
+
+
+float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
+{
+    //Calculate the threshold
+    unsigned int frequency_bins = 0;
+    /*
+    for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
+        {
+            frequency_bins++;
+        }
+    */
+
+    frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_;
+
+    DLOG(INFO) << "Channel " << channel_ << "  Pfa = " << pfa;
+    unsigned int ncells = vector_length_ * frequency_bins;
+    double exponent = 1 / static_cast<double>(ncells);
+    double val = pow(1.0 - pfa, exponent);
+    double lambda = double(vector_length_);
+    boost::math::exponential_distribution<double> mydist (lambda);
+    float threshold = (float)quantile(mydist,val);
+
+    return threshold;
+}
+
+
+void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            // Since a byte-based acq implementation is not available,
+            // we just convert cshorts to gr_complex
+            top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            return cbyte_to_float_x2_;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+            return nullptr;
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_;
+        }
+    else
+        {
+            return acquisition_cc_;
+        }
+}
+
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
new file mode 100644
index 000000000..2cc43c90f
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -0,0 +1,138 @@
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+
+#include <string>
+#include <gnuradio/blocks/stream_to_vector.h>
+#include <gnuradio/blocks/float_to_complex.h>
+#include "gnss_synchro.h"
+#include "acquisition_interface.h"
+#include "pcps_acquisition_cc.h"
+#include "pcps_acquisition_sc.h"
+#include "complex_byte_to_float_x2.h"
+#include <volk_gnsssdr/volk_gnsssdr.h>
+
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
+ *  for GPS L1 C/A signals
+ */
+class GlonassL1CaPcpsAcquisition: public AcquisitionInterface
+{
+public:
+    GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
+            std::string role, unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaPcpsAcquisition();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    /*!
+     * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
+     */
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_PCPS_Acquisition";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and
+     *  tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    /*!
+     * \brief Set acquisition channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set statistics threshold of PCPS algorithm
+     */
+    void set_threshold(float threshold);
+
+    /*!
+     * \brief Set maximum Doppler off grid search
+     */
+    void set_doppler_max(unsigned int doppler_max);
+
+    /*!
+     * \brief Set Doppler steps for the grid search
+     */
+    void set_doppler_step(unsigned int doppler_step);
+
+    /*!
+     * \brief Initializes acquisition algorithm.
+     */
+    void init();
+
+    /*!
+     * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
+     */
+    void set_local_code();
+
+    /*!
+     * \brief Returns the maximum peak of grid search
+     */
+    signed int mag();
+
+    /*!
+     * \brief Restart acquisition algorithm
+     */
+    void reset();
+
+    /*!
+     * \brief If state = 1, it forces the block to start acquiring from the first sample
+     */
+    void set_state(int state);
+
+private:
+    ConfigurationInterface* configuration_;
+    pcps_acquisition_cc_sptr acquisition_cc_;
+    pcps_acquisition_sc_sptr acquisition_sc_;
+    gr::blocks::stream_to_vector::sptr stream_to_vector_;
+    gr::blocks::float_to_complex::sptr float_to_complex_;
+    complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int vector_length_;
+    unsigned int code_length_;
+    bool bit_transition_flag_;
+    bool use_CFAR_algorithm_flag_;
+    unsigned int channel_;
+    float threshold_;
+    unsigned int doppler_max_;
+    unsigned int doppler_step_;
+    unsigned int sampled_ms_;
+    unsigned int max_dwells_;
+    long fs_in_;
+    long if_;
+    bool dump_;
+    std::string dump_filename_;
+    std::complex<float> * code_;
+    Gnss_Synchro * gnss_synchro_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+
+    float calculate_threshold(float pfa);
+};
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ */

From e4ded155ca317ca1bc5b387834b432f53f2f5ab3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 017/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 8 +++++---
 src/algorithms/libs/glonass_l1_signal_processing.h  | 6 +++---
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index ff3ab5a2d..d19b349ab 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -34,7 +34,7 @@
 
 auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
 
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _prn,*/ unsigned int _chip_shift)
 {
     const unsigned int _code_length = 511;
     bool G1[_code_length];
@@ -76,13 +76,15 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
+
+    /* TODO: Implement the chip shifting*/
 }
 
 
 /*
  *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
  */
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
 {
     // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
     std::complex<float> _code[511];
@@ -99,7 +101,7 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned
     //--- Find time constants --------------------------------------------------
     _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
     _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
-    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+    glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
 
     for (signed int i = 0; i < _samplesPerCode; i++)
         {
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index b181d68ae..40fcd6ad1 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,12 +36,12 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
 
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From de78693baa2e164fb16f589e7f68fd0b70571d9f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:50:12 -0300
Subject: [PATCH 018/379] fix ifndef include

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 40fcd6ad1..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -30,8 +30,8 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
-#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
 #include <complex>
 
@@ -44,4 +44,4 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

From bc3a95c4f8a07f8e13ee06ae0db61c72870b7030 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:53:17 -0300
Subject: [PATCH 019/379] Add Glonass L1 C/A channel to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 116 +++++++++++++++++++++++-
 src/core/receiver/gnss_block_factory.h  |   4 +
 2 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 0e85d4f2d..7db6ddd95 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -78,6 +78,7 @@
 #include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
 #include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_tcp_connector_tracking.h"
@@ -513,6 +514,74 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
     return channel_;
 }
 
+//********* GLONASS L1 C/A CHANNEL *****************
+std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
+        std::shared_ptr<ConfigurationInterface> configuration,
+        std::string acq, std::string trk, std::string tlm, int channel,
+        boost::shared_ptr<gr::msg_queue> queue)
+{
+    std::stringstream stream;
+    stream << channel;
+    std::string id = stream.str();
+    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
+              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
+
+    std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix1;
+    if(aux.compare("W") != 0)
+        {
+            appendix1 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix1 = "";
+        }
+    aux = configuration->property("Tracking_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix2;
+    if(aux.compare("W") != 0)
+        {
+            appendix2 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix2 = "";
+        }
+    aux = configuration->property("TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix3;
+    if(aux.compare("W") != 0)
+        {
+            appendix3 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix3 = "";
+        }
+    // Automatically detect input data type
+    std::shared_ptr<InMemoryConfiguration> config;
+    config = std::make_shared<InMemoryConfiguration>();
+    std::string default_item_type = "gr_complex";
+    std::string acq_item_type = configuration->property("Acquisition_1G" + appendix1 + ".item_type", default_item_type);
+    std::string trk_item_type = configuration->property("Tracking_1G" + appendix2 + ".item_type", default_item_type);
+    if(acq_item_type.compare(trk_item_type))
+        {
+            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
+        }
+    config->set_property("Channel.item_type", acq_item_type);
+
+    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
+    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
+    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G"+ appendix2, trk, 1, 1);
+    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
+
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+            std::move(acq_),
+            std::move(trk_),
+            std::move(tlm_),
+            "Channel", "1G", queue));
+
+    return channel_;
+}
+
 
 std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
         std::shared_ptr<ConfigurationInterface> configuration, boost::shared_ptr<gr::msg_queue> queue)
@@ -528,11 +597,13 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
     unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
     unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0);
     unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
+    unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0);
 
     unsigned int total_channels = Channels_1C_count +
             Channels_2S_count +
             Channels_1B_count +
-            Channels_5X_count;
+            Channels_5X_count +
+            Channels_1G_count;
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
 
     //**************** GPS L1 C/A  CHANNELS **********************
@@ -656,6 +727,37 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                 channel_absolute_id++;
            }
 
+
+    //**************** GLONASS L1 C/A  CHANNELS **********************
+    LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
+    acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
+    tracking_implementation  = configuration->property("Tracking_1G.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation);
+
+    for (unsigned int i = 0; i < Channels_1G_count; i++)
+        {
+            //(i.e. Acquisition_1G0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                            "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            acquisition_implementation);
+            //(i.e. Tracking_1G0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                            "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                            "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            telemetry_decoder_implementation);
+
+            // Push back the channel to the vector of channels
+             channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
+                     acquisition_implementation_specific,
+                     tracking_implementation_specific,
+                     telemetry_decoder_implementation_specific,
+                     channel_absolute_id,
+                     queue));
+             channel_absolute_id++;
+        }
+
     return channels;
 }
 
@@ -984,6 +1086,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
 
 
@@ -1217,6 +1325,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.
diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h
index 13c614ee8..6dd6ae11f 100644
--- a/src/core/receiver/gnss_block_factory.h
+++ b/src/core/receiver/gnss_block_factory.h
@@ -94,6 +94,10 @@ private:
             std::string acq, std::string trk, std::string tlm, int channel,
             boost::shared_ptr<gr::msg_queue> queue);
 
+    std::unique_ptr<GNSSBlockInterface> GetChannel_1G(std::shared_ptr<ConfigurationInterface> configuration,
+            std::string acq, std::string trk, std::string tlm, int channel,
+            boost::shared_ptr<gr::msg_queue> queue);
+
     std::unique_ptr<AcquisitionInterface> GetAcqBlock(
             std::shared_ptr<ConfigurationInterface> configuration,
             std::string role,

From ce69d7f35a7699652a7e49ce0d369d3683efd784 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:56:01 -0300
Subject: [PATCH 020/379] Only 24 SV's available

---
 src/core/receiver/gnss_flowgraph.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index d79808f1d..8c5a60815 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -581,7 +581,8 @@ void GNSSFlowgraph::set_signals_list()
     unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
             configuration_->property("Channels_2S.count", 0) +
             configuration_->property("Channels_1B.count", 0) +
-            configuration_->property("Channels_5X.count", 0);
+            configuration_->property("Channels_5X.count", 0) + 
+            configuration_->property("Channels_1G.count", 0);
 
     /*
      * Loop to create the list of GNSS Signals
@@ -602,7 +603,7 @@ void GNSSFlowgraph::set_signals_list()
      * Only 24 operational
      */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 

From eed366b0351fe4fb0210c800a7b2f12406a804ee Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 021/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 0472df354..50822e4d8 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -148,6 +148,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From eba7dee7a7bf12693e024371831c0433af1e336f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:58:59 -0300
Subject: [PATCH 022/379] Change Glonass string

---
 src/core/system_parameters/gnss_satellite.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index c56bbe52d..2970447d1 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -61,9 +61,9 @@ Gnss_Satellite::~Gnss_Satellite()
 
 void Gnss_Satellite::reset()
 {
-    system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"};
+    system_set = {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"};
     satelliteSystem["GPS"] = "G";
-    satelliteSystem["GLONASS"] = "R";
+    satelliteSystem["Glonass"] = "R";
     satelliteSystem["SBAS"] = "S";
     satelliteSystem["Galileo"] = "E";
     satelliteSystem["Beidou"] = "C";
@@ -120,7 +120,7 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite &rhs) {
 
 void Gnss_Satellite::set_system(const std::string& system_)
 {
-    // Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
+    // Set the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Compass"}
     std::set<std::string>::iterator it = system_set.find(system_);
 
     if(it != system_set.end())
@@ -129,7 +129,7 @@ void Gnss_Satellite::set_system(const std::string& system_)
         }
     else
         {
-            DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Beidou}. Initialization?";
+            DLOG(INFO) << "System " << system_ << " is not defined {GPS, Glonass, SBAS, Galileo, Beidou}. Initialization?";
             system =  std::string("");
         }
 }
@@ -220,7 +220,7 @@ unsigned int Gnss_Satellite::get_PRN() const
 
 std::string Gnss_Satellite::get_system() const
 {
-    // Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
+    // Get the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"}
     std::string system_;
     system_ = system;
     return system_;

From 88a8de38b8b44b0ba93e35ef7a17e8720253d497 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 16:58:20 -0300
Subject: [PATCH 023/379] Add Glonass channels to PVT and Observables

---
 src/core/receiver/gnss_block_factory.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 7db6ddd95..39557a0a9 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -229,7 +229,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels, Galileo_channels + GPS_channels);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels);
 }
 
 
@@ -243,7 +244,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(std::shared_ptr<Con
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels, 0);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels + Glonass_channels, 0);
 }
 
 

From 8e73340f78ec54290e57b241dbd83e85373293a0 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:21:21 -0300
Subject: [PATCH 024/379] Update glonass prn table

---
 src/core/system_parameters/Glonass_L1_CA.h | 57 ++++++++++++----------
 1 file changed, 30 insertions(+), 27 deletions(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index f6391c56b..5661c2a52 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -2,8 +2,10 @@
 #define GNSS_SDR_GLONASS_L1_CA_H_
 
 #include <vector>
-#include <utility> // std::pair
+#include <map> // std::map
 #include "MATH_CONSTANTS.h"
+#include "gnss_frequencies.h"
+
 
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
@@ -28,36 +30,37 @@ const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at su
 
 
 // carrier and code frequencies
-const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
 
-// GLONASS SV's orbital slots
-const short int GLONASS_PRN[24] = { 1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2,   //Plane 3
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2};  //Plane 3
+// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
+const std::map<unsigned int, int> GLONASS_PRN = 
+                                               {{ 1, 1,},  //Plane 1
+                                                { 2,-4,},  //Plane 1
+                                                { 3, 5,},  //Plane 1
+                                                { 4, 6,},  //Plane 1
+                                                { 5, 1,},  //Plane 1
+                                                { 6,-4,},  //Plane 1
+                                                { 7, 5,},  //Plane 1
+                                                { 8, 6,},  //Plane 1
+                                                { 9,-2,},  //Plane 2
+                                                {10,-7,},  //Plane 2
+                                                {11, 0,},  //Plane 2
+                                                {12,-1,},  //Plane 2
+                                                {13,-2,},  //Plane 2
+                                                {14,-7,},  //Plane 2
+                                                {15, 0,},  //Plane 2
+                                                {16,-1,},  //Plane 2
+                                                {17, 4,},  //Plane 3
+                                                {18,-3,},  //Plane 3
+                                                {19, 3,},  //Plane 3
+                                                {20, 2,},  //Plane 3
+                                                {21, 4,},  //Plane 3
+                                                {22,-3,},  //Plane 3
+                                                {23, 3,},  //Plane 3
+                                                {24, 2}};  //Plane 3
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 6d8a2ff868d19c651ba22593812b936eebf41969 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 025/379] Add FDMA protocol to pcps algorithm

---
 .../glonass_l1_ca_pcps_acquisition.cc         |  6 -----
 .../gnuradio_blocks/pcps_acquisition_cc.cc    | 25 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  8 ++----
 3 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index a8e25b151..2ef2828f1 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -36,14 +36,8 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     //--- Find number of samples per spreading code -------------------------
     code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
 
-    LOG(ERROR) << "fs_in_ " << fs_in_;
-    LOG(ERROR) << "code_length_ " << code_length_;
-
     vector_length_ = code_length_ * sampled_ms_;
 
-    LOG(ERROR) << "vector_length_ " << vector_length_;
-    
-
     if( bit_transition_flag_ )
         {
             vector_length_ *= 2;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 99982e5e6..88e12dede 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -34,6 +34,7 @@
 
 #include "pcps_acquisition_cc.h"
 #include <sstream>
+#include <cstring>
 #include <boost/filesystem.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
@@ -159,6 +160,11 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -179,6 +185,21 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+bool pcps_acquisition_cc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
 
 void pcps_acquisition_cc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
@@ -203,7 +224,10 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+}
 
+void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
+{
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
 
@@ -216,6 +240,7 @@ void pcps_acquisition_cc::init()
 }
 
 
+
 void pcps_acquisition_cc::set_state(int state)
 {
     gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 50822e4d8..8755eddff 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -95,6 +95,8 @@ private:
             std::string dump_filename);
 
     void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
 
     void send_negative_acquisition();
     void send_positive_acquisition();
@@ -148,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From 65e7384c280208e9f0d94fdbe0cc180532596540 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:29:33 -0300
Subject: [PATCH 026/379] fix another conflict

---
 src/core/system_parameters/Glonass_L1_CA.h | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 76d7eddc2..bd529b34e 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -2,16 +2,10 @@
 #define GNSS_SDR_GLONASS_L1_CA_H_
 
 #include <vector>
-<<<<<<< HEAD
 #include <map> // std::map
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 
-=======
-#include <utility> // std::pair
-#include "MATH_CONSTANTS.h"
->>>>>>> c381e10dc3b71a0a762b27c06ac828557d2ddf4e
-
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
 const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]

From 745b436a68fec33fae2685639ad40117db56940d Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:31:16 -0300
Subject: [PATCH 027/379] Remove unnecessary lines

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index bc6ab0b37..8755eddff 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -150,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From aadfdb9dd1f88cc9d8776cec0b8ccd49965e36f7 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:34:49 -0300
Subject: [PATCH 028/379] Remove redeclaration

---
 src/core/receiver/gnss_flowgraph.cc | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 42e98f6ed..8c5a60815 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -605,12 +605,6 @@ void GNSSFlowgraph::set_signals_list()
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
                     11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 
-    /*
-     * Only 24 operational
-     */
-    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
-
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
     if( sv_list.length() > 0 )

From f5b2efb04f268823d139739948c0049956a262fd Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 029/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index f57f3ca04..eb4429fd5 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -598,6 +598,12 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
+    /*
+     * Only 24 operational
+     */
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
     if( sv_list.length() > 0 )
@@ -646,6 +652,22 @@ void GNSSFlowgraph::set_signals_list()
                 }
         }
 
+    sv_list = configuration_->property("Glonass.prns", std::string("") );
+
+    if( sv_list.length() > 0 )
+        {
+            // Reset the available prns:
+            std::set< unsigned int > tmp_set;
+            boost::tokenizer<> tok( sv_list );
+            std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
+                    boost::lexical_cast<unsigned int, std::string> );
+
+            if( tmp_set.size() > 0 )
+                {
+                    available_glonass_prn = tmp_set;
+                }
+        }
+
     if (configuration_->property("Channels_1C.count", 0) > 0 )
         {
             /*
@@ -716,6 +738,20 @@ void GNSSFlowgraph::set_signals_list()
                             *available_gnss_prn_iter), std::string("5X")));
                 }
         }
+
+        if (configuration_->property("Channels_1G.count", 0) > 0 )
+        {
+            /*
+             * Loop to create the list of GLONASS L1 C/A signals
+             */
+            for (available_gnss_prn_iter = available_glonass_prn.begin();
+                    available_gnss_prn_iter != available_glonass_prn.end();
+                    available_gnss_prn_iter++)
+                {
+                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+                            *available_gnss_prn_iter), std::string("5X")));
+                }
+        }
     /*
      * Ordering the list of signals from configuration file
      */
@@ -729,6 +765,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
+            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From 29ea2011c1e30906309a381d0ca6f9556b764840 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 030/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index eb4429fd5..d79808f1d 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -749,7 +749,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-                            *available_gnss_prn_iter), std::string("5X")));
+                            *available_gnss_prn_iter), std::string("1G")));
                 }
         }
     /*

From b7c5a035c83b70053e8a6664bc3a0a26e6bbfa98 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 031/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/CMakeLists.txt            |   1 +
 .../libs/glonass_l1_signal_processing.cc      | 131 ++++++++++++++++++
 .../libs/glonass_l1_signal_processing.h       |  47 +++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.cc
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.h

diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt
index f15c9ddb8..f9f6e0e49 100644
--- a/src/algorithms/libs/CMakeLists.txt
+++ b/src/algorithms/libs/CMakeLists.txt
@@ -25,6 +25,7 @@ set(GNSS_SPLIBS_SOURCES
     gnss_sdr_sample_counter.cc
     gnss_signal_processing.cc
     gps_sdr_signal_processing.cc
+    glonass_l1_signal_processing.cc
     pass_through.cc
     galileo_e5_signal_processing.cc
     complex_byte_to_float_x2.cc
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
new file mode 100644
index 000000000..ff3ab5a2d
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -0,0 +1,131 @@
+/*!
+ * \file glonass_l1_signal_processing.cc
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_l1_signal_processing.h"
+
+auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
+
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+{
+    const unsigned int _code_length = 511;
+    bool G1[_code_length];
+    bool G1_register[9];
+    bool feedback1;
+    bool aux;
+    unsigned int lcv, lcv2;
+
+    for(lcv = 0; lcv < 9; lcv++)
+        {
+            G1_register[lcv] = 1;
+        }
+
+    /* Generate G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            G1[lcv] = G1_register[2];
+
+            feedback1 = G1_register[4]^G1_register[0];
+
+            for(lcv2 = 0; lcv2 < 8; lcv2++)
+                {
+                    G1_register[lcv2] = G1_register[lcv2 + 1];
+                }
+
+            G1_register[8] = feedback1;
+        }
+
+    /* Generate PRN from G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[lcv];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+        }
+}
+
+
+/*
+ *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
+ */
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+{
+    // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
+    std::complex<float> _code[511];
+    signed int _samplesPerCode, _codeValueIndex;
+    float _ts;
+    float _tc;
+    float aux;
+    const signed int _codeFreqBasis = 511000; //Hz
+    const signed int _codeLength = 511;
+
+    //--- Find number of samples per spreading code ----------------------------
+    _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
+
+    //--- Find time constants --------------------------------------------------
+    _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
+    _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
+    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+
+    for (signed int i = 0; i < _samplesPerCode; i++)
+        {
+            //=== Digitizing =======================================================
+
+            //--- Make index array to read C/A code values -------------------------
+            // The length of the index array depends on the sampling frequency -
+            // number of samples per millisecond (because one C/A code period is one
+            // millisecond).
+
+            // _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
+            aux = (_ts * (i + 1)) / _tc;   
+            _codeValueIndex = auxCeil( aux ) - 1;
+
+            //--- Make the digitized version of the C/A code -----------------------
+            // The "upsampled" code is made by selecting values form the CA code
+            // chip array (caCode) for the time instances of each sample.
+            if (i == _samplesPerCode - 1)
+                {
+                    //--- Correct the last index (due to number rounding issues) -----------
+                    _dest[i] = _code[_codeLength - 1];
+
+                }
+            else
+                {
+                    _dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
+                }
+        }
+}
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
new file mode 100644
index 000000000..b181d68ae
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -0,0 +1,47 @@
+/*!
+ * \file glonass_l1_signal_processing.h
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo(at)ieee.org
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+
+#include <complex>
+
+//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From cbbf14a2b95403d23e67abf026d9d33ff35ea168 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 032/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  1 +
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  1 +
 src/core/system_parameters/Glonass_L1_CA.h    | 63 +++++++++++++++++++
 3 files changed, 65 insertions(+)
 create mode 100644 src/core/system_parameters/Glonass_L1_CA.h

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 449433328..99982e5e6 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -41,6 +41,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 00a602fc4..0472df354 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -56,6 +56,7 @@
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/fft/fft.h>
 #include "gnss_synchro.h"
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 class pcps_acquisition_cc;
 
diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
new file mode 100644
index 000000000..f6391c56b
--- /dev/null
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -0,0 +1,63 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_H_
+#define GNSS_SDR_GLONASS_L1_CA_H_
+
+#include <vector>
+#include <utility> // std::pair
+#include "MATH_CONSTANTS.h"
+
+// Physical constants
+const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
+const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
+const double GLONASS_PI          = 3.1415926535898;  //!< Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_TWO_PI      = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_OMEGA_EARTH_DOT     = 7.292115e-5;  //!< Earth rotation rate, [rad/s]
+const double GLONASS_GM          = 3.986004418e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+// const double F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
+
+// Geodesic constants and parameters
+const double fMa                = 0.35e9;           //!< The Gravitational constant of atmosphere, [m^3/s^2]
+const double SEMI_MAJOR_AXIS    = 6378136;          //!< The Semi-major axis, [m]
+const double FLATTENING         = 1/298.25784;      //!< The Orbital Flattening
+const double EQUATORIAL_GRAVITY = 978032.84;        //!< The Equatorial acceleration of gravity, [mGal]
+const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
+const double SECOND_HARMONIC    = 1082625.75e-9;    //!< Second zonal harmonic of the geopotential (J_2^0)
+const double FOURTH_HARMONIC    = -2370.89e-9;    //!< Fourth zonal harmonic of the geopotential (J_4^0)
+const double SIXTH_HARMONIC     = 6.08e-9;    //!< Sixth zonal harmonic of the geopotential (J_6^0)
+const double EIGHTH_HARMONIC    = 1.40e-11;     //!< Eighth zonal harmonic of the geopotential (J_8^0)
+const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
+
+
+// carrier and code frequencies
+const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
+const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
+const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
+const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
+
+// GLONASS SV's orbital slots
+const short int GLONASS_PRN[24] = { 1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2,   //Plane 3
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2};  //Plane 3
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From aecceeed87797cf8d6b7e8d9f20b14ccbf6a57a4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:45:16 -0300
Subject: [PATCH 033/379] Add pcps acquisition adapter for glonass l1 ca signal

---
 .../acquisition/adapters/CMakeLists.txt       |   1 +
 .../glonass_l1_ca_pcps_acquisition.cc         | 366 ++++++++++++++++++
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 138 +++++++
 3 files changed, 505 insertions(+)
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt
index d7b00edc1..a036ff089 100644
--- a/src/algorithms/acquisition/adapters/CMakeLists.txt
+++ b/src/algorithms/acquisition/adapters/CMakeLists.txt
@@ -31,6 +31,7 @@ set(ACQ_ADAPTER_SOURCES
     galileo_e1_pcps_tong_ambiguous_acquisition.cc
     galileo_e1_pcps_8ms_ambiguous_acquisition.cc
     galileo_e5a_noncoherent_iq_acquisition_caf.cc
+    glonass_l1_ca_pcps_acquisition.cc
 )
 
 if(ENABLE_FPGA)
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
new file mode 100644
index 000000000..a8e25b151
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -0,0 +1,366 @@
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include <boost/math/distributions/exponential.hpp>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+    role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    configuration_ = configuration;
+    std::string default_item_type = "gr_complex";
+    std::string default_dump_filename = "./data/acquisition.dat";
+
+    DLOG(INFO) << "role " << role;
+
+    item_type_ = configuration_->property(role + ".item_type", default_item_type);
+
+    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    if_ = configuration_->property(role + ".if", 0);
+    dump_ = configuration_->property(role + ".dump", false);
+    doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
+
+    bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
+    use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
+
+    max_dwells_ = configuration_->property(role + ".max_dwells", 1);
+
+    dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
+
+    //--- Find number of samples per spreading code -------------------------
+    code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    LOG(ERROR) << "fs_in_ " << fs_in_;
+    LOG(ERROR) << "code_length_ " << code_length_;
+
+    vector_length_ = code_length_ * sampled_ms_;
+
+    LOG(ERROR) << "vector_length_ " << vector_length_;
+    
+
+    if( bit_transition_flag_ )
+        {
+            vector_length_ *= 2;
+        }
+
+    code_ = new gr_complex[vector_length_];
+
+    if (item_type_.compare("cshort") == 0 )
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
+                    doppler_max_, if_, fs_in_, code_length_, code_length_,
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+            DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
+
+        }else{
+                item_size_ = sizeof(gr_complex);
+                acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
+                        doppler_max_, if_, fs_in_, code_length_, code_length_,
+                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
+        }
+
+    stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
+    DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
+    
+    if (item_type_.compare("cbyte") == 0)
+        {
+            cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
+            float_to_complex_ = gr::blocks::float_to_complex::make();
+        }
+
+    channel_ = 0;
+    threshold_ = 0.0;
+    doppler_step_ = 0;
+    gnss_synchro_ = 0;
+}
+
+
+GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
+{
+    delete[] code_;
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_channel(channel_);
+        }
+    else
+        {
+            acquisition_cc_->set_channel(channel_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
+{
+    float pfa = configuration_->property(role_ + ".pfa", 0.0);
+
+    if(pfa == 0.0)
+        {
+            threshold_ = threshold;
+        }
+    else
+        {
+            threshold_ = calculate_threshold(pfa);
+        }
+
+    DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
+
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_threshold(threshold_);
+        }
+    else
+        {
+            acquisition_cc_->set_threshold(threshold_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
+{
+    doppler_max_ = doppler_max;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_max(doppler_max_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_max(doppler_max_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
+{
+    doppler_step_ = doppler_step;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_step(doppler_step_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_step(doppler_step_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
+{
+    gnss_synchro_ = gnss_synchro;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_gnss_synchro(gnss_synchro_);
+        }
+    else
+        {
+            acquisition_cc_->set_gnss_synchro(gnss_synchro_);
+        }
+}
+
+
+signed int GlonassL1CaPcpsAcquisition::mag()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_->mag();
+        }
+    else
+        {
+            return acquisition_cc_->mag();
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::init()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->init();
+        }
+    else
+        {
+            acquisition_cc_->init();
+        }
+
+    set_local_code();
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_local_code()
+{
+
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0);
+
+    for (unsigned int i = 0; i < sampled_ms_; i++)
+        {
+            memcpy(&(code_[i*code_length_]), code,
+                    sizeof(gr_complex)*code_length_);
+        }
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_local_code(code_);
+        }
+    else
+        {
+            acquisition_cc_->set_local_code(code_);
+        }
+
+    delete[] code;
+}
+
+
+void GlonassL1CaPcpsAcquisition::reset()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_active(true);
+        }
+    else
+        {
+            acquisition_cc_->set_active(true);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_state(int state)
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_state(state);
+        }
+    else
+        {
+            acquisition_cc_->set_state(state);
+        }
+}
+
+
+float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
+{
+    //Calculate the threshold
+    unsigned int frequency_bins = 0;
+    /*
+    for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
+        {
+            frequency_bins++;
+        }
+    */
+
+    frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_;
+
+    DLOG(INFO) << "Channel " << channel_ << "  Pfa = " << pfa;
+    unsigned int ncells = vector_length_ * frequency_bins;
+    double exponent = 1 / static_cast<double>(ncells);
+    double val = pow(1.0 - pfa, exponent);
+    double lambda = double(vector_length_);
+    boost::math::exponential_distribution<double> mydist (lambda);
+    float threshold = (float)quantile(mydist,val);
+
+    return threshold;
+}
+
+
+void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            // Since a byte-based acq implementation is not available,
+            // we just convert cshorts to gr_complex
+            top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            return cbyte_to_float_x2_;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+            return nullptr;
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_;
+        }
+    else
+        {
+            return acquisition_cc_;
+        }
+}
+
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
new file mode 100644
index 000000000..2cc43c90f
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -0,0 +1,138 @@
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+
+#include <string>
+#include <gnuradio/blocks/stream_to_vector.h>
+#include <gnuradio/blocks/float_to_complex.h>
+#include "gnss_synchro.h"
+#include "acquisition_interface.h"
+#include "pcps_acquisition_cc.h"
+#include "pcps_acquisition_sc.h"
+#include "complex_byte_to_float_x2.h"
+#include <volk_gnsssdr/volk_gnsssdr.h>
+
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
+ *  for GPS L1 C/A signals
+ */
+class GlonassL1CaPcpsAcquisition: public AcquisitionInterface
+{
+public:
+    GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
+            std::string role, unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaPcpsAcquisition();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    /*!
+     * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
+     */
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_PCPS_Acquisition";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and
+     *  tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    /*!
+     * \brief Set acquisition channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set statistics threshold of PCPS algorithm
+     */
+    void set_threshold(float threshold);
+
+    /*!
+     * \brief Set maximum Doppler off grid search
+     */
+    void set_doppler_max(unsigned int doppler_max);
+
+    /*!
+     * \brief Set Doppler steps for the grid search
+     */
+    void set_doppler_step(unsigned int doppler_step);
+
+    /*!
+     * \brief Initializes acquisition algorithm.
+     */
+    void init();
+
+    /*!
+     * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
+     */
+    void set_local_code();
+
+    /*!
+     * \brief Returns the maximum peak of grid search
+     */
+    signed int mag();
+
+    /*!
+     * \brief Restart acquisition algorithm
+     */
+    void reset();
+
+    /*!
+     * \brief If state = 1, it forces the block to start acquiring from the first sample
+     */
+    void set_state(int state);
+
+private:
+    ConfigurationInterface* configuration_;
+    pcps_acquisition_cc_sptr acquisition_cc_;
+    pcps_acquisition_sc_sptr acquisition_sc_;
+    gr::blocks::stream_to_vector::sptr stream_to_vector_;
+    gr::blocks::float_to_complex::sptr float_to_complex_;
+    complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int vector_length_;
+    unsigned int code_length_;
+    bool bit_transition_flag_;
+    bool use_CFAR_algorithm_flag_;
+    unsigned int channel_;
+    float threshold_;
+    unsigned int doppler_max_;
+    unsigned int doppler_step_;
+    unsigned int sampled_ms_;
+    unsigned int max_dwells_;
+    long fs_in_;
+    long if_;
+    bool dump_;
+    std::string dump_filename_;
+    std::complex<float> * code_;
+    Gnss_Synchro * gnss_synchro_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+
+    float calculate_threshold(float pfa);
+};
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ */

From 0500ea11ab8b3c5fef3e7e835ee6e051a49852a8 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 034/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 8 +++++---
 src/algorithms/libs/glonass_l1_signal_processing.h  | 6 +++---
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index ff3ab5a2d..d19b349ab 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -34,7 +34,7 @@
 
 auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
 
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _prn,*/ unsigned int _chip_shift)
 {
     const unsigned int _code_length = 511;
     bool G1[_code_length];
@@ -76,13 +76,15 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
+
+    /* TODO: Implement the chip shifting*/
 }
 
 
 /*
  *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
  */
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
 {
     // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
     std::complex<float> _code[511];
@@ -99,7 +101,7 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned
     //--- Find time constants --------------------------------------------------
     _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
     _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
-    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+    glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
 
     for (signed int i = 0; i < _samplesPerCode; i++)
         {
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index b181d68ae..40fcd6ad1 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,12 +36,12 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
 
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From a5623db6ef3eb709619f3581731c817c5ecacedf Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:50:12 -0300
Subject: [PATCH 035/379] fix ifndef include

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 40fcd6ad1..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -30,8 +30,8 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
-#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
 #include <complex>
 
@@ -44,4 +44,4 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

From 45927625c08d1ad756541522cb7bb5504b100b61 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:53:17 -0300
Subject: [PATCH 036/379] Add Glonass L1 C/A channel to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 116 +++++++++++++++++++++++-
 src/core/receiver/gnss_block_factory.h  |   4 +
 2 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 0e85d4f2d..7db6ddd95 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -78,6 +78,7 @@
 #include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
 #include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_tcp_connector_tracking.h"
@@ -513,6 +514,74 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
     return channel_;
 }
 
+//********* GLONASS L1 C/A CHANNEL *****************
+std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
+        std::shared_ptr<ConfigurationInterface> configuration,
+        std::string acq, std::string trk, std::string tlm, int channel,
+        boost::shared_ptr<gr::msg_queue> queue)
+{
+    std::stringstream stream;
+    stream << channel;
+    std::string id = stream.str();
+    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
+              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
+
+    std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix1;
+    if(aux.compare("W") != 0)
+        {
+            appendix1 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix1 = "";
+        }
+    aux = configuration->property("Tracking_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix2;
+    if(aux.compare("W") != 0)
+        {
+            appendix2 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix2 = "";
+        }
+    aux = configuration->property("TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix3;
+    if(aux.compare("W") != 0)
+        {
+            appendix3 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix3 = "";
+        }
+    // Automatically detect input data type
+    std::shared_ptr<InMemoryConfiguration> config;
+    config = std::make_shared<InMemoryConfiguration>();
+    std::string default_item_type = "gr_complex";
+    std::string acq_item_type = configuration->property("Acquisition_1G" + appendix1 + ".item_type", default_item_type);
+    std::string trk_item_type = configuration->property("Tracking_1G" + appendix2 + ".item_type", default_item_type);
+    if(acq_item_type.compare(trk_item_type))
+        {
+            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
+        }
+    config->set_property("Channel.item_type", acq_item_type);
+
+    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
+    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
+    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G"+ appendix2, trk, 1, 1);
+    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
+
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+            std::move(acq_),
+            std::move(trk_),
+            std::move(tlm_),
+            "Channel", "1G", queue));
+
+    return channel_;
+}
+
 
 std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
         std::shared_ptr<ConfigurationInterface> configuration, boost::shared_ptr<gr::msg_queue> queue)
@@ -528,11 +597,13 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
     unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
     unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0);
     unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
+    unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0);
 
     unsigned int total_channels = Channels_1C_count +
             Channels_2S_count +
             Channels_1B_count +
-            Channels_5X_count;
+            Channels_5X_count +
+            Channels_1G_count;
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
 
     //**************** GPS L1 C/A  CHANNELS **********************
@@ -656,6 +727,37 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                 channel_absolute_id++;
            }
 
+
+    //**************** GLONASS L1 C/A  CHANNELS **********************
+    LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
+    acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
+    tracking_implementation  = configuration->property("Tracking_1G.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation);
+
+    for (unsigned int i = 0; i < Channels_1G_count; i++)
+        {
+            //(i.e. Acquisition_1G0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                            "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            acquisition_implementation);
+            //(i.e. Tracking_1G0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                            "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                            "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            telemetry_decoder_implementation);
+
+            // Push back the channel to the vector of channels
+             channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
+                     acquisition_implementation_specific,
+                     tracking_implementation_specific,
+                     telemetry_decoder_implementation_specific,
+                     channel_absolute_id,
+                     queue));
+             channel_absolute_id++;
+        }
+
     return channels;
 }
 
@@ -984,6 +1086,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
 
 
@@ -1217,6 +1325,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.
diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h
index 13c614ee8..6dd6ae11f 100644
--- a/src/core/receiver/gnss_block_factory.h
+++ b/src/core/receiver/gnss_block_factory.h
@@ -94,6 +94,10 @@ private:
             std::string acq, std::string trk, std::string tlm, int channel,
             boost::shared_ptr<gr::msg_queue> queue);
 
+    std::unique_ptr<GNSSBlockInterface> GetChannel_1G(std::shared_ptr<ConfigurationInterface> configuration,
+            std::string acq, std::string trk, std::string tlm, int channel,
+            boost::shared_ptr<gr::msg_queue> queue);
+
     std::unique_ptr<AcquisitionInterface> GetAcqBlock(
             std::shared_ptr<ConfigurationInterface> configuration,
             std::string role,

From 121c3b8b53e18f500f06814d4bc18e029c908657 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:56:01 -0300
Subject: [PATCH 037/379] Only 24 SV's available

---
 src/core/receiver/gnss_flowgraph.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index d79808f1d..8c5a60815 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -581,7 +581,8 @@ void GNSSFlowgraph::set_signals_list()
     unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
             configuration_->property("Channels_2S.count", 0) +
             configuration_->property("Channels_1B.count", 0) +
-            configuration_->property("Channels_5X.count", 0);
+            configuration_->property("Channels_5X.count", 0) + 
+            configuration_->property("Channels_1G.count", 0);
 
     /*
      * Loop to create the list of GNSS Signals
@@ -602,7 +603,7 @@ void GNSSFlowgraph::set_signals_list()
      * Only 24 operational
      */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 

From 1527a6a8e77b73ce3a4d546c29d0f9a70e5d9ccb Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 038/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 0472df354..50822e4d8 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -148,6 +148,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From aadcdb80509f7a96b0558b8d33ecaed526bceae9 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:58:59 -0300
Subject: [PATCH 039/379] Change Glonass string

---
 src/core/system_parameters/gnss_satellite.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index c56bbe52d..2970447d1 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -61,9 +61,9 @@ Gnss_Satellite::~Gnss_Satellite()
 
 void Gnss_Satellite::reset()
 {
-    system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"};
+    system_set = {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"};
     satelliteSystem["GPS"] = "G";
-    satelliteSystem["GLONASS"] = "R";
+    satelliteSystem["Glonass"] = "R";
     satelliteSystem["SBAS"] = "S";
     satelliteSystem["Galileo"] = "E";
     satelliteSystem["Beidou"] = "C";
@@ -120,7 +120,7 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite &rhs) {
 
 void Gnss_Satellite::set_system(const std::string& system_)
 {
-    // Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
+    // Set the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Compass"}
     std::set<std::string>::iterator it = system_set.find(system_);
 
     if(it != system_set.end())
@@ -129,7 +129,7 @@ void Gnss_Satellite::set_system(const std::string& system_)
         }
     else
         {
-            DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Beidou}. Initialization?";
+            DLOG(INFO) << "System " << system_ << " is not defined {GPS, Glonass, SBAS, Galileo, Beidou}. Initialization?";
             system =  std::string("");
         }
 }
@@ -220,7 +220,7 @@ unsigned int Gnss_Satellite::get_PRN() const
 
 std::string Gnss_Satellite::get_system() const
 {
-    // Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
+    // Get the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"}
     std::string system_;
     system_ = system;
     return system_;

From 3c93101c23e7e730777f47eeff6e7d538c9528e4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 040/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 8c5a60815..9a969e37b 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -750,7 +750,11 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
+=======
+                            *available_gnss_prn_iter), std::string("5X")));
+>>>>>>> Add glonass svn in signals list
                 }
         }
     /*

From e90125451c7606088d1bc29055b4f87ab07a8457 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 041/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 9a969e37b..28ce056e9 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -750,11 +750,15 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
 <<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
 =======
                             *available_gnss_prn_iter), std::string("5X")));
 >>>>>>> Add glonass svn in signals list
+=======
+                            *available_gnss_prn_iter), std::string("1G")));
+>>>>>>> fix glonass signal string
                 }
         }
     /*

From 8110bf6a8f4a907a4d463042f9e35ad5a126dc89 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 042/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 891febcb9..495925c3d 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,6 +36,7 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -45,3 +46,14 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
+=======
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+>>>>>>> Add code for C/A signal generation for glonass

From e3f8e01e597d241d9dab36e66b650492af2e029e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 043/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 495925c3d..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,7 +36,6 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -46,14 +45,3 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
-=======
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
-
-//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
-
-//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
-
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
->>>>>>> Add code for C/A signal generation for glonass

From 092b176670e6e439a71af04b7bcb51259528cf5c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 16:58:20 -0300
Subject: [PATCH 044/379] Add Glonass channels to PVT and Observables

---
 src/core/receiver/gnss_block_factory.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 7db6ddd95..39557a0a9 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -229,7 +229,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels, Galileo_channels + GPS_channels);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels);
 }
 
 
@@ -243,7 +244,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(std::shared_ptr<Con
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels, 0);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels + Glonass_channels, 0);
 }
 
 

From a1aa846cffb90c98692a18a4198f115137477d03 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:21:21 -0300
Subject: [PATCH 045/379] Update glonass prn table

---
 src/core/system_parameters/Glonass_L1_CA.h | 57 ++++++++++++----------
 1 file changed, 30 insertions(+), 27 deletions(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index f6391c56b..5661c2a52 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -2,8 +2,10 @@
 #define GNSS_SDR_GLONASS_L1_CA_H_
 
 #include <vector>
-#include <utility> // std::pair
+#include <map> // std::map
 #include "MATH_CONSTANTS.h"
+#include "gnss_frequencies.h"
+
 
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
@@ -28,36 +30,37 @@ const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at su
 
 
 // carrier and code frequencies
-const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
 
-// GLONASS SV's orbital slots
-const short int GLONASS_PRN[24] = { 1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2,   //Plane 3
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2};  //Plane 3
+// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
+const std::map<unsigned int, int> GLONASS_PRN = 
+                                               {{ 1, 1,},  //Plane 1
+                                                { 2,-4,},  //Plane 1
+                                                { 3, 5,},  //Plane 1
+                                                { 4, 6,},  //Plane 1
+                                                { 5, 1,},  //Plane 1
+                                                { 6,-4,},  //Plane 1
+                                                { 7, 5,},  //Plane 1
+                                                { 8, 6,},  //Plane 1
+                                                { 9,-2,},  //Plane 2
+                                                {10,-7,},  //Plane 2
+                                                {11, 0,},  //Plane 2
+                                                {12,-1,},  //Plane 2
+                                                {13,-2,},  //Plane 2
+                                                {14,-7,},  //Plane 2
+                                                {15, 0,},  //Plane 2
+                                                {16,-1,},  //Plane 2
+                                                {17, 4,},  //Plane 3
+                                                {18,-3,},  //Plane 3
+                                                {19, 3,},  //Plane 3
+                                                {20, 2,},  //Plane 3
+                                                {21, 4,},  //Plane 3
+                                                {22,-3,},  //Plane 3
+                                                {23, 3,},  //Plane 3
+                                                {24, 2}};  //Plane 3
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 6b05aca8ae819ce197b8c6ccf92849ea2169e5d5 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 046/379] Add FDMA protocol to pcps algorithm

---
 .../glonass_l1_ca_pcps_acquisition.cc         |  6 -----
 .../gnuradio_blocks/pcps_acquisition_cc.cc    | 25 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  8 ++----
 3 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index a8e25b151..2ef2828f1 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -36,14 +36,8 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     //--- Find number of samples per spreading code -------------------------
     code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
 
-    LOG(ERROR) << "fs_in_ " << fs_in_;
-    LOG(ERROR) << "code_length_ " << code_length_;
-
     vector_length_ = code_length_ * sampled_ms_;
 
-    LOG(ERROR) << "vector_length_ " << vector_length_;
-    
-
     if( bit_transition_flag_ )
         {
             vector_length_ *= 2;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 99982e5e6..88e12dede 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -34,6 +34,7 @@
 
 #include "pcps_acquisition_cc.h"
 #include <sstream>
+#include <cstring>
 #include <boost/filesystem.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
@@ -159,6 +160,11 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -179,6 +185,21 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+bool pcps_acquisition_cc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
 
 void pcps_acquisition_cc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
@@ -203,7 +224,10 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+}
 
+void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
+{
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
 
@@ -216,6 +240,7 @@ void pcps_acquisition_cc::init()
 }
 
 
+
 void pcps_acquisition_cc::set_state(int state)
 {
     gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 50822e4d8..8755eddff 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -95,6 +95,8 @@ private:
             std::string dump_filename);
 
     void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
 
     void send_negative_acquisition();
     void send_positive_acquisition();
@@ -148,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From d56c2342f5c4293cb087bb9e3d8451fe7188aa4c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:29:33 -0300
Subject: [PATCH 047/379] fix another conflict

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 5661c2a52..bd529b34e 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -6,7 +6,6 @@
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 
-
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
 const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]

From 1583a67be9a948dbc10205eb62b33e3e97811560 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:39:14 -0300
Subject: [PATCH 048/379] Fix wipeoff bug

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 88e12dede..7fd44114f 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -224,6 +224,16 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
 }
 
 void pcps_acquisition_cc::update_grid_doppler_wipeoffs()

From 20947761505eeb44f0917558830336ba0d98b02d Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:41:38 -0300
Subject: [PATCH 049/379] Add glonass acquisition tests

---
 src/tests/test_main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index b78051a69..31727a42a 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -99,6 +99,8 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc"
 //#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc"
 #if OPENCL_BLOCKS_TEST
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"

From ec155b3c13592da2dd0e4211f454663f62518410 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:53:06 -0300
Subject: [PATCH 050/379] Add unit-test for glonass pcps acquisition

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 616 ++++++++++++++++++
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 237 +++++++
 2 files changed, 853 insertions(+)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
new file mode 100644
index 000000000..421da60c3
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -0,0 +1,616 @@
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gtest/gtest.h>
+#include "gnss_block_interface.h"
+#include "in_memory_configuration.h"
+#include "configuration_interface.h"
+#include "gnss_synchro.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include "signal_generator.h"
+#include "signal_generator_c.h"
+#include "fir_filter.h"
+#include "gen_signal_source.h"
+#include "gnss_sdr_valve.h"
+#include "boost/shared_ptr.hpp"
+#include "pass_through.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr;
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue);
+
+
+class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue);
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue<int>& queue);
+    concurrent_queue<int>& channel_internal_queue;
+public:
+    int rx_message;
+    ~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(); //!< Default destructor
+};
+
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue)
+{
+    return GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(queue));
+}
+
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+            channel_internal_queue.push(rx_message);
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue<int>& queue) :
+    gr::block("GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx()
+{}
+
+
+// ###########################################################
+
+class GlonassL1CaPcpsAcquisitionGSoC2017Test: public ::testing::Test
+{
+protected:
+    GlonassL1CaPcpsAcquisitionGSoC2017Test()
+    {
+        item_size = sizeof(gr_complex);
+        stop = false;
+        message = 0;
+        gnss_synchro = Gnss_Synchro();
+        acquisition = 0;
+        init();
+    }
+
+    ~GlonassL1CaPcpsAcquisitionGSoC2017Test()
+    {
+    }
+
+    void init();
+    void config_1();
+    void config_2();
+    void start_queue();
+    void wait_message();
+    void process_message();
+    void stop_queue();
+
+    concurrent_queue<int> channel_internal_queue;
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    GlonassL1CaPcpsAcquisition *acquisition;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+    bool stop;
+    int message;
+    boost::thread ch_thread;
+
+    unsigned int integration_time_ms = 0;
+    unsigned int fs_in = 0;
+
+    double expected_delay_chips = 0.0;
+    double expected_doppler_hz = 0.0;
+    float max_doppler_error_hz = 0.0;
+    float max_delay_error_chips = 0.0;
+
+    unsigned int num_of_realizations = 0;
+    unsigned int realization_counter;
+    unsigned int detection_counter;
+    unsigned int correct_estimation_counter;
+    unsigned int acquired_samples;
+    unsigned int mean_acq_time_us;
+
+    double mse_doppler;
+    double mse_delay;
+
+    double Pd;
+    double Pfa_p;
+    double Pfa_a;
+};
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
+{
+    message = 0;
+    realization_counter = 0;
+    detection_counter = 0;
+    correct_estimation_counter = 0;
+    acquired_samples = 0;
+    mse_doppler = 0;
+    mse_delay = 0;
+    mean_acq_time_us = 0;
+    Pd = 0;
+    Pfa_p = 0;
+    Pfa_a = 0;
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 4e6;
+
+    expected_delay_chips = 600;
+    expected_doppler_hz = 750;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 1;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "1");
+
+    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.8");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 4e6;
+
+    expected_delay_chips = 600;
+    expected_doppler_hz = 750;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_1", "G");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "G");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
+{
+    stop = false;
+    ch_thread = boost::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+
+    while (!stop)
+        {
+            acquisition->reset();
+
+            gettimeofday(&tv, NULL);
+            begin = tv.tv_sec *1e6 + tv.tv_usec;
+
+            channel_internal_queue.wait_and_pop(message);
+
+            gettimeofday(&tv, NULL);
+            end = tv.tv_sec *1e6 + tv.tv_usec;
+
+            mean_acq_time_us += (end-begin);
+
+            process_message();
+        }
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
+{
+    if (message == 1)
+        {
+            detection_counter++;
+
+            // The term -5 is here to correct the additional delay introduced by the FIR filter
+            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
+            double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+            mse_delay += std::pow(delay_error_chips, 2);
+            mse_doppler += std::pow(doppler_error_hz, 2);
+
+            if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
+                {
+                    correct_estimation_counter++;
+                }
+        }
+
+    realization_counter++;
+
+    std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
+
+    if (realization_counter == num_of_realizations)
+        {
+            mse_delay /= num_of_realizations;
+            mse_doppler /= num_of_realizations;
+
+            Pd = (double)correct_estimation_counter / (double)num_of_realizations;
+            Pfa_a = (double)detection_counter / (double)num_of_realizations;
+            Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
+
+            mean_acq_time_us /= num_of_realizations;
+
+            stop_queue();
+            top_block->stop();
+        }
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
+{
+    stop = true;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
+{
+    config_1();
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
+{
+    int nsamples = floor(fs_in*integration_time_ms*1e-3);
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    config_1();
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test."<< std::endl;
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1e6 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1e6 + tv.tv_usec;
+    }) << "Failure running the top_block."<< std::endl;
+
+    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
+{
+    config_1();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(10000);
+    }) << "Failure setting doppler_max."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(500);
+    }) << "Failure setting doppler_step."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(0.5);
+    }) << "Failure setting threshold."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+
+    acquisition->init();
+
+    ASSERT_NO_THROW( {
+        boost::shared_ptr<GenSignalSource> signal_source;
+        SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
+        FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
+        signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
+        signal_source->connect(top_block);
+        top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    // i = 0 --> satellite in acquisition is visible
+    // i = 1 --> satellite in acquisition is not visible
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 10; // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 20; // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+            acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+            start_queue();
+
+            EXPECT_NO_THROW( {
+                top_block->run(); // Start threads and wait
+            }) << "Failure running the top_block."<< std::endl;
+
+            if (i == 0)
+            {
+                EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+                if (message == 1)
+                    {
+                        EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
+                    }
+
+            }
+            else if (i == 1)
+            {
+                EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
+            }
+#ifdef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.timed_join(boost::posix_time::seconds(1));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+#ifndef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+        }
+
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
+{
+    config_2();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
+    }) << "Failure setting doppler_max."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
+    }) << "Failure setting doppler_step."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
+    }) << "Failure setting threshold."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+
+    acquisition->init();
+
+    ASSERT_NO_THROW( {
+        boost::shared_ptr<GenSignalSource> signal_source;
+        SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
+        FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
+        signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
+        signal_source->connect(top_block);
+        top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+
+    // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
+    // i = 1 --> satellite in acquisition is not visible (prob of false detection)
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 10; // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 20; // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+
+            start_queue();
+
+            EXPECT_NO_THROW( {
+                top_block->run(); // Start threads and wait
+            }) << "Failure running the top_block."<< std::endl;
+
+            if (i == 0)
+            {
+                std::cout << "Estimated probability of detection = " << Pd << std::endl;
+                std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
+                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
+            else if (i == 1)
+            {
+                std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
+                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
+            }
+#ifdef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.timed_join(boost::posix_time::seconds(1));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+#ifndef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+        }
+
+    delete acquisition;
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
new file mode 100644
index 000000000..7b3a7fee7
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -0,0 +1,237 @@
+#include <ctime>
+#include <cstdlib>
+#include <iostream>
+#include <boost/chrono.hpp>
+#include <boost/make_shared.hpp>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaPcpsAcquisitionTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr;
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+class GlonassL1CaPcpsAcquisitionTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaPcpsAcquisitionTest_msg_rx();
+public:
+    int rx_message;
+    ~GlonassL1CaPcpsAcquisitionTest_msg_rx(); //!< Default destructor
+};
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make()
+{
+    return GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionTest_msg_rx());
+}
+
+
+void GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
+            rx_message = 0;
+    }
+}
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx::GlonassL1CaPcpsAcquisitionTest_msg_rx() :
+    gr::block("GlonassL1CaPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx::~GlonassL1CaPcpsAcquisitionTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+class GlonassL1CaPcpsAcquisitionTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaPcpsAcquisitionTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaPcpsAcquisitionTest()
+    {}
+
+    void init();
+
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaPcpsAcquisitionTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_hz", "4000000");
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms", "1");
+    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump_filename", "./acquisition.dat");
+    config->set_property("Acquisition.implementation", "Glonass_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.001");
+    config->set_property("Acquisition.doppler_max", "5000");
+    config->set_property("Acquisition.doppler_step", "500");
+    config->set_property("Acquisition.repeat_satellite", "false");
+    config->set_property("Acquisition.pfa", "0.0");
+}
+
+
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
+{
+    init();
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
+{
+    int fs_in = 4000000;
+    int nsamples = 4000;
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+
+    top_block = gr::make_top_block("Acquisition test");
+    init();
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec * 1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    top_block = gr::make_top_block("Acquisition test");
+
+    double expected_delay_samples = 524;
+    double expected_doppler_hz = 1680;
+    init();
+    std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(0.1);
+    }) << "Failure setting threshold." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(10000);
+    }) << "Failure setting doppler_max." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(250);
+    }) << "Failure setting doppler_step." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+    }) << "Failure connecting acquisition to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        std::string path = std::string(TEST_PATH);
+        std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
+        // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+
+    acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+    acquisition->init();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec * 1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+
+    unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
+    std::cout <<  "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+
+    ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+
+    double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
+    float delay_error_chips = (float)(delay_error_samples * 511 / 4000);
+    double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+    EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
+    EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
+
+}

From 40a4064e61856df941bfa6fa689d38d6507d7f9b Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:51:28 -0300
Subject: [PATCH 051/379] Add glonass signal acquisition

---
 .../gnuradio_blocks/pcps_acquisition_sc.cc    | 36 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_sc.h     |  3 ++
 2 files changed, 39 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index 92466e159..41f4fe24f 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -41,6 +41,8 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
+
 
 using google::LogMessage;
 
@@ -159,6 +161,11 @@ pcps_acquisition_sc::~pcps_acquisition_sc()
 
 void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -175,6 +182,22 @@ void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 }
 
 
+bool pcps_acquisition_sc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
 void pcps_acquisition_sc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
     float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in);
@@ -211,6 +234,19 @@ void pcps_acquisition_sc::init()
 }
 
 
+void pcps_acquisition_sc::update_grid_doppler_wipeoffs()
+{
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
+}
+
 
 void pcps_acquisition_sc::set_state(int state)
 {
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
index bc13941f3..10d5aefa4 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
@@ -97,6 +97,9 @@ private:
             int correlator_length_samples,
             float freq);
 
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
+
     long d_fs_in;
     long d_freq;
     int d_samples_per_ms;

From fca24849bf115561922da141c433c51272e7c505 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:53:10 -0300
Subject: [PATCH 052/379] Add chip delay in Glonass L1 CA Code

---
 .../libs/glonass_l1_signal_processing.cc      | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index d19b349ab..96b8cfa9b 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -41,6 +41,7 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
     bool G1_register[9];
     bool feedback1;
     bool aux;
+    unsigned int delay;
     unsigned int lcv, lcv2;
 
     for(lcv = 0; lcv < 9; lcv++)
@@ -78,6 +79,26 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
         }
 
     /* TODO: Implement the chip shifting*/
+    /* Set the delay */
+    delay = _code_length;
+    delay += _chip_shift;
+    delay %= _code_length;
+
+    /* Generate PRN from G1 and G2 Registers */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[(lcv + _chip_shift) % _code_length];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+            delay++;
+            delay %= _code_length;
+        }
 }
 
 

From ce55eb376aa12e3a83043507dfeb0e7d87ac0009 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:57:05 -0300
Subject: [PATCH 053/379] Reset acquisition

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc        | 4 ++++
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h         | 1 +
 .../acquisition/gnuradio_blocks/pcps_acquisition_sc.cc        | 3 +++
 .../acquisition/gnuradio_blocks/pcps_acquisition_sc.h         | 1 +
 4 files changed, 9 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 7fd44114f..2da107fe2 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -78,6 +78,7 @@ pcps_acquisition_cc::pcps_acquisition_cc(
     d_active = false;
     d_state = 0;
     d_freq = freq;
+    d_old_freq = freq;
     d_fs_in = fs_in;
     d_samples_per_ms = samples_per_ms;
     d_samples_per_code = samples_per_code;
@@ -160,6 +161,8 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // reset the intermediate frequency
+    d_freq = d_old_freq;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if( is_fdma() )
         {
@@ -185,6 +188,7 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+
 bool pcps_acquisition_cc::is_fdma()
 {
     // Dealing with FDMA system
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 8755eddff..1769aeffb 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -102,6 +102,7 @@ private:
     void send_positive_acquisition();
     long d_fs_in;
     long d_freq;
+    long d_old_freq;
     int d_samples_per_ms;
     int d_samples_per_code;
     //unsigned int d_doppler_resolution;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index 41f4fe24f..c7f287f22 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -76,6 +76,7 @@ pcps_acquisition_sc::pcps_acquisition_sc(
     d_active = false;
     d_state = 0;
     d_freq = freq;
+    d_old_freq = freq;
     d_fs_in = fs_in;
     d_samples_per_ms = samples_per_ms;
     d_samples_per_code = samples_per_code;
@@ -161,6 +162,8 @@ pcps_acquisition_sc::~pcps_acquisition_sc()
 
 void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 {
+    // reset the intermediate frequency
+    d_freq = d_old_freq;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if( is_fdma() )
         {
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
index 10d5aefa4..3b2aeccda 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
@@ -102,6 +102,7 @@ private:
 
     long d_fs_in;
     long d_freq;
+    long d_old_freq;
     int d_samples_per_ms;
     int d_samples_per_code;
     //unsigned int d_doppler_resolution;

From df2496491b7f9518c03b77cce59dd339e13409e3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:20:52 -0300
Subject: [PATCH 054/379] Add telemetry rate

---
 src/core/system_parameters/Glonass_L1_CA.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index bd529b34e..bcdfd2b32 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -37,7 +37,8 @@ const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C
 
 // GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN = 
-                                               {{ 1, 1,},  //Plane 1
+                                               {{ 0, 8,},  //For test
+                                                { 1, 1,},  //Plane 1
                                                 { 2,-4,},  //Plane 1
                                                 { 3, 5,},  //Plane 1
                                                 { 4, 6,},  //Plane 1
@@ -62,4 +63,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {23, 3,},  //Plane 3
                                                 {24, 2}};  //Plane 3
 
+
+const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 36a4edda1ff07572e7fffc6b0af24bff6d7e9d2a Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:21:30 -0300
Subject: [PATCH 055/379] Add Glonass signal for tests

---
 .../gnuradio_blocks/signal_generator_c.cc     | 73 +++++++++++++++++++
 1 file changed, 73 insertions(+)

diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 4ce5e8daf..c9a3576fc 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -35,11 +35,13 @@
 #include <gnuradio/io_signature.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "gps_sdr_signal_processing.h"
+#include "glonass_l1_signal_processing.h"
 #include "galileo_e1_signal_processing.h"
 #include "galileo_e5_signal_processing.h"
 #include "Galileo_E1.h"
 #include "Galileo_E5a.h"
 #include "GPS_L1_CA.h"
+#include "Glonass_L1_CA.h"
 
 /*
 * Create a new instance of signal_generator_c and return
@@ -108,6 +110,14 @@ void signal_generator_c::init()
                     num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
                     data_bit_duration_ms_.push_back(1e3 / GPS_CA_TELEMETRY_RATE_BITS_SECOND);
                 }
+            else if (system_[sat] == "R")
+                {
+                    samples_per_code_.push_back(round(static_cast<float>(fs_in_)
+                            / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
+
+                    num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
+                    data_bit_duration_ms_.push_back(1e3 / GLONASS_CA_TELEMETRY_RATE_BITS_SECOND);
+                }
             else if (system_[sat] == "E")
                 {
                     if (signal_[sat].at(0) == '5')
@@ -161,6 +171,28 @@ void signal_generator_c::generate_codes()
                                 }
                         }
 
+                    // Concatenate "num_of_codes_per_vector_" codes
+                    for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
+                        {
+                            memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
+                                    code, sizeof(gr_complex) * samples_per_code_[sat]);
+                        }
+                }
+            else if (system_[sat] == "R")
+                {
+                    // Generate one code-period of 1G signal
+                    glonass_l1_ca_code_gen_complex_sampled(code, /*PRN_[sat],*/ fs_in_,
+                             static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) - delay_chips_[sat]);
+
+                    // Obtain the desired CN0 assuming that Pn = 1.
+                    if (noise_flag_)
+                        {
+                            for (unsigned int i = 0; i < samples_per_code_[sat]; i++)
+                                {
+                                    code[i] *= sqrt(pow(10,CN0_dB_[sat] / 10) / BW_BB_);
+                                }
+                        }
+
                     // Concatenate "num_of_codes_per_vector_" codes
                     for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
                         {
@@ -262,6 +294,8 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
     unsigned int out_idx = 0;
     unsigned int i = 0;
     unsigned int k = 0;
+    // the intermediate frequency must set by the user
+    unsigned int freq = 9540000;
 
     for (out_idx = 0; out_idx < vector_length_; out_idx++)
         {
@@ -312,6 +346,45 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
                         }
                 }
 
+            else if (system_[sat] == "R")
+                {
+                    phase_step_rad = -static_cast<float>(GPS_TWO_PI) * (freq + (DFRQ1_GLO * GLONASS_PRN.at(PRN_[sat])) + doppler_Hz_[sat]) / static_cast<float>(fs_in_);
+                    // std::cout << "sat " << PRN_[sat] << " SG - Freq = " << (freq + (DFRQ1_GLO * GLONASS_PRN.at(PRN_[sat]))) << " Doppler = " << doppler_Hz_[sat] << std::endl;
+                    _phase[0] = -start_phase_rad_[sat];
+                    volk_gnsssdr_s32f_sincos_32fc(complex_phase_, -phase_step_rad, _phase, vector_length_);
+
+                    unsigned int delay_samples = (delay_chips_[sat] % static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS))
+                                                            * samples_per_code_[sat] / GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+
+                    for (i = 0; i < num_of_codes_per_vector_[sat]; i++)
+                        {
+                            for (k = 0; k < delay_samples; k++)
+                                {
+                                    out[out_idx] += sampled_code_data_[sat][out_idx]
+                                                                            * current_data_bits_[sat]
+                                                                                                 * complex_phase_[out_idx];
+                                    out_idx++;
+                                }
+
+                            if (ms_counter_[sat] == 0 && data_flag_)
+                                {
+                                    // New random data bit
+                                    current_data_bits_[sat] = gr_complex((uniform_dist(e1) % 2) == 0 ? 1 : -1, 0);
+                                }
+
+                            for (k = delay_samples; k < samples_per_code_[sat]; k++)
+                                {
+                                    out[out_idx] += sampled_code_data_[sat][out_idx]
+                                                                            * current_data_bits_[sat]
+                                                                                                 * complex_phase_[out_idx];
+                                    out_idx++;
+                                }
+
+                            ms_counter_[sat] = (ms_counter_[sat] + static_cast<int>(round(1e3*GLONASS_L1_CA_CODE_PERIOD)))
+                                                        % data_bit_duration_ms_[sat];
+                        }
+                }
+
             else if (system_[sat] == "E")
                 {
                     if(signal_[sat].at(0)=='5')

From 890307071e0b39f4a28bed441490014261f8ec24 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:23:41 -0300
Subject: [PATCH 056/379] Add signal sample for glonass and installation rule

---
 src/tests/CMakeLists.txt                      |   4 +++-
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 0 -> 1994068 bytes
 2 files changed, 3 insertions(+), 1 deletion(-)
 create mode 100644 src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index d48c6eda0..fe6db724a 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -231,11 +231,13 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 
@@ -627,4 +629,4 @@ if(${ENABLE_PACKAGING})
 else(${ENABLE_PACKAGING})
      add_dependencies(check control_thread_test flowgraph_test gnss_block_test
                       gnuradio_block_test trk_test)
-endif(${ENABLE_PACKAGING})
\ No newline at end of file
+endif(${ENABLE_PACKAGING})
diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
new file mode 100644
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From 30f29c7cee832da356c52bc63be764a17ae0ebd5 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:29 -0300
Subject: [PATCH 057/379] Update test

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 224 ++++++++++--------
 1 file changed, 124 insertions(+), 100 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 421da60c3..17365541e 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -161,10 +161,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 4e6;
+    fs_in = 62316000;
 
-    expected_delay_chips = 600;
-    expected_doppler_hz = 750;
+    expected_delay_chips = 457;
+    expected_doppler_hz = -2000;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
 
@@ -178,14 +178,119 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "1");
+    config->set_property("SignalSource.num_satellites", "4");
 
-    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
     config->set_property("SignalSource.CN0_dB_0", "44");
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.8");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 62316000;
+
+    expected_delay_chips = 457;
+    expected_doppler_hz = -2000;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "R");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
     config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
@@ -210,99 +315,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.threshold", "0.8");
-    config->set_property("Acquisition.doppler_max", "10000");
-    config->set_property("Acquisition.doppler_step", "250");
-    config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
-}
-
-void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
-{
-    gnss_synchro.Channel_ID = 0;
-    gnss_synchro.System = 'R';
-    std::string signal = "1G";
-    signal.copy(gnss_synchro.Signal,2,0);
-
-    integration_time_ms = 1;
-    fs_in = 4e6;
-
-    expected_delay_chips = 600;
-    expected_doppler_hz = 750;
-    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
-    max_delay_error_chips = 0.50;
-
-    num_of_realizations = 100;
-
-    config = std::make_shared<InMemoryConfiguration>();
-
-    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
-
-    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
-
-    config->set_property("SignalSource.item_type", "gr_complex");
-
-    config->set_property("SignalSource.num_satellites", "4");
-
-    config->set_property("SignalSource.system_0", "G");
-    config->set_property("SignalSource.PRN_0", "10");
-    config->set_property("SignalSource.CN0_dB_0", "44");
-    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
-    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
-
-    config->set_property("SignalSource.system_1", "G");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "G");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "true");
-    config->set_property("SignalSource.data_flag", "true");
-    config->set_property("SignalSource.BW_BB", "0.97");
-
-    config->set_property("InputFilter.implementation", "Fir_Filter");
-    config->set_property("InputFilter.input_item_type", "gr_complex");
-    config->set_property("InputFilter.output_item_type", "gr_complex");
-    config->set_property("InputFilter.taps_item_type", "float");
-    config->set_property("InputFilter.number_of_taps", "11");
-    config->set_property("InputFilter.number_of_bands", "2");
-    config->set_property("InputFilter.band1_begin", "0.0");
-    config->set_property("InputFilter.band1_end", "0.97");
-    config->set_property("InputFilter.band2_begin", "0.98");
-    config->set_property("InputFilter.band2_end", "1.0");
-    config->set_property("InputFilter.ampl1_begin", "1.0");
-    config->set_property("InputFilter.ampl1_end", "1.0");
-    config->set_property("InputFilter.ampl2_begin", "0.0");
-    config->set_property("InputFilter.ampl2_end", "0.0");
-    config->set_property("InputFilter.band1_error", "1.0");
-    config->set_property("InputFilter.band2_error", "1.0");
-    config->set_property("InputFilter.filter_type", "bandpass");
-    config->set_property("InputFilter.grid_density", "16");
-
-    config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
-    config->set_property("Acquisition.coherent_integration_time_ms",
-                         std::to_string(integration_time_ms));
-    config->set_property("Acquisition.max_dwells", "1");
-    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.pfa", "0.0001");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -346,11 +364,16 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             detection_counter++;
 
             // The term -5 is here to correct the additional delay introduced by the FIR filter
-            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
+            // The value 511.0 must be a variable, chips/length
+            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
+            // std::cout << "delay_error_chips = " << delay_error_chips << std::endl;
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
+            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
+            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -447,11 +470,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(500);
+        acquisition->set_doppler_step(250);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.5);
+        acquisition->set_threshold(0.05);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -461,14 +484,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    ASSERT_NO_THROW( {
+    //ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -565,7 +588,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -614,3 +637,4 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 
     delete acquisition;
 }
+

From 510d80c42231324142c21be080f6b2fe0b30d23d Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:49 -0300
Subject: [PATCH 058/379] Update test

---
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 22 +++++++++----------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 7b3a7fee7..2a42f3bfa 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -103,10 +103,10 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     gnss_synchro.System = 'R';
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 1;
-    config->set_property("GNSS-SDR.internal_fs_hz", "4000000");
+    gnss_synchro.PRN = 10;
+    config->set_property("GNSS-SDR.internal_fs_hz", "62316000");
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
     config->set_property("Acquisition.dump", "true");
     config->set_property("Acquisition.dump_filename", "./acquisition.dat");
@@ -128,8 +128,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 4000000;
-    int nsamples = 4000;
+    int fs_in = 62316000;
+    int nsamples = 62316;
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
@@ -168,8 +168,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     long long int end = 0;
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 524;
-    double expected_doppler_hz = 1680;
+    double expected_delay_samples = 31839;
+    double expected_doppler_hz = 250;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 
@@ -184,7 +184,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro." << std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.1);
+        acquisition->set_threshold(0.001);
     }) << "Failure setting threshold." << std::endl;
 
     ASSERT_NO_THROW( {
@@ -201,8 +201,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
 
     ASSERT_NO_THROW( {
         std::string path = std::string(TEST_PATH);
-        std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
-        // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat";
+        std::string file = path + "signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat";
         const char * file_name = file.c_str();
         gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
         top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
@@ -228,10 +227,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
 
     double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
-    float delay_error_chips = (float)(delay_error_samples * 511 / 4000);
+    float delay_error_chips = (float)(delay_error_samples * 511 / 62316);
     double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
     EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
     EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
-
 }

From 11447716d4ceb05457712bca252917b4b0492275 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:26:57 -0300
Subject: [PATCH 059/379] Add plot function for glonass acquisition

---
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m | 98 +++++++++++++++++++
 1 file changed, 98 insertions(+)
 create mode 100644 src/utils/matlab/plot_acq_grid_gsoc_glonass.m

diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
new file mode 100644
index 000000000..527cfd630
--- /dev/null
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -0,0 +1,98 @@
+% /*!
+%  * \file plot_acq_grid_gsoc.m
+%  * \brief Read GNSS-SDR Acquisition dump binary file using the provided
+%  function and plot acquisition grid of acquisition statistic of PRN sat
+%
+%  This function analyzes a experiment performed by Luis Esteve in the framework 
+%  of the Google Summer of Code (GSoC) 2012, with the collaboration of Javier Arribas
+%  and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
+%
+%  * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */ 
+
+function plot_acq_grid_gsoc_glonass(sat)
+
+file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
+
+sampling_freq_Hz=62316000
+Doppler_max_Hz = 10000
+Doppler_min_Hz = -10000
+Doppler_step_Hz = 250
+
+
+% read files
+
+x=read_complex_binary (file);
+
+l_y=length(x);
+
+Doppler_axes=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz;
+
+l_x=length(Doppler_axes);
+
+acq_grid = zeros(l_x,l_y);
+
+index=0;
+
+for k=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz
+    index=index+1;
+    filename=['acquisition_R_1G_sat_' num2str(sat) '_doppler_' num2str(k) '.dat'];
+    acq_grid(index,:)=abs(read_complex_binary (filename));
+ end
+
+ acq_grid = acq_grid.^2;
+
+maximum_correlation_peak = max(max(acq_grid))
+
+[fila,col]=find(acq_grid==max(max(acq_grid)));
+
+delay_error_sps = col -1
+
+Doppler_error_Hz = Doppler_axes(fila)
+
+noise_grid=acq_grid;
+delay_span=floor(3*sampling_freq_Hz/(0.511e6));
+Doppler_span=floor(500/Doppler_step_Hz);
+noise_grid(fila-Doppler_span:fila+Doppler_span,col-delay_span:col+delay_span)=0;
+
+n=numel(noise_grid)-(2*delay_span+1)*(2*Doppler_span+1);
+
+noise_floor= sum(sum(noise_grid))/n
+
+Gain_dbs = 10*log10(maximum_correlation_peak/noise_floor)
+
+
+%% Plot 3D FULL RESOLUTION
+
+
+[X,Y] = meshgrid(Doppler_axes,1:1:l_y);
+figure;
+surf(X,Y,acq_grid');
+
+xlabel('Doppler(Hz)');ylabel('Code Delay(samples)');title(['GLRT statistic of Glonass Parallel Code Phase Search Acquisition. Local replica: L1 cboc PRN ' num2str(sat)]);
+
+
+end

From f0ce091149287595d33b82b2c2acd7f7a24b5ff3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:00 -0300
Subject: [PATCH 060/379] Update signal generator for glonass

---
 .../signal_generator/adapters/signal_generator.cc           | 6 ++++++
 .../signal_generator/gnuradio_blocks/signal_generator_c.cc  | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc
index affa75705..e6fffa3e1 100644
--- a/src/algorithms/signal_generator/adapters/signal_generator.cc
+++ b/src/algorithms/signal_generator/adapters/signal_generator.cc
@@ -36,6 +36,7 @@
 #include "Galileo_E1.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E5a.h"
+#include "Glonass_L1_CA.h"
 
 
 using google::LogMessage;
@@ -102,6 +103,11 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
             vector_length = round((float)fs_in
                     / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
         }
+    else if (std::find(system.begin(), system.end(), "R") != system.end())
+        {
+            vector_length = round((float)fs_in
+                    / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+        }
 
     if (item_type_.compare("gr_complex") == 0)
         {
diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index c9a3576fc..5f1b5b0ae 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -294,8 +294,8 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
     unsigned int out_idx = 0;
     unsigned int i = 0;
     unsigned int k = 0;
-    // the intermediate frequency must set by the user
-    unsigned int freq = 9540000;
+    // the intermediate frequency must be set by the user
+    unsigned int freq = 4e6;
 
     for (out_idx = 0; out_idx < vector_length_; out_idx++)
         {

From 0e49b510ceb1f89f26208b7ee73e7054e9ab49a4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:35 -0300
Subject: [PATCH 061/379] Update tests

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 64 ++++++-------------
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 12 ++--
 2 files changed, 27 insertions(+), 49 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 17365541e..2899b4844 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -161,10 +161,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 62316000;
+    fs_in = 31.75e6;
 
-    expected_delay_chips = 457;
-    expected_doppler_hz = -2000;
+    expected_delay_chips = 255;
+    expected_doppler_hz = -1500;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
 
@@ -178,7 +178,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "4");
+    config->set_property("SignalSource.num_satellites", "1");
 
     config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
@@ -186,26 +186,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.system_1", "R");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "R");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -228,7 +210,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.if", "4000000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
@@ -237,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
+    config->set_property("Acquisition.dump", "true");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
@@ -248,9 +230,9 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 62316000;
+    fs_in = 31.75e6;
 
-    expected_delay_chips = 457;
+    expected_delay_chips = 374;
     expected_doppler_hz = -2000;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
@@ -285,14 +267,14 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("SignalSource.doppler_Hz_2", "2000");
     config->set_property("SignalSource.delay_chips_2", "200");
 
-    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.system_3", "R");
     config->set_property("SignalSource.PRN_3", "22");
     config->set_property("SignalSource.CN0_dB_3", "44");
     config->set_property("SignalSource.doppler_Hz_3", "3000");
     config->set_property("SignalSource.delay_chips_3", "300");
 
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -315,12 +297,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.if", "4000000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.0001");
+    config->set_property("Acquisition.pfa", "0.1");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -366,14 +348,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             // The term -5 is here to correct the additional delay introduced by the FIR filter
             // The value 511.0 must be a variable, chips/length
             double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
-            // std::cout << "delay_error_chips = " << delay_error_chips << std::endl;
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
-            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
-            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
-            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -470,11 +448,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(250);
+        acquisition->set_doppler_step(500);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.05);
+        acquisition->set_threshold(0.5);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -484,14 +462,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    //ASSERT_NO_THROW( {
+    ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -588,7 +566,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -602,7 +580,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
                 }
             else if (i == 1)
                 {
-                    gnss_synchro.PRN = 20; // This satellite is not visible
+                    gnss_synchro.PRN = 1; // This satellite is not visible
                 }
 
             acquisition->set_local_code();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 2a42f3bfa..1a29bda80 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -103,8 +103,8 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     gnss_synchro.System = 'R';
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 10;
-    config->set_property("GNSS-SDR.internal_fs_hz", "62316000");
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_hz", "62314000");
     config->set_property("Acquisition.item_type", "gr_complex");
     config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
@@ -128,8 +128,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 62316000;
-    int nsamples = 62316;
+    int fs_in = 62314000;
+    int nsamples = 62314;
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
@@ -168,8 +168,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     long long int end = 0;
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 31839;
-    double expected_doppler_hz = 250;
+    double expected_delay_samples = 31874;
+    double expected_doppler_hz = -9500;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 

From 46bdca2e1ec9527a350dc97114858cb5bb4bb7fe Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:43:45 -0300
Subject: [PATCH 062/379] Update tests utils

---
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 1994068 -> 1994068 bytes
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m |   5 +++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
index 96132b7535547ae705134f15579a6f5ea51d9671..8d7b27c2543daf5f94bb45fc6bee9707d85deded 100644
GIT binary patch
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diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
index 527cfd630..385a53030 100644
--- a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -37,10 +37,11 @@ function plot_acq_grid_gsoc_glonass(sat)
 
 file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
 
-sampling_freq_Hz=62316000
+% sampling_freq_Hz=62316000
+sampling_freq_Hz=31.75e6
 Doppler_max_Hz = 10000
 Doppler_min_Hz = -10000
-Doppler_step_Hz = 250
+Doppler_step_Hz = 500
 
 
 % read files

From 19de3a3e001afc0044a7ba77c941f7e19fa9ce2e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 20:52:19 -0300
Subject: [PATCH 063/379] Set noise_flag and dump to false

---
 .../glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 2899b4844..a346cf12f 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -186,7 +186,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
@@ -219,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump", "false");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()

From 4eb6a106e00283e135d8075606101d0df0bad873 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:47:00 -0300
Subject: [PATCH 064/379] Add adapter for Glonass L1 C/A tracking

---
 .../tracking/adapters/CMakeLists.txt          |   1 +
 .../glonass_l1_ca_dll_pll_tracking.cc         | 111 ++++++++++++++++++
 .../adapters/glonass_l1_ca_dll_pll_tracking.h |  67 +++++++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h

diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index 49ef6b7f4..e08514cb3 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -33,6 +33,7 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l1_ca_tcp_connector_tracking.cc
      galileo_e5a_dll_pll_tracking.cc
      gps_l2_m_dll_pll_tracking.cc
+     glonass_l1_ca_dll_pll_tracking.cc
      ${OPT_TRACKING_ADAPTERS}
 )
  
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
new file mode 100644
index 000000000..6209f9299
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -0,0 +1,111 @@
+#include "glonass_l1_ca_dll_pll_tracking.h"
+#include <glog/logging.h>
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string item_type;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float dll_bw_hz;
+    float early_late_space_chips;
+    item_type = configuration->property(role + ".item_type", default_item_type);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
+    vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_ = glonass_l1_ca_dll_pll_make_tracking_cc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    early_late_space_chips);
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type << " unknown tracking item type.";
+        }
+    channel_ = 0;
+    DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+
+GlonassL1CaDllPllTracking::~GlonassL1CaDllPllTracking()
+{}
+
+
+void GlonassL1CaDllPllTracking::start_tracking()
+{
+    tracking_->start_tracking();
+}
+
+
+/*
+ * Set tracking channel unique ID
+ */
+void GlonassL1CaDllPllTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    tracking_->set_channel(channel);
+}
+
+
+void GlonassL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+
+void GlonassL1CaDllPllTracking::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+
+void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_left_block()
+{
+    return tracking_;
+}
+
+
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
+{
+    return tracking_;
+}
+
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
new file mode 100644
index 000000000..b9d39cbef
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -0,0 +1,67 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
+
+#include <string>
+#include "tracking_interface.h"
+#include "glonass_l1_ca_dll_pll_tracking_cc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GlonassL1CaDllPllTracking : public TrackingInterface
+{
+public:
+    GlonassL1CaDllPllTracking(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaDllPllTracking();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_DLL_PLL_Tracking"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_DLL_PLL_Tracking";
+    }
+
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    void start_tracking();
+
+private:
+    glonass_l1_ca_dll_pll_tracking_cc_sptr tracking_;
+    size_t item_size_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif // GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_

From fa8affd2a793ebc3af39afdf079246cb3dfaedd9 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:47:52 -0300
Subject: [PATCH 065/379] Add gnuradio block for glonass tracking

---
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   3 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 495 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.h       | 134 +++++
 3 files changed, 631 insertions(+), 1 deletion(-)
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h

diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 32b0be6eb..3bf1e1f59 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -34,7 +34,8 @@ set(TRACKING_GR_BLOCKS_SOURCES
      galileo_e5a_dll_pll_tracking_cc.cc
      gps_l2_m_dll_pll_tracking_cc.cc
      gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
-     gps_l1_ca_dll_pll_c_aid_tracking_sc.cc     
+     gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
+     glonass_l1_ca_dll_pll_tracking_cc.cc
      ${OPT_TRACKING_BLOCKS}   
 )
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
new file mode 100644
index 000000000..79ca0fb0f
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -0,0 +1,495 @@
+#include "glonass_l1_ca_dll_pll_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_tracking_cc_sptr
+glonass_l1_ca_dll_pll_make_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_tracking_cc_sptr(new Glonass_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+}
+
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+    {
+        ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+    }
+}
+
+
+
+Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float early_late_space_chips) :
+                gr::block("Glonass_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                        gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+    this->message_port_register_out(pmt::mp("events"));
+
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+
+    d_current_prn_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+    d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+    //--- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+    d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+    {
+        d_correlator_outs[n] = gr_complex(0,0);
+    }
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carr_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0;
+    //d_sample_counter_seconds = 0;
+    d_acq_sample_stamp = 0;
+
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_acc_carrier_phase_rad = 0.0;
+    d_code_phase_samples = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+}
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (glonass_freq_ch + d_acq_carrier_doppler_hz) / glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1/d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_current_prn_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+    {
+        corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+    }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(); // initialize the carrier filter
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+
+    multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+    {
+        d_correlator_outs[n] = gr_complex(0,0);
+    }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0;
+    d_rem_carr_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_rad = 0.0;
+
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+            << " Code Phase correction [samples]=" << delay_correction_samples
+            << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_correlator_outs);
+    volk_gnsssdr_free(d_ca_code);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu.free();
+}
+
+
+
+int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // process vars
+    double carr_error_hz = 0.0;
+    double carr_error_filt_hz = 0.0;
+    double code_error_chips = 0.0;
+    double code_error_filt_chips = 0.0;
+
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    if (d_enable_tracking == true)
+    {
+        // Fill the acquisition data
+        current_synchro_data = *d_acquisition_gnss_synchro;
+        // Receiver signal alignment
+        if (d_pull_in == true)
+        {
+            int samples_offset;
+            double acq_trk_shif_correction_samples;
+            int acq_to_trk_delay_samples;
+            acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+            acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
+            samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+            d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
+            d_pull_in = false;
+            // take into account the carrier cycles accumulated in the pull in signal alignment
+            d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
+            current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+            current_synchro_data.fs=d_fs_in;
+            current_synchro_data.correlation_length_ms = 1;
+            *out[0] = current_synchro_data;
+            consume_each(samples_offset); // shift input to perform alignment with local replica
+            return 1;
+        }
+
+        // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+        // perform carrier wipe-off and compute Early, Prompt and Late correlation
+        multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
+        multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad,
+                d_carrier_phase_step_rad,
+                d_rem_code_phase_chips,
+                d_code_phase_step_chips,
+                d_current_prn_length_samples);
+
+        // ################## PLL ##########################################################
+        // PLL discriminator
+        // Update PLL discriminator [rads/Ti -> Secs/Ti]
+        carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+        // Carrier discriminator filter
+        carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
+        // New carrier Doppler frequency estimation
+        d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+        // New code Doppler frequency estimation
+        long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / glonass_freq_ch);
+
+        // ################## DLL ##########################################################
+        // DLL discriminator
+        code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
+        // Code discriminator filter
+        code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
+        double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
+        double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+        double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips*T_chip_seconds); //[seconds]
+        //double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GLONASS_L1_CA_CODE_RATE_HZ; // [seconds]
+
+        // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+        // keep alignment parameters for the next input buffer
+        // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+        //double T_chip_seconds =  1.0 / static_cast<double>(d_code_freq_chips);
+        //double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+        double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+        double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
+        d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
+
+        //################### PLL COMMANDS #################################################
+        // carrier phase step (NCO phase increment per sample) [rads/sample]
+        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+        // remnant carrier phase to prevent overflow in the code NCO
+        d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
+        d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
+        // carrier phase accumulator
+        d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
+
+        //################### DLL COMMANDS #################################################
+        // code phase step (Code resampler phase increment per sample) [chips/sample]
+        d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+        // remnant code phase [chips]
+        d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample
+        d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
+
+        // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+        if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+        {
+            // fill buffer with prompt correlator output values
+            d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
+            d_cn0_estimation_counter++;
+        }
+        else
+        {
+            d_cn0_estimation_counter = 0;
+            // Code lock indicator
+            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+            // Carrier lock indicator
+            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+            // Loss of lock detection
+            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+            {
+                d_carrier_lock_fail_counter++;
+            }
+            else
+            {
+                if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+            }
+            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+            {
+                std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
+                d_carrier_lock_fail_counter = 0;
+                d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+            }
+        }
+        // ########### Output the tracking data to navigation and PVT ##########
+        current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+        current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+        current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
+        current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+        current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+        current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+        current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+        current_synchro_data.Flag_valid_symbol_output = true;
+        current_synchro_data.correlation_length_ms = 1;
+    }
+    else
+    {
+        for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+
+        current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
+        current_synchro_data.System = {'R'};
+        current_synchro_data.correlation_length_ms = 1;
+    }
+
+    //assign the GNURadio block output data
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+    {
+        // MULTIPLEXED FILE RECORDING - Record results to file
+        float prompt_I;
+        float prompt_Q;
+        float tmp_E, tmp_P, tmp_L;
+        double tmp_double;
+        unsigned long int tmp_long;
+        prompt_I = d_correlator_outs[1].real();
+        prompt_Q = d_correlator_outs[1].imag();
+        tmp_E = std::abs<float>(d_correlator_outs[0]);
+        tmp_P = std::abs<float>(d_correlator_outs[1]);
+        tmp_L = std::abs<float>(d_correlator_outs[2]);
+        try
+        {
+            // EPR
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+            // PROMPT I and Q (to analyze navigation symbols)
+            d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+            // PRN start sample stamp
+            tmp_long = d_sample_counter + d_current_prn_length_samples;
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_long), sizeof(unsigned long int));
+            // accumulated carrier phase
+            d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+
+            // carrier and code frequency
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+            // PLL commands
+            d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
+
+            // DLL commands
+            d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+
+            // CN0 and carrier lock test
+            d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+            // AUX vars (for debug purposes)
+            tmp_double = d_rem_code_phase_samples;
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+            tmp_double = static_cast<double>(d_sample_counter);
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+        }
+        catch (const std::ifstream::failure &e)
+        {
+            LOG(WARNING) << "Exception writing trk dump file " << e.what();
+        }
+    }
+
+    consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_current_prn_length_samples; // count for the processed samples
+    return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+    {
+        if (d_dump_file.is_open() == false)
+        {
+            try
+            {
+                d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                d_dump_filename.append(".dat");
+                d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
+            }
+            catch (const std::ifstream::failure &e)
+            {
+                LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
+            }
+        }
+    }
+}
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
new file mode 100644
index 000000000..092492876
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -0,0 +1,134 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
+
+#include <fstream>
+#include <map>
+#include <string>
+#include <gnuradio/block.h>
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_2nd_PLL_filter.h"
+#include "cpu_multicorrelator.h"
+
+class Glonass_L1_Ca_Dll_Pll_Tracking_cc;
+
+typedef boost::shared_ptr<Glonass_L1_Ca_Dll_Pll_Tracking_cc>
+        glonass_l1_ca_dll_pll_tracking_cc_sptr;
+
+glonass_l1_ca_dll_pll_tracking_cc_sptr
+glonass_l1_ca_dll_pll_make_tracking_cc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class Glonass_L1_Ca_Dll_Pll_Tracking_cc: public gr::block
+{
+public:
+    ~Glonass_L1_Ca_Dll_Pll_Tracking_cc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_tracking_cc_sptr
+    glonass_l1_ca_dll_pll_make_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float early_late_space_chips);
+
+    Glonass_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+
+    double d_early_late_spc_chips;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carr_phase_rad;
+
+    // PLL and DLL filter library
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_2nd_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+    // correlator
+    int d_n_correlator_taps;
+    gr_complex* d_ca_code;
+    float* d_local_code_shift_chips;
+    gr_complex* d_correlator_outs;
+    cpu_multicorrelator multicorrelator_cpu;
+
+
+    // tracking vars
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_rad;
+    double d_code_phase_samples;
+
+    //PRN period in samples
+    int d_current_prn_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H

From 2e8b1d35ebf960977811635549d93ea6a8928334 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:48:44 -0300
Subject: [PATCH 066/379] Add glonass system in satellite signal

---
 src/core/system_parameters/gnss_signal.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/system_parameters/gnss_signal.h b/src/core/system_parameters/gnss_signal.h
index 4922e5399..91b6f7162 100644
--- a/src/core/system_parameters/gnss_signal.h
+++ b/src/core/system_parameters/gnss_signal.h
@@ -51,7 +51,7 @@ public:
     Gnss_Signal(const std::string& signal_);
     Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_);
     ~Gnss_Signal();
-    std::string get_signal_str() const; //!<  Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "1B" for Galileo E1B, "5X" for Galileo E5a}
+    std::string get_signal_str() const; //!<  Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "1G" for GLONASS L1 C/A, "1B" for Galileo E1B, "5X" for Galileo E5a}
     Gnss_Satellite get_satellite() const;    //!< Get the Gnss_Satellite associated to the signal
     friend bool operator== (const Gnss_Signal &, const Gnss_Signal &);    //!< operator== for comparison
     friend std::ostream& operator<<(std::ostream &, const Gnss_Signal &); //!< operator<< for pretty printing

From 1e1e0d4b817850e25336bffe2de41a4dd7f634aa Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:49:15 -0300
Subject: [PATCH 067/379] Add Glonass Tracking block to block factory

---
 src/core/receiver/gnss_block_factory.cc | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 39557a0a9..9f0f6c28a 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -86,6 +86,7 @@
 #include "galileo_e1_tcp_connector_tracking.h"
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
+#include "glonass_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
@@ -1157,6 +1158,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // TELEMETRY DECODERS ----------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@@ -1409,6 +1416,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
             block = std::move(block_);
         }
 #endif
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From dfa9a69ec8cebb8b9c62a1b7860fc8db46103f33 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 16 Aug 2017 10:37:13 -0300
Subject: [PATCH 068/379] Update info

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 2da107fe2..7e483700a 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -195,7 +195,7 @@ bool pcps_acquisition_cc::is_fdma()
     if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
         {
             d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     else

From a68941095079d7733e88b43ea0f812e71cb8b252 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 10:23:44 -0300
Subject: [PATCH 069/379] Add header with authors and license

---
 .../glonass_l1_ca_dll_pll_tracking.cc         | 39 ++++++++++++++++++-
 .../adapters/glonass_l1_ca_dll_pll_tracking.h | 38 ++++++++++++++++++
 2 files changed, 76 insertions(+), 1 deletion(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 6209f9299..965e0142d 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -1,3 +1,41 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.cc
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_tracking.h"
 #include <glog/logging.h>
 #include "Glonass_L1_CA.h"
@@ -108,4 +146,3 @@ gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
 {
     return tracking_;
 }
-
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index b9d39cbef..192cb0853 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -1,3 +1,41 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
 

From 50e610c36a3f3e0f20b79655e01d210b363a2ab0 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:01:14 -0300
Subject: [PATCH 070/379] clean code and fix dump file

---
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 42 ++++++++++++++-----
 1 file changed, 31 insertions(+), 11 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 79ca0fb0f..3d2e73886 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -217,7 +217,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     sys = sys_.substr(0,1);
 
     // DEBUG OUTPUT
-    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
     LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
 
     // enable tracking
@@ -229,16 +229,32 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
             << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
 }
 
+
 Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
 {
-    d_dump_file.close();
-
-    volk_gnsssdr_free(d_local_code_shift_chips);
-    volk_gnsssdr_free(d_correlator_outs);
-    volk_gnsssdr_free(d_ca_code);
-
-    delete[] d_Prompt_buffer;
-    multicorrelator_cpu.free();
+    if (d_dump_file.is_open())
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor " << ex.what();
+            }
+        }
+    try
+    {
+            volk_gnsssdr_free(d_local_code_shift_chips);
+            volk_gnsssdr_free(d_correlator_outs);
+            volk_gnsssdr_free(d_ca_code);
+            delete[] d_Prompt_buffer;
+            multicorrelator_cpu.free();
+    }
+    catch(const std::exception & ex)
+    {
+            LOG(WARNING) << "Exception in destructor " << ex.what();
+    }
 }
 
 
@@ -279,7 +295,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
-            current_synchro_data.fs=d_fs_in;
+            current_synchro_data.fs = d_fs_in;
             current_synchro_data.correlation_length_ms = 1;
             *out[0] = current_synchro_data;
             consume_each(samples_offset); // shift input to perform alignment with local replica
@@ -398,7 +414,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
     }
 
     //assign the GNURadio block output data
-    current_synchro_data.fs=d_fs_in;
+    current_synchro_data.fs = d_fs_in;
     *out[0] = current_synchro_data;
     if(d_dump)
     {
@@ -449,6 +465,10 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
             tmp_double = static_cast<double>(d_sample_counter);
             d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+            // PRN
+            unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+            d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
         }
         catch (const std::ifstream::failure &e)
         {

From 1aebde89d635f04adf5563c2abdac6f3fd2756d8 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:05:03 -0300
Subject: [PATCH 071/379] Add Glonass C Aid track adapter

---
 .../tracking/adapters/CMakeLists.txt          |   1 +
 .../glonass_l1_ca_dll_pll_c_aid_tracking.cc   | 191 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    |  72 +++++++
 3 files changed, 264 insertions(+)
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h

diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index e08514cb3..67103cbe1 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -34,6 +34,7 @@ set(TRACKING_ADAPTER_SOURCES
      galileo_e5a_dll_pll_tracking.cc
      gps_l2_m_dll_pll_tracking.cc
      glonass_l1_ca_dll_pll_tracking.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking.cc
      ${OPT_TRACKING_ADAPTERS}
 )
  
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
new file mode 100644
index 000000000..6f9bf340a
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -0,0 +1,191 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+#include <glog/logging.h>
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float pll_bw_narrow_hz;
+    float dll_bw_hz;
+    float dll_bw_narrow_hz;
+    float early_late_space_chips;
+    item_type_ = configuration->property(role + ".item_type", default_item_type);
+    //vector_length = configuration->property(role + ".vector_length", 2048);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
+    dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
+    int extend_correlation_ms;
+    extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
+
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename",
+            default_dump_filename); //unused!
+    vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_cc = glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
+                    extend_correlation_ms,
+                    early_late_space_chips);
+            DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")";
+        }
+    else if(item_type_.compare("cshort") == 0)
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            tracking_sc = glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
+                    extend_correlation_ms,
+                    early_late_space_chips);
+            DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")";
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type_ << " unknown tracking item type.";
+        }
+    channel_ = 0;
+}
+
+
+GlonassL1CaDllPllCAidTracking::~GlonassL1CaDllPllCAidTracking()
+{}
+
+
+void GlonassL1CaDllPllCAidTracking::start_tracking()
+{
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->start_tracking();
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->start_tracking();
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+/*
+ * Set tracking channel unique ID
+ */
+void GlonassL1CaDllPllCAidTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->set_channel(channel);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->set_channel(channel);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->set_gnss_synchro(p_gnss_synchro);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->set_gnss_synchro(p_gnss_synchro);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+void GlonassL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+void GlonassL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return tracking_cc;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return tracking_sc;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+            return nullptr;
+        }
+}
+
+gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_right_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return tracking_cc;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return tracking_sc;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+            return nullptr;
+        }
+}
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
new file mode 100644
index 000000000..19a9502b5
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -0,0 +1,72 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
+
+#include <string>
+#include "tracking_interface.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GlonassL1CaDllPllCAidTracking : public TrackingInterface
+{
+public:
+
+  GlonassL1CaDllPllCAidTracking(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaDllPllCAidTracking();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+
+    void start_tracking();
+
+private:
+    glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc;
+    glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr tracking_sc;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif // GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_

From 0a7bf5024611008f5f87120331738bb465d8bb38 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:05:44 -0300
Subject: [PATCH 072/379] Add Glonass C Aid track blocks

---
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   2 +
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 646 +++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h | 167 +++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 648 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 170 +++++
 5 files changed, 1633 insertions(+)
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h

diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 3bf1e1f59..5ab405ddd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -36,6 +36,8 @@ set(TRACKING_GR_BLOCKS_SOURCES
      gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
      gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
      glonass_l1_ca_dll_pll_tracking_cc.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
      ${OPT_TRACKING_BLOCKS}   
 )
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
new file mode 100644
index 000000000..231058ec8
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -0,0 +1,646 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <boost/bind.hpp>
+#include <gnuradio/io_signature.h>
+#include <pmt/pmt.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_cc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+        {
+            ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg)
+{
+    //pmt::print(msg);
+    DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
+    if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
+        {
+            d_preamble_timestamp_s = pmt::to_double(msg);
+            d_enable_extended_integration = true;
+            d_preamble_synchronized = false;
+        }
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips) :
+        gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+
+    this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+            boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
+
+    this->message_port_register_out(pmt::mp("events"));
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+    d_correlation_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_pll_bw_hz = pll_bw_hz;
+    d_dll_bw_hz = dll_bw_hz;
+    d_pll_bw_narrow_hz = pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz = dll_bw_narrow_hz;
+    d_extend_correlation_ms = extend_correlation_ms;
+    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
+
+    // --- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+    d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carrier_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0; //(from trk to tlm)
+    d_acq_sample_stamp = 0;
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_code_phase_samples = 0.0;
+
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
+    d_rem_code_phase_integer_samples = 0;
+    d_code_error_chips_Ti = 0.0;
+    d_code_error_filt_chips_s = 0.0;
+    d_carr_phase_error_secs_Ti = 0.0;
+    d_preamble_timestamp_s = 0.0;
+    //set_min_output_buffer((long int)300);
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1.0 / d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_correlation_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+        {
+            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+        }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+
+    multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0.0;
+    d_rem_carrier_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+    d_enable_extended_integration = true;
+    d_preamble_synchronized = true;
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+              << " Code Phase correction [samples]=" << delay_correction_samples
+              << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_cc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_correlator_outs);
+    volk_gnsssdr_free(d_ca_code);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu.free();
+}
+
+
+
+int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    // process vars
+    double code_error_filt_secs_Ti = 0.0;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
+
+    if (d_enable_tracking == true)
+        {
+            // Fill the acquisition data
+            current_synchro_data = *d_acquisition_gnss_synchro;
+            // Receiver signal alignment
+            if (d_pull_in == true)
+                {
+                    int samples_offset;
+                    double acq_trk_shif_correction_samples;
+                    int acq_to_trk_delay_samples;
+                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+                    acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
+                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+                    d_sample_counter += samples_offset; // count for the processed samples
+                    d_pull_in = false;
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.fs=d_fs_in;
+                    *out[0] = current_synchro_data;
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
+                    return 1;
+                }
+
+            // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+            // perform carrier wipe-off and compute Early, Prompt and Late correlation
+            multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,in);
+            multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
+                    d_carrier_phase_step_rad,
+                    d_rem_code_phase_chips,
+                    d_code_phase_step_chips,
+                    d_correlation_length_samples);
+
+            // ####### coherent intergration extension
+            // keep the last symbols
+            d_E_history.push_back(d_correlator_outs[0]); // save early output
+            d_P_history.push_back(d_correlator_outs[1]); // save prompt output
+            d_L_history.push_back(d_correlator_outs[2]); // save late output
+
+            if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
+                {
+                    d_E_history.pop_front();
+                    d_P_history.pop_front();
+                    d_L_history.pop_front();
+                }
+
+            bool enable_dll_pll;
+            if (d_enable_extended_integration == true)
+                {
+                    long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
+                    if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
+                        {
+                            // compute coherent integration and enable tracking loop
+                            // perform coherent integration using correlator output history
+                            // std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
+                            d_correlator_outs[0] = gr_complex(0.0,0.0);
+                            d_correlator_outs[1] = gr_complex(0.0,0.0);
+                            d_correlator_outs[2] = gr_complex(0.0,0.0);
+                            for (int n = 0; n < d_extend_correlation_ms; n++)
+                                {
+                                    d_correlator_outs[0] += d_E_history.at(n);
+                                    d_correlator_outs[1] += d_P_history.at(n);
+                                    d_correlator_outs[2] += d_L_history.at(n);
+                                }
+
+                            if (d_preamble_synchronized == false)
+                                {
+                                    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+                                    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+                                    d_preamble_synchronized = true;
+                                    std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                                              << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
+                                              << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
+                                }
+                            // UPDATE INTEGRATION TIME
+                            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD;
+                            d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
+                            enable_dll_pll = true;
+                        }
+                    else
+                        {
+                            if(d_preamble_synchronized == true)
+                                {
+                                    // continue extended coherent correlation
+                                    // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+                                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                                    int K_prn_samples = round(T_prn_samples);
+                                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
+                                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+                                    // code phase step (Code resampler phase increment per sample) [chips/sample]
+                                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                                    // remnant code phase [chips]
+                                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+                                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
+
+                                    // UPDATE ACCUMULATED CARRIER PHASE
+                                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+
+                                    // disable tracking loop and inform telemetry decoder
+                                    enable_dll_pll = false;
+                                }
+                            else
+                                {
+                                    //  perform basic (1ms) correlation
+                                    // UPDATE INTEGRATION TIME
+                                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                                    d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
+                                    enable_dll_pll = true;
+                                }
+                        }
+                }
+            else
+                {
+                    // UPDATE INTEGRATION TIME
+                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                    enable_dll_pll = true;
+                }
+
+            if (enable_dll_pll == true)
+                {
+                    // ################## PLL ##########################################################
+                    // Update PLL discriminator [rads/Ti -> Secs/Ti]
+                    d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+                    // Carrier discriminator filter
+                    // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
+                    // Input [s/Ti] -> output [Hz]
+                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+                    // PLL to DLL assistance [Secs/Ti]
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    // code Doppler frequency update
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+
+                    // ################## DLL ##########################################################
+                    // DLL discriminator
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
+                    // Code discriminator filter
+                    d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
+                    d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
+                    code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
+
+                    // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+                    // keep alignment parameters for the next input buffer
+                    // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                    double K_prn_samples = round(T_prn_samples);
+                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
+                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+
+                   //################### PLL COMMANDS #################################################
+                    //carrier phase step (NCO phase increment per sample) [rads/sample]
+                    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+                    // UPDATE ACCUMULATED CARRIER PHASE
+                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                    //remnant carrier phase [rad]
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
+
+                    //################### DLL COMMANDS #################################################
+                    //code phase step (Code resampler phase increment per sample) [chips/sample]
+                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                    //remnant code phase [chips]
+                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
+                    // ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
+                    if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+                        {
+                            // fill buffer with prompt correlator output values
+                            d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
+                            d_cn0_estimation_counter++;
+                        }
+                    else
+                        {
+                            d_cn0_estimation_counter = 0;
+                            // Code lock indicator
+                            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+                            // Carrier lock indicator
+                            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+                            // Loss of lock detection
+                            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+                                {
+                                    d_carrier_lock_fail_counter++;
+                                }
+                            else
+                                {
+                                    if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+                                }
+                            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+                                {
+                                    std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                                    LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                                    this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                                    d_carrier_lock_fail_counter = 0;
+                                    d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+                                }
+                        }
+                    // ########### Output the tracking data to navigation and PVT ##########
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                    current_synchro_data.Flag_valid_symbol_output = true;
+                    if (d_preamble_synchronized == true)
+                        {
+                            current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
+                        }
+                    else
+                        {
+                            current_synchro_data.correlation_length_ms = 1;
+                        }
+                }
+            else
+                {
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                }
+        }
+    else
+        {
+            for (int n = 0; n < d_n_correlator_taps; n++)
+                {
+                    d_correlator_outs[n] = gr_complex(0,0);
+                }
+
+            current_synchro_data.System = {'R'};
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+        }
+    //assign the GNURadio block output data
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            float prompt_I;
+            float prompt_Q;
+            float tmp_E, tmp_P, tmp_L;
+            double tmp_double;
+            prompt_I = d_correlator_outs[1].real();
+            prompt_Q = d_correlator_outs[1].imag();
+            tmp_E = std::abs<float>(d_correlator_outs[0]);
+            tmp_P = std::abs<float>(d_correlator_outs[1]);
+            tmp_L = std::abs<float>(d_correlator_outs[2]);
+            try
+            {
+                    // EPR
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+                    // PROMPT I and Q (to analyze navigation symbols)
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+                    // PRN start sample stamp
+                    //tmp_float=(float)d_sample_counter;
+                    d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+                    // accumulated carrier phase
+                    d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
+
+                    // carrier and code frequency
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+                    //PLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+
+                    //DLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
+
+                    // CN0 and carrier lock test
+                    d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+                    // AUX vars (for debug purposes)
+                    tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                    tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                    // PRN
+                    unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+                    d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+            }
+            catch (const std::ifstream::failure* e)
+            {
+                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+            }
+        }
+
+    consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_correlation_length_samples; //count for the processed samples
+
+    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (const std::ifstream::failure* e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
new file mode 100644
index 000000000..280d590b1
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -0,0 +1,167 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
+
+#include <fstream>
+#include <map>
+#include <deque>
+#include <string>
+#include <gnuradio/block.h>
+#include <pmt/pmt.h>
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_FLL_PLL_filter.h"
+//#include "tracking_loop_filter.h"
+#include "cpu_multicorrelator.h"
+
+class glonass_l1_ca_dll_pll_c_aid_tracking_cc;
+
+typedef boost::shared_ptr<glonass_l1_ca_dll_pll_c_aid_tracking_cc>
+        glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class glonass_l1_ca_dll_pll_c_aid_tracking_cc: public gr::block
+{
+public:
+    ~glonass_l1_ca_dll_pll_c_aid_tracking_cc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+    glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    glonass_l1_ca_dll_pll_c_aid_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+    long d_glonass_freq_ch;
+
+    double d_early_late_spc_chips;
+    int d_n_correlator_taps;
+
+    gr_complex* d_ca_code;
+    float* d_local_code_shift_chips;
+    gr_complex* d_correlator_outs;
+    cpu_multicorrelator multicorrelator_cpu;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carrier_phase_rad;
+    int d_rem_code_phase_integer_samples;
+
+    // PLL and DLL filter library
+    //Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+
+    // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_cycles;
+    double d_code_phase_samples;
+    double d_pll_to_dll_assist_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
+    double d_carr_phase_error_secs_Ti;
+
+    // symbol history to detect bit transition
+    std::deque<gr_complex> d_E_history;
+    std::deque<gr_complex> d_P_history;
+    std::deque<gr_complex> d_L_history;
+    double d_preamble_timestamp_s;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
+    bool d_preamble_synchronized;
+    void msg_handler_preamble_index(pmt::pmt_t msg);
+
+    //Integration period in samples
+    int d_correlation_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
new file mode 100644
index 000000000..f22bbc732
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -0,0 +1,648 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/bind.hpp>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <pmt/pmt.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <glog/logging.h>
+#include "gnss_synchro.h"
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_sc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
+}
+
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+        {
+            ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
+{
+    //pmt::print(msg);
+    DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
+    if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
+        {
+            d_preamble_timestamp_s = pmt::to_double(msg);
+            d_enable_extended_integration = true;
+            d_preamble_synchronized = false;
+        }
+}
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips) :
+        gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
+                gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+    this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+            boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1));
+    this->message_port_register_out(pmt::mp("events"));
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+    d_correlation_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_pll_bw_hz = pll_bw_hz;
+    d_dll_bw_hz = dll_bw_hz;
+    d_pll_bw_narrow_hz = pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz = dll_bw_narrow_hz;
+    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
+    d_extend_correlation_ms = extend_correlation_ms;
+
+    // --- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    d_ca_code_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+
+    d_correlator_outs_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs_16sc[n] = lv_cmake(0,0);
+        }
+
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carrier_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0; //(from trk to tlm)
+    d_acq_sample_stamp = 0;
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_code_phase_samples = 0.0;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
+    d_rem_code_phase_integer_samples = 0;
+    d_code_error_chips_Ti = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+    d_code_error_filt_chips_s = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
+    d_preamble_timestamp_s = 0.0;
+    d_carr_phase_error_secs_Ti = 0.0;
+    //set_min_output_buffer((long int)300);
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1.0 / d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_correlation_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+        {
+            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+        }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+    volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs_16sc[n] = lv_16sc_t(0,0);
+        }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0.0;
+    d_rem_carrier_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+    d_enable_extended_integration = true;
+    d_preamble_synchronized = true;
+
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+            << " Code Phase correction [samples]=" << delay_correction_samples
+            << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc::~glonass_l1_ca_dll_pll_c_aid_tracking_sc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_ca_code);
+    volk_gnsssdr_free(d_ca_code_16sc);
+    volk_gnsssdr_free(d_correlator_outs_16sc);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu_16sc.free();
+}
+
+
+
+int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // Block input data and block output stream pointers
+    const lv_16sc_t* in = (lv_16sc_t*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    // process vars
+    double code_error_filt_secs_Ti = 0.0;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
+
+    if (d_enable_tracking == true)
+        {
+            // Fill the acquisition data
+            current_synchro_data = *d_acquisition_gnss_synchro;
+            // Receiver signal alignment
+            if (d_pull_in == true)
+                {
+                    int samples_offset;
+                    double acq_trk_shif_correction_samples;
+                    int acq_to_trk_delay_samples;
+                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+                    acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
+                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+                    d_sample_counter += samples_offset; // count for the processed samples
+                    d_pull_in = false;
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.fs=d_fs_in;
+                    *out[0] = current_synchro_data;
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
+                    return 1;
+                }
+
+            // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+            // perform carrier wipe-off and compute Early, Prompt and Late correlation
+            multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc, in);
+            multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
+                d_carrier_phase_step_rad,
+                d_rem_code_phase_chips,
+                d_code_phase_step_chips,
+                d_correlation_length_samples);
+
+            // ####### coherent intergration extension
+            // keep the last symbols
+            d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
+            d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
+            d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
+
+            if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
+                {
+                    d_E_history.pop_front();
+                    d_P_history.pop_front();
+                    d_L_history.pop_front();
+                }
+
+            bool enable_dll_pll;
+            if (d_enable_extended_integration == true)
+                {
+                    long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
+                    if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
+                        {
+                            // compute coherent integration and enable tracking loop
+                            // perform coherent integration using correlator output history
+                            // std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
+                            d_correlator_outs_16sc[0] = lv_cmake(0,0);
+                            d_correlator_outs_16sc[1] = lv_cmake(0,0);
+                            d_correlator_outs_16sc[2] = lv_cmake(0,0);
+                            for (int n = 0; n < d_extend_correlation_ms; n++)
+                                {
+                                    d_correlator_outs_16sc[0] += d_E_history.at(n);
+                                    d_correlator_outs_16sc[1] += d_P_history.at(n);
+                                    d_correlator_outs_16sc[2] += d_L_history.at(n);
+                                }
+
+                            if (d_preamble_synchronized == false)
+                                {
+                                    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+                                    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+                                    d_preamble_synchronized = true;
+                                    std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                                              << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
+                                              << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
+                                }
+                            // UPDATE INTEGRATION TIME
+                            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD;
+                            enable_dll_pll = true;
+                        }
+                    else
+                        {
+                            if(d_preamble_synchronized == true)
+                                {
+                                    // continue extended coherent correlation
+                                    // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+                                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                                    int K_prn_samples = round(T_prn_samples);
+                                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
+                                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+                                    // code phase step (Code resampler phase increment per sample) [chips/sample]
+                                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                                    // remnant code phase [chips]
+                                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+                                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
+
+                                    // UPDATE ACCUMULATED CARRIER PHASE
+                                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+
+                                    // disable tracking loop and inform telemetry decoder
+                                    enable_dll_pll = false;
+                                }
+                            else
+                                {
+                                    //  perform basic (1ms) correlation
+                                    // UPDATE INTEGRATION TIME
+                                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                                    enable_dll_pll = true;
+                                }
+                        }
+                }
+            else
+                {
+                    // UPDATE INTEGRATION TIME
+                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                    enable_dll_pll = true;
+                }
+
+            if (enable_dll_pll == true)
+                {
+                    // ################## PLL ##########################################################
+                    // Update PLL discriminator [rads/Ti -> Secs/Ti]
+                    d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
+
+                    // Carrier discriminator filter
+                    // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
+                    // Input [s/Ti] -> output [Hz]
+                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+                    // PLL to DLL assistance [Secs/Ti]
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    // code Doppler frequency update
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+
+                    // ################## DLL ##########################################################
+                    // DLL discriminator
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
+                    // Code discriminator filter
+                    d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
+                    d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
+                    code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
+
+                    // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+                    // keep alignment parameters for the next input buffer
+                    // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                    double K_prn_samples = round(T_prn_samples);
+                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
+                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+
+                   //################### PLL COMMANDS #################################################
+                    //carrier phase step (NCO phase increment per sample) [rads/sample]
+                    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+                    // UPDATE ACCUMULATED CARRIER PHASE
+                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                    //remnant carrier phase [rad]
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
+
+                    //################### DLL COMMANDS #################################################
+                    //code phase step (Code resampler phase increment per sample) [chips/sample]
+                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                    //remnant code phase [chips]
+                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
+                    // ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
+                    if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+                        {
+                            // fill buffer with prompt correlator output values
+                            d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag()) ); // prompt
+                            d_cn0_estimation_counter++;
+                        }
+                    else
+                        {
+                            d_cn0_estimation_counter = 0;
+                            // Code lock indicator
+                            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+                            // Carrier lock indicator
+                            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+                            // Loss of lock detection
+                            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+                                {
+                                    d_carrier_lock_fail_counter++;
+                                }
+                            else
+                                {
+                                    if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+                                }
+                            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+                                {
+                                    std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                                    LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                                    this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                                    d_carrier_lock_fail_counter = 0;
+                                    d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+                                }
+                        }
+                    // ########### Output the tracking data to navigation and PVT ##########
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
+                    // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                    current_synchro_data.Flag_valid_symbol_output = true;
+                    if (d_preamble_synchronized == true)
+                        {
+                            current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
+                        }
+                    else
+                        {
+                            current_synchro_data.correlation_length_ms = 1;
+                        }
+                }
+            else
+                {
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                }
+        }
+    else
+        {
+            for (int n = 0; n < d_n_correlator_taps; n++)
+                {
+                    d_correlator_outs_16sc[n] = lv_cmake(0,0);
+                }
+
+            current_synchro_data.System = {'R'};
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+        }
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            float prompt_I;
+            float prompt_Q;
+            float tmp_E, tmp_P, tmp_L;
+            double tmp_double;
+            prompt_I = d_correlator_outs_16sc[1].real();
+            prompt_Q = d_correlator_outs_16sc[1].imag();
+            tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()));
+            tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag()));
+            tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag()));
+            try
+            {
+                    // EPR
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+                    // PROMPT I and Q (to analyze navigation symbols)
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+                    // PRN start sample stamp
+                    //tmp_float=(float)d_sample_counter;
+                    d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+                    // accumulated carrier phase
+                    d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
+
+                    // carrier and code frequency
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+                    //PLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+
+                    //DLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
+
+                    // CN0 and carrier lock test
+                    d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+                    // AUX vars (for debug purposes)
+                    tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                    tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                    // PRN
+                    unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+                    d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+            }
+            catch (const std::ifstream::failure* e)
+            {
+                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+            }
+        }
+
+    consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_correlation_length_samples; //count for the processed samples
+
+    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (const std::ifstream::failure* e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
new file mode 100644
index 000000000..dbc0a084a
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -0,0 +1,170 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
+
+#include <fstream>
+#include <map>
+#include <string>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <gnuradio/block.h>
+#include <volk/volk.h>
+#include "glonass_l1_signal_processing.h"
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_FLL_PLL_filter.h"
+#include "cpu_multicorrelator_16sc.h"
+
+class glonass_l1_ca_dll_pll_c_aid_tracking_sc;
+
+typedef boost::shared_ptr<glonass_l1_ca_dll_pll_c_aid_tracking_sc>
+        glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class glonass_l1_ca_dll_pll_c_aid_tracking_sc: public gr::block
+{
+public:
+    ~glonass_l1_ca_dll_pll_c_aid_tracking_sc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+    glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    glonass_l1_ca_dll_pll_c_aid_tracking_sc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+    long d_glonass_freq_ch;
+
+    double d_early_late_spc_chips;
+    int d_n_correlator_taps;
+
+    gr_complex* d_ca_code;
+    lv_16sc_t* d_ca_code_16sc;
+    float* d_local_code_shift_chips;
+    //gr_complex* d_correlator_outs;
+    lv_16sc_t* d_correlator_outs_16sc;
+    //cpu_multicorrelator multicorrelator_cpu;
+    cpu_multicorrelator_16sc multicorrelator_cpu_16sc;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carrier_phase_rad;
+    int d_rem_code_phase_integer_samples;
+
+    // PLL and DLL filter library
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+
+    // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_cycles;
+    double d_code_phase_samples;
+    double d_pll_to_dll_assist_secs_Ti;
+    double d_carr_phase_error_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_preamble_timestamp_s;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
+    bool d_preamble_synchronized;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
+    void msg_handler_preamble_index(pmt::pmt_t msg);
+
+    // symbol history to detect bit transition
+    std::deque<lv_16sc_t> d_E_history;
+    std::deque<lv_16sc_t> d_P_history;
+    std::deque<lv_16sc_t> d_L_history;
+
+    //Integration period in samples
+    int d_correlation_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H

From 9f582f81e90a078f96b9a53fc9c45e978555b849 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:08:12 -0300
Subject: [PATCH 073/379] Add Glonass C Aid tracking block to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 9f0f6c28a..7cba2a649 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -87,6 +87,7 @@
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
 #include "glonass_l1_ca_dll_pll_tracking.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
@@ -1164,6 +1165,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // TELEMETRY DECODERS ----------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@@ -1422,6 +1429,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From 55879300506fa240355d26a1699f7d82a962d762 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:40:13 -0300
Subject: [PATCH 074/379] Add author tag

---
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc         | 2 +-
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.h          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 965e0142d..cce1b19a7 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -3,7 +3,7 @@
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
- *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  *
  *
  * Code DLL + carrier PLL according to the algorithms described in:
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index 192cb0853..46565b2e1 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -3,7 +3,7 @@
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
- *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  *
  *
  * Code DLL + carrier PLL according to the algorithms described in:

From 27491df73c44da8e4dedf837b13fe05210fdd6c8 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:45:43 -0300
Subject: [PATCH 075/379] Add glonass frequency channel variable as private
 member

---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc  | 8 +++-----
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h   | 1 +
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 3d2e73886..ad7b16cd6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -161,8 +161,8 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-    double radial_velocity = (glonass_freq_ch + d_acq_carrier_doppler_hz) / glonass_freq_ch;
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
     double T_prn_mod_seconds;
@@ -319,9 +319,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
         // New carrier Doppler frequency estimation
         d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
-        // New code Doppler frequency estimation
-        long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / glonass_freq_ch);
+        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
         // ################## DLL ##########################################################
         // DLL discriminator
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 092492876..0c40ef9fd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -73,6 +73,7 @@ private:
 
     long d_if_freq;
     long d_fs_in;
+    long d_glonass_freq_ch;
 
     double d_early_late_spc_chips;
 

From ddd96bad0acf25c45e40f6df98b7377f4fd16fba Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:48:16 -0300
Subject: [PATCH 076/379] Add new file for glonasstests

---
 src/tests/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index fe6db724a..1fe7d9657 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -232,12 +232,14 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 

From 4d4a8c0b1de8182120a03a8736300126c385601e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:48:40 -0300
Subject: [PATCH 077/379] Add tracking glonass tests

---
 src/tests/test_main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 31727a42a..21e932c12 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -127,6 +127,8 @@ DECLARE_string(log_dir);
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"
 #if MODERN_ARMADILLO
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"

From 55dab409552d1c411099e5b26d920d203c17e12c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:49:55 -0300
Subject: [PATCH 078/379] Add unit test for new tracking blocks

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 230 +++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 233 ++++++++++++++++++
 2 files changed, 463 insertions(+)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
new file mode 100644
index 000000000..5bb4fbdf8
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -0,0 +1,230 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+ * \brief  This class implements a tracking test for GLONASS_L1_CA_DLL_PLL_Tracking
+ *  implementation based on some input parameters.
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+// #include "signal_conditioner.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaDllPllCAidTrackingTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr;
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+
+class GlonassL1CaDllPllCAidTrackingTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaDllPllCAidTrackingTest_msg_rx();
+
+public:
+    int rx_message;
+    ~GlonassL1CaDllPllCAidTrackingTest_msg_rx(); //!< Default destructor
+
+};
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make()
+{
+    return GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr(new GlonassL1CaDllPllCAidTrackingTest_msg_rx());
+}
+
+void GlonassL1CaDllPllCAidTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx::GlonassL1CaDllPllCAidTrackingTest_msg_rx() :
+            gr::block("GlonassL1CaDllPllCAidTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaDllPllCAidTrackingTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx::~GlonassL1CaDllPllCAidTrackingTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GlonassL1CaDllPllCAidTrackingTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaDllPllCAidTrackingTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaDllPllCAidTrackingTest()
+    {}
+
+    void init();
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaDllPllCAidTrackingTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 11;
+
+    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+
+
+    std::string path = std::string(TEST_PATH);
+    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
+    const char * file_name = file.c_str();
+
+    config->set_property("SignalSource.implementation","File_Signal_Source");
+    config->set_property("SignalSource.filename",file_name);
+    config->set_property("SignalSource.item_type","ibyte");
+    config->set_property("SignalSource.sampling_frequency","6625000");
+
+    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
+    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
+    config->set_property("InputFilter.implementation","Pass_Through");
+    config->set_property("InputFilter.item_type","gr_complex");
+    config->set_property("Resampler.implementation","Direct_Resampler");
+    config->set_property("Resampler.sample_freq_in","6625000");
+    config->set_property("Resampler.sample_freq_out","2000000");
+    config->set_property("Resampler.item_type","gr_complex");
+
+    config->set_property("Tracking_1G.item_type", "gr_complex");
+    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.if", "0.0");
+    config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
+    config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking");
+    config->set_property("Tracking_1G.early_late_space_chips", "0.5");
+    config->set_property("Tracking_1G.order", "2");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
+}
+
+TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    int fs_in = 6625000;
+    int nsamples = fs_in*4e-3*2;
+
+    init();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Tracking test");
+    std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
+    boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+
+    gnss_synchro.Acq_delay_samples = 1343;
+    gnss_synchro.Acq_doppler_hz = -2750;
+    // gnss_synchro.Acq_doppler_hz = -2750;
+    gnss_synchro.Acq_samplestamp_samples = 0;
+
+    ASSERT_NO_THROW( {
+        tracking->set_channel(gnss_synchro.Channel_ID);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->connect(top_block);
+    }) << "Failure connecting tracking to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        std::string path = std::string(TEST_PATH);
+        std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+        top_block->connect(file_source, 0, valve, 0);
+        top_block->connect(valve, 0, tracking->get_left_block(), 0);
+        top_block->connect(tracking->get_right_block(), 0, sink, 0);
+        top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+    tracking->start_tracking();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    // TODO: Verify tracking results
+    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
new file mode 100644
index 000000000..9827a00ed
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -0,0 +1,233 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking_test.cc
+ * \brief  This class implements a tracking test for GLONASS_L1_CA_DLL_PLL_Tracking
+ *  implementation based on some input parameters.
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "array_signal_conditioner.h"
+#include "signal_conditioner.h"
+#include "ibyte_to_complex.h"
+#include "direct_resampler_conditioner.h"
+#include "glonass_l1_ca_dll_pll_tracking.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaDllPllTrackingTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> GlonassL1CaDllPllTrackingTest_msg_rx_sptr;
+
+GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make();
+
+class GlonassL1CaDllPllTrackingTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaDllPllTrackingTest_msg_rx();
+
+public:
+    int rx_message;
+    ~GlonassL1CaDllPllTrackingTest_msg_rx(); //!< Default destructor
+
+};
+
+GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make()
+{
+    return GlonassL1CaDllPllTrackingTest_msg_rx_sptr(new GlonassL1CaDllPllTrackingTest_msg_rx());
+}
+
+void GlonassL1CaDllPllTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+GlonassL1CaDllPllTrackingTest_msg_rx::GlonassL1CaDllPllTrackingTest_msg_rx() :
+            gr::block("GlonassL1CaDllPllTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaDllPllTrackingTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaDllPllTrackingTest_msg_rx::~GlonassL1CaDllPllTrackingTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GlonassL1CaDllPllTrackingTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaDllPllTrackingTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaDllPllTrackingTest()
+    {}
+
+    void init();
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaDllPllTrackingTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 11;
+
+    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+
+
+    std::string path = std::string(TEST_PATH);
+    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
+    const char * file_name = file.c_str();
+
+    config->set_property("SignalSource.implementation","File_Signal_Source");
+    config->set_property("SignalSource.filename",file_name);
+    config->set_property("SignalSource.item_type","ibyte");
+    config->set_property("SignalSource.sampling_frequency","6625000");
+
+    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
+    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
+    config->set_property("InputFilter.implementation","Pass_Through");
+    config->set_property("InputFilter.item_type","gr_complex");
+    config->set_property("Resampler.implementation","Direct_Resampler");
+    config->set_property("Resampler.sample_freq_in","6625000");
+    config->set_property("Resampler.sample_freq_out","2000000");
+    config->set_property("Resampler.item_type","gr_complex");
+
+    config->set_property("Tracking_1G.item_type", "gr_complex");
+    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.if", "0.0");
+    config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
+    config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
+    config->set_property("Tracking_1G.early_late_space_chips", "0.5");
+    config->set_property("Tracking_1G.order", "2");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
+}
+
+TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    int fs_in = 6625000;
+    int nsamples = fs_in*4e-3*2;
+
+    init();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Tracking test");
+    std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
+    boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllTrackingTest_msg_rx_make();
+
+    gnss_synchro.Acq_delay_samples = 1343;
+    gnss_synchro.Acq_doppler_hz = -2750;
+    // gnss_synchro.Acq_doppler_hz = -2750;
+    gnss_synchro.Acq_samplestamp_samples = 0;
+
+    ASSERT_NO_THROW( {
+        tracking->set_channel(gnss_synchro.Channel_ID);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->connect(top_block);
+    }) << "Failure connecting tracking to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        std::string path = std::string(TEST_PATH);
+        std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+        top_block->connect(file_source, 0, valve, 0);
+        top_block->connect(valve, 0, tracking->get_left_block(), 0);
+        top_block->connect(tracking->get_right_block(), 0, sink, 0);
+        top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+    tracking->start_tracking();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    // TODO: Verify tracking results
+    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}

From bcde069e35fd824921615a12934e5d60773e8299 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:03:55 -0300
Subject: [PATCH 079/379] Update test configuration

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 27 ++---------------
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 30 ++-----------------
 2 files changed, 6 insertions(+), 51 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
index 5bb4fbdf8..9a65a43a6 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -47,7 +47,6 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
-// #include "signal_conditioner.h"
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 
 
@@ -139,35 +138,15 @@ void GlonassL1CaDllPllCAidTrackingTest::init()
     gnss_synchro.PRN = 11;
 
     config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
-
-
-    std::string path = std::string(TEST_PATH);
-    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
-    const char * file_name = file.c_str();
-
-    config->set_property("SignalSource.implementation","File_Signal_Source");
-    config->set_property("SignalSource.filename",file_name);
-    config->set_property("SignalSource.item_type","ibyte");
-    config->set_property("SignalSource.sampling_frequency","6625000");
-
-    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation","Pass_Through");
-    config->set_property("InputFilter.item_type","gr_complex");
-    config->set_property("Resampler.implementation","Direct_Resampler");
-    config->set_property("Resampler.sample_freq_in","6625000");
-    config->set_property("Resampler.sample_freq_out","2000000");
-    config->set_property("Resampler.item_type","gr_complex");
-
     config->set_property("Tracking_1G.item_type", "gr_complex");
-    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
     config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 9827a00ed..0957b3b24 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -47,10 +47,6 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
-#include "array_signal_conditioner.h"
-#include "signal_conditioner.h"
-#include "ibyte_to_complex.h"
-#include "direct_resampler_conditioner.h"
 #include "glonass_l1_ca_dll_pll_tracking.h"
 
 
@@ -142,35 +138,15 @@ void GlonassL1CaDllPllTrackingTest::init()
     gnss_synchro.PRN = 11;
 
     config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
-
-
-    std::string path = std::string(TEST_PATH);
-    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
-    const char * file_name = file.c_str();
-
-    config->set_property("SignalSource.implementation","File_Signal_Source");
-    config->set_property("SignalSource.filename",file_name);
-    config->set_property("SignalSource.item_type","ibyte");
-    config->set_property("SignalSource.sampling_frequency","6625000");
-
-    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation","Pass_Through");
-    config->set_property("InputFilter.item_type","gr_complex");
-    config->set_property("Resampler.implementation","Direct_Resampler");
-    config->set_property("Resampler.sample_freq_in","6625000");
-    config->set_property("Resampler.sample_freq_out","2000000");
-    config->set_property("Resampler.item_type","gr_complex");
-
     config->set_property("Tracking_1G.item_type", "gr_complex");
-    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
     config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)

From 6258bcb32ab06f88f67fb973620d00b2aee7743b Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:05:24 -0300
Subject: [PATCH 080/379] Add file with real signals for testing

---
 ..._GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin | Bin 0 -> 211996 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin

diff --git a/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin b/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin
new file mode 100644
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HcmV?d00001


From 73dc4bac53c4dc6f282dd71288f67e58939e78aa Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 081/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index cf1788cc0..7e41acb9f 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -596,6 +596,12 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
+    /*
+     * Only 24 operational
+     */
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
     if( sv_list.length() > 0 )
@@ -644,6 +650,22 @@ void GNSSFlowgraph::set_signals_list()
                 }
         }
 
+    sv_list = configuration_->property("Glonass.prns", std::string("") );
+
+    if( sv_list.length() > 0 )
+        {
+            // Reset the available prns:
+            std::set< unsigned int > tmp_set;
+            boost::tokenizer<> tok( sv_list );
+            std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
+                    boost::lexical_cast<unsigned int, std::string> );
+
+            if( tmp_set.size() > 0 )
+                {
+                    available_glonass_prn = tmp_set;
+                }
+        }
+
     if (configuration_->property("Channels_1C.count", 0) > 0 )
         {
             /*
@@ -714,6 +736,20 @@ void GNSSFlowgraph::set_signals_list()
                             *available_gnss_prn_iter), std::string("5X")));
                 }
         }
+
+        if (configuration_->property("Channels_1G.count", 0) > 0 )
+        {
+            /*
+             * Loop to create the list of GLONASS L1 C/A signals
+             */
+            for (available_gnss_prn_iter = available_glonass_prn.begin();
+                    available_gnss_prn_iter != available_glonass_prn.end();
+                    available_gnss_prn_iter++)
+                {
+                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+                            *available_gnss_prn_iter), std::string("5X")));
+                }
+        }
     /*
      * Ordering the list of signals from configuration file
      */
@@ -727,6 +763,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
+            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From da3bd817740ec004c63e3c90c8c211f6f4c069a6 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 082/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 7e41acb9f..4ccdaff44 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -747,7 +747,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-                            *available_gnss_prn_iter), std::string("5X")));
+                            *available_gnss_prn_iter), std::string("1G")));
                 }
         }
     /*

From 4d8b45b0f55f5cc7411cfb6260bc31a669a123a4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 083/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/CMakeLists.txt            |   1 +
 .../libs/glonass_l1_signal_processing.cc      | 131 ++++++++++++++++++
 .../libs/glonass_l1_signal_processing.h       |  47 +++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.cc
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.h

diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt
index e7d8b60bd..818c9d947 100644
--- a/src/algorithms/libs/CMakeLists.txt
+++ b/src/algorithms/libs/CMakeLists.txt
@@ -25,6 +25,7 @@ set(GNSS_SPLIBS_SOURCES
     gnss_sdr_sample_counter.cc
     gnss_signal_processing.cc
     gps_sdr_signal_processing.cc
+    glonass_l1_signal_processing.cc
     pass_through.cc
     galileo_e5_signal_processing.cc
     complex_byte_to_float_x2.cc
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
new file mode 100644
index 000000000..ff3ab5a2d
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -0,0 +1,131 @@
+/*!
+ * \file glonass_l1_signal_processing.cc
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_l1_signal_processing.h"
+
+auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
+
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+{
+    const unsigned int _code_length = 511;
+    bool G1[_code_length];
+    bool G1_register[9];
+    bool feedback1;
+    bool aux;
+    unsigned int lcv, lcv2;
+
+    for(lcv = 0; lcv < 9; lcv++)
+        {
+            G1_register[lcv] = 1;
+        }
+
+    /* Generate G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            G1[lcv] = G1_register[2];
+
+            feedback1 = G1_register[4]^G1_register[0];
+
+            for(lcv2 = 0; lcv2 < 8; lcv2++)
+                {
+                    G1_register[lcv2] = G1_register[lcv2 + 1];
+                }
+
+            G1_register[8] = feedback1;
+        }
+
+    /* Generate PRN from G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[lcv];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+        }
+}
+
+
+/*
+ *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
+ */
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+{
+    // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
+    std::complex<float> _code[511];
+    signed int _samplesPerCode, _codeValueIndex;
+    float _ts;
+    float _tc;
+    float aux;
+    const signed int _codeFreqBasis = 511000; //Hz
+    const signed int _codeLength = 511;
+
+    //--- Find number of samples per spreading code ----------------------------
+    _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
+
+    //--- Find time constants --------------------------------------------------
+    _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
+    _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
+    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+
+    for (signed int i = 0; i < _samplesPerCode; i++)
+        {
+            //=== Digitizing =======================================================
+
+            //--- Make index array to read C/A code values -------------------------
+            // The length of the index array depends on the sampling frequency -
+            // number of samples per millisecond (because one C/A code period is one
+            // millisecond).
+
+            // _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
+            aux = (_ts * (i + 1)) / _tc;   
+            _codeValueIndex = auxCeil( aux ) - 1;
+
+            //--- Make the digitized version of the C/A code -----------------------
+            // The "upsampled" code is made by selecting values form the CA code
+            // chip array (caCode) for the time instances of each sample.
+            if (i == _samplesPerCode - 1)
+                {
+                    //--- Correct the last index (due to number rounding issues) -----------
+                    _dest[i] = _code[_codeLength - 1];
+
+                }
+            else
+                {
+                    _dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
+                }
+        }
+}
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
new file mode 100644
index 000000000..b181d68ae
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -0,0 +1,47 @@
+/*!
+ * \file glonass_l1_signal_processing.h
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo(at)ieee.org
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+
+#include <complex>
+
+//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From a02cf31b1f9bb2ca7ac2a663dfa6cefc4300a5d4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 084/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  1 +
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  1 +
 src/core/system_parameters/Glonass_L1_CA.h    | 63 +++++++++++++++++++
 3 files changed, 65 insertions(+)
 create mode 100644 src/core/system_parameters/Glonass_L1_CA.h

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 399f443b6..21efd08b4 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -41,6 +41,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 07fcb32a9..9640e5e3a 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -56,6 +56,7 @@
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/fft/fft.h>
 #include "gnss_synchro.h"
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 class pcps_acquisition_cc;
 
diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
new file mode 100644
index 000000000..f6391c56b
--- /dev/null
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -0,0 +1,63 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_H_
+#define GNSS_SDR_GLONASS_L1_CA_H_
+
+#include <vector>
+#include <utility> // std::pair
+#include "MATH_CONSTANTS.h"
+
+// Physical constants
+const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
+const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
+const double GLONASS_PI          = 3.1415926535898;  //!< Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_TWO_PI      = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_OMEGA_EARTH_DOT     = 7.292115e-5;  //!< Earth rotation rate, [rad/s]
+const double GLONASS_GM          = 3.986004418e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+// const double F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
+
+// Geodesic constants and parameters
+const double fMa                = 0.35e9;           //!< The Gravitational constant of atmosphere, [m^3/s^2]
+const double SEMI_MAJOR_AXIS    = 6378136;          //!< The Semi-major axis, [m]
+const double FLATTENING         = 1/298.25784;      //!< The Orbital Flattening
+const double EQUATORIAL_GRAVITY = 978032.84;        //!< The Equatorial acceleration of gravity, [mGal]
+const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
+const double SECOND_HARMONIC    = 1082625.75e-9;    //!< Second zonal harmonic of the geopotential (J_2^0)
+const double FOURTH_HARMONIC    = -2370.89e-9;    //!< Fourth zonal harmonic of the geopotential (J_4^0)
+const double SIXTH_HARMONIC     = 6.08e-9;    //!< Sixth zonal harmonic of the geopotential (J_6^0)
+const double EIGHTH_HARMONIC    = 1.40e-11;     //!< Eighth zonal harmonic of the geopotential (J_8^0)
+const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
+
+
+// carrier and code frequencies
+const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
+const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
+const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
+const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
+
+// GLONASS SV's orbital slots
+const short int GLONASS_PRN[24] = { 1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2,   //Plane 3
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2};  //Plane 3
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 4f9a6d0e88aa56486bde318737671bb76eb75796 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:45:16 -0300
Subject: [PATCH 085/379] Add pcps acquisition adapter for glonass l1 ca signal

---
 .../acquisition/adapters/CMakeLists.txt       |   1 +
 .../glonass_l1_ca_pcps_acquisition.cc         | 366 ++++++++++++++++++
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 138 +++++++
 3 files changed, 505 insertions(+)
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt
index c0900d4ff..f8c6b34b1 100644
--- a/src/algorithms/acquisition/adapters/CMakeLists.txt
+++ b/src/algorithms/acquisition/adapters/CMakeLists.txt
@@ -31,6 +31,7 @@ set(ACQ_ADAPTER_SOURCES
     galileo_e1_pcps_tong_ambiguous_acquisition.cc
     galileo_e1_pcps_8ms_ambiguous_acquisition.cc
     galileo_e5a_noncoherent_iq_acquisition_caf.cc
+    glonass_l1_ca_pcps_acquisition.cc
 )
 
 if(ENABLE_FPGA)
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
new file mode 100644
index 000000000..a8e25b151
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -0,0 +1,366 @@
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include <boost/math/distributions/exponential.hpp>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+    role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    configuration_ = configuration;
+    std::string default_item_type = "gr_complex";
+    std::string default_dump_filename = "./data/acquisition.dat";
+
+    DLOG(INFO) << "role " << role;
+
+    item_type_ = configuration_->property(role + ".item_type", default_item_type);
+
+    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    if_ = configuration_->property(role + ".if", 0);
+    dump_ = configuration_->property(role + ".dump", false);
+    doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
+
+    bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
+    use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
+
+    max_dwells_ = configuration_->property(role + ".max_dwells", 1);
+
+    dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
+
+    //--- Find number of samples per spreading code -------------------------
+    code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    LOG(ERROR) << "fs_in_ " << fs_in_;
+    LOG(ERROR) << "code_length_ " << code_length_;
+
+    vector_length_ = code_length_ * sampled_ms_;
+
+    LOG(ERROR) << "vector_length_ " << vector_length_;
+    
+
+    if( bit_transition_flag_ )
+        {
+            vector_length_ *= 2;
+        }
+
+    code_ = new gr_complex[vector_length_];
+
+    if (item_type_.compare("cshort") == 0 )
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
+                    doppler_max_, if_, fs_in_, code_length_, code_length_,
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+            DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
+
+        }else{
+                item_size_ = sizeof(gr_complex);
+                acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
+                        doppler_max_, if_, fs_in_, code_length_, code_length_,
+                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
+        }
+
+    stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
+    DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
+    
+    if (item_type_.compare("cbyte") == 0)
+        {
+            cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
+            float_to_complex_ = gr::blocks::float_to_complex::make();
+        }
+
+    channel_ = 0;
+    threshold_ = 0.0;
+    doppler_step_ = 0;
+    gnss_synchro_ = 0;
+}
+
+
+GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
+{
+    delete[] code_;
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_channel(channel_);
+        }
+    else
+        {
+            acquisition_cc_->set_channel(channel_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
+{
+    float pfa = configuration_->property(role_ + ".pfa", 0.0);
+
+    if(pfa == 0.0)
+        {
+            threshold_ = threshold;
+        }
+    else
+        {
+            threshold_ = calculate_threshold(pfa);
+        }
+
+    DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
+
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_threshold(threshold_);
+        }
+    else
+        {
+            acquisition_cc_->set_threshold(threshold_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
+{
+    doppler_max_ = doppler_max;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_max(doppler_max_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_max(doppler_max_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
+{
+    doppler_step_ = doppler_step;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_step(doppler_step_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_step(doppler_step_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
+{
+    gnss_synchro_ = gnss_synchro;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_gnss_synchro(gnss_synchro_);
+        }
+    else
+        {
+            acquisition_cc_->set_gnss_synchro(gnss_synchro_);
+        }
+}
+
+
+signed int GlonassL1CaPcpsAcquisition::mag()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_->mag();
+        }
+    else
+        {
+            return acquisition_cc_->mag();
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::init()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->init();
+        }
+    else
+        {
+            acquisition_cc_->init();
+        }
+
+    set_local_code();
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_local_code()
+{
+
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0);
+
+    for (unsigned int i = 0; i < sampled_ms_; i++)
+        {
+            memcpy(&(code_[i*code_length_]), code,
+                    sizeof(gr_complex)*code_length_);
+        }
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_local_code(code_);
+        }
+    else
+        {
+            acquisition_cc_->set_local_code(code_);
+        }
+
+    delete[] code;
+}
+
+
+void GlonassL1CaPcpsAcquisition::reset()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_active(true);
+        }
+    else
+        {
+            acquisition_cc_->set_active(true);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_state(int state)
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_state(state);
+        }
+    else
+        {
+            acquisition_cc_->set_state(state);
+        }
+}
+
+
+float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
+{
+    //Calculate the threshold
+    unsigned int frequency_bins = 0;
+    /*
+    for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
+        {
+            frequency_bins++;
+        }
+    */
+
+    frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_;
+
+    DLOG(INFO) << "Channel " << channel_ << "  Pfa = " << pfa;
+    unsigned int ncells = vector_length_ * frequency_bins;
+    double exponent = 1 / static_cast<double>(ncells);
+    double val = pow(1.0 - pfa, exponent);
+    double lambda = double(vector_length_);
+    boost::math::exponential_distribution<double> mydist (lambda);
+    float threshold = (float)quantile(mydist,val);
+
+    return threshold;
+}
+
+
+void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            // Since a byte-based acq implementation is not available,
+            // we just convert cshorts to gr_complex
+            top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            return cbyte_to_float_x2_;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+            return nullptr;
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_;
+        }
+    else
+        {
+            return acquisition_cc_;
+        }
+}
+
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
new file mode 100644
index 000000000..2cc43c90f
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -0,0 +1,138 @@
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+
+#include <string>
+#include <gnuradio/blocks/stream_to_vector.h>
+#include <gnuradio/blocks/float_to_complex.h>
+#include "gnss_synchro.h"
+#include "acquisition_interface.h"
+#include "pcps_acquisition_cc.h"
+#include "pcps_acquisition_sc.h"
+#include "complex_byte_to_float_x2.h"
+#include <volk_gnsssdr/volk_gnsssdr.h>
+
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
+ *  for GPS L1 C/A signals
+ */
+class GlonassL1CaPcpsAcquisition: public AcquisitionInterface
+{
+public:
+    GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
+            std::string role, unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaPcpsAcquisition();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    /*!
+     * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
+     */
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_PCPS_Acquisition";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and
+     *  tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    /*!
+     * \brief Set acquisition channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set statistics threshold of PCPS algorithm
+     */
+    void set_threshold(float threshold);
+
+    /*!
+     * \brief Set maximum Doppler off grid search
+     */
+    void set_doppler_max(unsigned int doppler_max);
+
+    /*!
+     * \brief Set Doppler steps for the grid search
+     */
+    void set_doppler_step(unsigned int doppler_step);
+
+    /*!
+     * \brief Initializes acquisition algorithm.
+     */
+    void init();
+
+    /*!
+     * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
+     */
+    void set_local_code();
+
+    /*!
+     * \brief Returns the maximum peak of grid search
+     */
+    signed int mag();
+
+    /*!
+     * \brief Restart acquisition algorithm
+     */
+    void reset();
+
+    /*!
+     * \brief If state = 1, it forces the block to start acquiring from the first sample
+     */
+    void set_state(int state);
+
+private:
+    ConfigurationInterface* configuration_;
+    pcps_acquisition_cc_sptr acquisition_cc_;
+    pcps_acquisition_sc_sptr acquisition_sc_;
+    gr::blocks::stream_to_vector::sptr stream_to_vector_;
+    gr::blocks::float_to_complex::sptr float_to_complex_;
+    complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int vector_length_;
+    unsigned int code_length_;
+    bool bit_transition_flag_;
+    bool use_CFAR_algorithm_flag_;
+    unsigned int channel_;
+    float threshold_;
+    unsigned int doppler_max_;
+    unsigned int doppler_step_;
+    unsigned int sampled_ms_;
+    unsigned int max_dwells_;
+    long fs_in_;
+    long if_;
+    bool dump_;
+    std::string dump_filename_;
+    std::complex<float> * code_;
+    Gnss_Synchro * gnss_synchro_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+
+    float calculate_threshold(float pfa);
+};
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ */

From 8d4f2e0f858e554066d30bb8817109570ed994bb Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 086/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 8 +++++---
 src/algorithms/libs/glonass_l1_signal_processing.h  | 6 +++---
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index ff3ab5a2d..d19b349ab 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -34,7 +34,7 @@
 
 auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
 
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _prn,*/ unsigned int _chip_shift)
 {
     const unsigned int _code_length = 511;
     bool G1[_code_length];
@@ -76,13 +76,15 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
+
+    /* TODO: Implement the chip shifting*/
 }
 
 
 /*
  *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
  */
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
 {
     // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
     std::complex<float> _code[511];
@@ -99,7 +101,7 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned
     //--- Find time constants --------------------------------------------------
     _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
     _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
-    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+    glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
 
     for (signed int i = 0; i < _samplesPerCode; i++)
         {
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index b181d68ae..40fcd6ad1 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,12 +36,12 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
 
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From 613b8bdf19d83ca511097d35befe36b647e028c7 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:50:12 -0300
Subject: [PATCH 087/379] fix ifndef include

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 40fcd6ad1..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -30,8 +30,8 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
-#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
 #include <complex>
 
@@ -44,4 +44,4 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

From b333bb2c78fd811689cf2726eab14af70a77cff7 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:53:17 -0300
Subject: [PATCH 088/379] Add Glonass L1 C/A channel to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 116 +++++++++++++++++++++++-
 src/core/receiver/gnss_block_factory.h  |   4 +
 2 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 0e85d4f2d..7db6ddd95 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -78,6 +78,7 @@
 #include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
 #include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_tcp_connector_tracking.h"
@@ -513,6 +514,74 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
     return channel_;
 }
 
+//********* GLONASS L1 C/A CHANNEL *****************
+std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
+        std::shared_ptr<ConfigurationInterface> configuration,
+        std::string acq, std::string trk, std::string tlm, int channel,
+        boost::shared_ptr<gr::msg_queue> queue)
+{
+    std::stringstream stream;
+    stream << channel;
+    std::string id = stream.str();
+    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
+              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
+
+    std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix1;
+    if(aux.compare("W") != 0)
+        {
+            appendix1 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix1 = "";
+        }
+    aux = configuration->property("Tracking_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix2;
+    if(aux.compare("W") != 0)
+        {
+            appendix2 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix2 = "";
+        }
+    aux = configuration->property("TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix3;
+    if(aux.compare("W") != 0)
+        {
+            appendix3 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix3 = "";
+        }
+    // Automatically detect input data type
+    std::shared_ptr<InMemoryConfiguration> config;
+    config = std::make_shared<InMemoryConfiguration>();
+    std::string default_item_type = "gr_complex";
+    std::string acq_item_type = configuration->property("Acquisition_1G" + appendix1 + ".item_type", default_item_type);
+    std::string trk_item_type = configuration->property("Tracking_1G" + appendix2 + ".item_type", default_item_type);
+    if(acq_item_type.compare(trk_item_type))
+        {
+            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
+        }
+    config->set_property("Channel.item_type", acq_item_type);
+
+    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
+    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
+    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G"+ appendix2, trk, 1, 1);
+    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
+
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+            std::move(acq_),
+            std::move(trk_),
+            std::move(tlm_),
+            "Channel", "1G", queue));
+
+    return channel_;
+}
+
 
 std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
         std::shared_ptr<ConfigurationInterface> configuration, boost::shared_ptr<gr::msg_queue> queue)
@@ -528,11 +597,13 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
     unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
     unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0);
     unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
+    unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0);
 
     unsigned int total_channels = Channels_1C_count +
             Channels_2S_count +
             Channels_1B_count +
-            Channels_5X_count;
+            Channels_5X_count +
+            Channels_1G_count;
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
 
     //**************** GPS L1 C/A  CHANNELS **********************
@@ -656,6 +727,37 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                 channel_absolute_id++;
            }
 
+
+    //**************** GLONASS L1 C/A  CHANNELS **********************
+    LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
+    acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
+    tracking_implementation  = configuration->property("Tracking_1G.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation);
+
+    for (unsigned int i = 0; i < Channels_1G_count; i++)
+        {
+            //(i.e. Acquisition_1G0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                            "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            acquisition_implementation);
+            //(i.e. Tracking_1G0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                            "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                            "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            telemetry_decoder_implementation);
+
+            // Push back the channel to the vector of channels
+             channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
+                     acquisition_implementation_specific,
+                     tracking_implementation_specific,
+                     telemetry_decoder_implementation_specific,
+                     channel_absolute_id,
+                     queue));
+             channel_absolute_id++;
+        }
+
     return channels;
 }
 
@@ -984,6 +1086,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
 
 
@@ -1217,6 +1325,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.
diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h
index 13c614ee8..6dd6ae11f 100644
--- a/src/core/receiver/gnss_block_factory.h
+++ b/src/core/receiver/gnss_block_factory.h
@@ -94,6 +94,10 @@ private:
             std::string acq, std::string trk, std::string tlm, int channel,
             boost::shared_ptr<gr::msg_queue> queue);
 
+    std::unique_ptr<GNSSBlockInterface> GetChannel_1G(std::shared_ptr<ConfigurationInterface> configuration,
+            std::string acq, std::string trk, std::string tlm, int channel,
+            boost::shared_ptr<gr::msg_queue> queue);
+
     std::unique_ptr<AcquisitionInterface> GetAcqBlock(
             std::shared_ptr<ConfigurationInterface> configuration,
             std::string role,

From dcd8a591d17da7bac386806c5bf12b66eb908207 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:56:01 -0300
Subject: [PATCH 089/379] Only 24 SV's available

---
 src/core/receiver/gnss_flowgraph.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 4ccdaff44..16d0d3ae7 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -579,7 +579,8 @@ void GNSSFlowgraph::set_signals_list()
     unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
             configuration_->property("Channels_2S.count", 0) +
             configuration_->property("Channels_1B.count", 0) +
-            configuration_->property("Channels_5X.count", 0);
+            configuration_->property("Channels_5X.count", 0) + 
+            configuration_->property("Channels_1G.count", 0);
 
     /*
      * Loop to create the list of GNSS Signals
@@ -600,7 +601,7 @@ void GNSSFlowgraph::set_signals_list()
      * Only 24 operational
      */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 

From b9c53c038fb9afc4eaeefb8ce10cb6cc25455e16 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 090/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 9640e5e3a..d1443d18c 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -148,6 +148,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From e29ab1b90bfac6eb180a0052f595a40814fe0db6 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:58:59 -0300
Subject: [PATCH 091/379] Change Glonass string

---
 src/core/system_parameters/gnss_satellite.cc | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index 2e2e18f00..b192224fb 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -61,9 +61,9 @@ Gnss_Satellite::~Gnss_Satellite()
 
 void Gnss_Satellite::reset()
 {
-    system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"};
+    system_set = {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"};
     satelliteSystem["GPS"] = "G";
-    satelliteSystem["GLONASS"] = "R";
+    satelliteSystem["Glonass"] = "R";
     satelliteSystem["SBAS"] = "S";
     satelliteSystem["Galileo"] = "E";
     satelliteSystem["Beidou"] = "C";
@@ -120,8 +120,8 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite &rhs) {
 
 void Gnss_Satellite::set_system(const std::string& system_)
 {
-    // Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
-    std::set<std::string>::const_iterator it = system_set.find(system_);
+    // Set the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Compass"}
+    std::set<std::string>::iterator it = system_set.find(system_);
 
     if(it != system_set.cend())
         {
@@ -129,7 +129,7 @@ void Gnss_Satellite::set_system(const std::string& system_)
         }
     else
         {
-            DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Beidou}. Initialization?";
+            DLOG(INFO) << "System " << system_ << " is not defined {GPS, Glonass, SBAS, Galileo, Beidou}. Initialization?";
             system =  std::string("");
         }
 }
@@ -220,7 +220,7 @@ unsigned int Gnss_Satellite::get_PRN() const
 
 std::string Gnss_Satellite::get_system() const
 {
-    // Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
+    // Get the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"}
     std::string system_;
     system_ = system;
     return system_;

From aa12acefe3a120b7371e2586c7ddefbd5cdaf8bd Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 092/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 16d0d3ae7..0750c9b85 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -764,7 +764,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
-            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
+            if((gnss_signal.compare("1G") == 0)/*or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From 09d23e737e6465dd59b234805230c7f33c27d922 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 093/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index d19b349ab..f0d0f78d2 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -76,8 +76,6 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
-
-    /* TODO: Implement the chip shifting*/
 }
 
 

From 6d18c137bc616a7e8560170165efc8bbc8684fde Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 094/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index f0d0f78d2..d19b349ab 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -76,6 +76,8 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
+
+    /* TODO: Implement the chip shifting*/
 }
 
 

From 18c96378dccecd7fcab61e0733eabea7ae64e136 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 16:58:20 -0300
Subject: [PATCH 095/379] Add Glonass channels to PVT and Observables

---
 src/core/receiver/gnss_block_factory.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 7db6ddd95..39557a0a9 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -229,7 +229,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels, Galileo_channels + GPS_channels);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels);
 }
 
 
@@ -243,7 +244,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(std::shared_ptr<Con
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels, 0);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels + Glonass_channels, 0);
 }
 
 

From e5e4e25333f5d7fd5a405d61281476db77469bbb Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:21:21 -0300
Subject: [PATCH 096/379] Update glonass prn table

---
 src/core/system_parameters/Glonass_L1_CA.h | 57 ++++++++++++----------
 1 file changed, 30 insertions(+), 27 deletions(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index f6391c56b..5661c2a52 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -2,8 +2,10 @@
 #define GNSS_SDR_GLONASS_L1_CA_H_
 
 #include <vector>
-#include <utility> // std::pair
+#include <map> // std::map
 #include "MATH_CONSTANTS.h"
+#include "gnss_frequencies.h"
+
 
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
@@ -28,36 +30,37 @@ const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at su
 
 
 // carrier and code frequencies
-const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
 
-// GLONASS SV's orbital slots
-const short int GLONASS_PRN[24] = { 1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2,   //Plane 3
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2};  //Plane 3
+// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
+const std::map<unsigned int, int> GLONASS_PRN = 
+                                               {{ 1, 1,},  //Plane 1
+                                                { 2,-4,},  //Plane 1
+                                                { 3, 5,},  //Plane 1
+                                                { 4, 6,},  //Plane 1
+                                                { 5, 1,},  //Plane 1
+                                                { 6,-4,},  //Plane 1
+                                                { 7, 5,},  //Plane 1
+                                                { 8, 6,},  //Plane 1
+                                                { 9,-2,},  //Plane 2
+                                                {10,-7,},  //Plane 2
+                                                {11, 0,},  //Plane 2
+                                                {12,-1,},  //Plane 2
+                                                {13,-2,},  //Plane 2
+                                                {14,-7,},  //Plane 2
+                                                {15, 0,},  //Plane 2
+                                                {16,-1,},  //Plane 2
+                                                {17, 4,},  //Plane 3
+                                                {18,-3,},  //Plane 3
+                                                {19, 3,},  //Plane 3
+                                                {20, 2,},  //Plane 3
+                                                {21, 4,},  //Plane 3
+                                                {22,-3,},  //Plane 3
+                                                {23, 3,},  //Plane 3
+                                                {24, 2}};  //Plane 3
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 2091ac354af842dd7d7b648652f4dbb65f458363 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 097/379] Add FDMA protocol to pcps algorithm

---
 .../glonass_l1_ca_pcps_acquisition.cc         |  6 -----
 .../gnuradio_blocks/pcps_acquisition_cc.cc    | 25 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  8 ++----
 3 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index a8e25b151..2ef2828f1 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -36,14 +36,8 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     //--- Find number of samples per spreading code -------------------------
     code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
 
-    LOG(ERROR) << "fs_in_ " << fs_in_;
-    LOG(ERROR) << "code_length_ " << code_length_;
-
     vector_length_ = code_length_ * sampled_ms_;
 
-    LOG(ERROR) << "vector_length_ " << vector_length_;
-    
-
     if( bit_transition_flag_ )
         {
             vector_length_ *= 2;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 21efd08b4..68fd54202 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -34,6 +34,7 @@
 
 #include "pcps_acquisition_cc.h"
 #include <sstream>
+#include <cstring>
 #include <boost/filesystem.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
@@ -159,6 +160,11 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -179,6 +185,21 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+bool pcps_acquisition_cc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
 
 void pcps_acquisition_cc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
@@ -203,7 +224,10 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+}
 
+void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
+{
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
 
@@ -216,6 +240,7 @@ void pcps_acquisition_cc::init()
 }
 
 
+
 void pcps_acquisition_cc::set_state(int state)
 {
     gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index d1443d18c..792835114 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -95,6 +95,8 @@ private:
             std::string dump_filename);
 
     void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
 
     void send_negative_acquisition();
     void send_positive_acquisition();
@@ -148,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From ca057abf2d05090157a032270663cdc7b6e50208 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:29:33 -0300
Subject: [PATCH 098/379] fix another conflict

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 5661c2a52..bd529b34e 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -6,7 +6,6 @@
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 
-
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
 const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]

From 9f126f814a9f54e0929c5e8450ba243324473227 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 099/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 0750c9b85..4529a1fba 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -597,9 +597,6 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
-    /*
-     * Only 24 operational
-     */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
                     11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 

From 53e7e75392b6d8117f8b70d413ff299c18a31178 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 100/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 792835114..372c9f9f7 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -150,6 +150,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From 661620e883ff0a70dc971bf93a5d500717af3fd9 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 101/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 4529a1fba..ad01e76b1 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -745,7 +745,11 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
+=======
+                            *available_gnss_prn_iter), std::string("5X")));
+>>>>>>> Add glonass svn in signals list
                 }
         }
     /*

From 6052514018998533e02025b3fd078a1b19bde90e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 102/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index ad01e76b1..26126e55f 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -745,11 +745,15 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
 <<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
 =======
                             *available_gnss_prn_iter), std::string("5X")));
 >>>>>>> Add glonass svn in signals list
+=======
+                            *available_gnss_prn_iter), std::string("1G")));
+>>>>>>> fix glonass signal string
                 }
         }
     /*

From 60d28e98c2e4218da97cadcaa5cdb7e67b8253a6 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 103/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 891febcb9..495925c3d 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,6 +36,7 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -45,3 +46,14 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
+=======
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+>>>>>>> Add code for C/A signal generation for glonass

From 89b1838b3b26b36047772c60f8a82b7192346662 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 104/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 495925c3d..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,7 +36,6 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -46,14 +45,3 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
-=======
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
-
-//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
-
-//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
-
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
->>>>>>> Add code for C/A signal generation for glonass

From 6307ac288095172d549d517f91bebec255001a59 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 105/379] Add FDMA protocol to pcps algorithm

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 372c9f9f7..792835114 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -150,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From feddc615dd8f3b9fc63acf3b97e9e483c5a4b75d Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:39:14 -0300
Subject: [PATCH 106/379] Fix wipeoff bug

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 68fd54202..d009ced91 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -224,6 +224,16 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
 }
 
 void pcps_acquisition_cc::update_grid_doppler_wipeoffs()

From 2691cce2e3d70fe1f1126931ec0320c2aba06674 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:41:38 -0300
Subject: [PATCH 107/379] Add glonass acquisition tests

---
 src/tests/test_main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index c149edc2c..6839c41a8 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -101,6 +101,8 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc"
 //#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc"
 #if OPENCL_BLOCKS_TEST
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"

From 442656ad869bbff51c47b3ca218209755ed3b37c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:53:06 -0300
Subject: [PATCH 108/379] Add unit-test for glonass pcps acquisition

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 616 ++++++++++++++++++
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 237 +++++++
 2 files changed, 853 insertions(+)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
new file mode 100644
index 000000000..421da60c3
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -0,0 +1,616 @@
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gtest/gtest.h>
+#include "gnss_block_interface.h"
+#include "in_memory_configuration.h"
+#include "configuration_interface.h"
+#include "gnss_synchro.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include "signal_generator.h"
+#include "signal_generator_c.h"
+#include "fir_filter.h"
+#include "gen_signal_source.h"
+#include "gnss_sdr_valve.h"
+#include "boost/shared_ptr.hpp"
+#include "pass_through.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr;
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue);
+
+
+class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue);
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue<int>& queue);
+    concurrent_queue<int>& channel_internal_queue;
+public:
+    int rx_message;
+    ~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(); //!< Default destructor
+};
+
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue)
+{
+    return GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(queue));
+}
+
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+            channel_internal_queue.push(rx_message);
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue<int>& queue) :
+    gr::block("GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx()
+{}
+
+
+// ###########################################################
+
+class GlonassL1CaPcpsAcquisitionGSoC2017Test: public ::testing::Test
+{
+protected:
+    GlonassL1CaPcpsAcquisitionGSoC2017Test()
+    {
+        item_size = sizeof(gr_complex);
+        stop = false;
+        message = 0;
+        gnss_synchro = Gnss_Synchro();
+        acquisition = 0;
+        init();
+    }
+
+    ~GlonassL1CaPcpsAcquisitionGSoC2017Test()
+    {
+    }
+
+    void init();
+    void config_1();
+    void config_2();
+    void start_queue();
+    void wait_message();
+    void process_message();
+    void stop_queue();
+
+    concurrent_queue<int> channel_internal_queue;
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    GlonassL1CaPcpsAcquisition *acquisition;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+    bool stop;
+    int message;
+    boost::thread ch_thread;
+
+    unsigned int integration_time_ms = 0;
+    unsigned int fs_in = 0;
+
+    double expected_delay_chips = 0.0;
+    double expected_doppler_hz = 0.0;
+    float max_doppler_error_hz = 0.0;
+    float max_delay_error_chips = 0.0;
+
+    unsigned int num_of_realizations = 0;
+    unsigned int realization_counter;
+    unsigned int detection_counter;
+    unsigned int correct_estimation_counter;
+    unsigned int acquired_samples;
+    unsigned int mean_acq_time_us;
+
+    double mse_doppler;
+    double mse_delay;
+
+    double Pd;
+    double Pfa_p;
+    double Pfa_a;
+};
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
+{
+    message = 0;
+    realization_counter = 0;
+    detection_counter = 0;
+    correct_estimation_counter = 0;
+    acquired_samples = 0;
+    mse_doppler = 0;
+    mse_delay = 0;
+    mean_acq_time_us = 0;
+    Pd = 0;
+    Pfa_p = 0;
+    Pfa_a = 0;
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 4e6;
+
+    expected_delay_chips = 600;
+    expected_doppler_hz = 750;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 1;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "1");
+
+    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.8");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 4e6;
+
+    expected_delay_chips = 600;
+    expected_doppler_hz = 750;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_1", "G");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "G");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
+{
+    stop = false;
+    ch_thread = boost::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+
+    while (!stop)
+        {
+            acquisition->reset();
+
+            gettimeofday(&tv, NULL);
+            begin = tv.tv_sec *1e6 + tv.tv_usec;
+
+            channel_internal_queue.wait_and_pop(message);
+
+            gettimeofday(&tv, NULL);
+            end = tv.tv_sec *1e6 + tv.tv_usec;
+
+            mean_acq_time_us += (end-begin);
+
+            process_message();
+        }
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
+{
+    if (message == 1)
+        {
+            detection_counter++;
+
+            // The term -5 is here to correct the additional delay introduced by the FIR filter
+            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
+            double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+            mse_delay += std::pow(delay_error_chips, 2);
+            mse_doppler += std::pow(doppler_error_hz, 2);
+
+            if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
+                {
+                    correct_estimation_counter++;
+                }
+        }
+
+    realization_counter++;
+
+    std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
+
+    if (realization_counter == num_of_realizations)
+        {
+            mse_delay /= num_of_realizations;
+            mse_doppler /= num_of_realizations;
+
+            Pd = (double)correct_estimation_counter / (double)num_of_realizations;
+            Pfa_a = (double)detection_counter / (double)num_of_realizations;
+            Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
+
+            mean_acq_time_us /= num_of_realizations;
+
+            stop_queue();
+            top_block->stop();
+        }
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
+{
+    stop = true;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
+{
+    config_1();
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
+{
+    int nsamples = floor(fs_in*integration_time_ms*1e-3);
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    config_1();
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test."<< std::endl;
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1e6 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1e6 + tv.tv_usec;
+    }) << "Failure running the top_block."<< std::endl;
+
+    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
+{
+    config_1();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(10000);
+    }) << "Failure setting doppler_max."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(500);
+    }) << "Failure setting doppler_step."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(0.5);
+    }) << "Failure setting threshold."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+
+    acquisition->init();
+
+    ASSERT_NO_THROW( {
+        boost::shared_ptr<GenSignalSource> signal_source;
+        SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
+        FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
+        signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
+        signal_source->connect(top_block);
+        top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    // i = 0 --> satellite in acquisition is visible
+    // i = 1 --> satellite in acquisition is not visible
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 10; // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 20; // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+            acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+            start_queue();
+
+            EXPECT_NO_THROW( {
+                top_block->run(); // Start threads and wait
+            }) << "Failure running the top_block."<< std::endl;
+
+            if (i == 0)
+            {
+                EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+                if (message == 1)
+                    {
+                        EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
+                    }
+
+            }
+            else if (i == 1)
+            {
+                EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
+            }
+#ifdef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.timed_join(boost::posix_time::seconds(1));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+#ifndef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+        }
+
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
+{
+    config_2();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
+    }) << "Failure setting doppler_max."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
+    }) << "Failure setting doppler_step."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
+    }) << "Failure setting threshold."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+
+    acquisition->init();
+
+    ASSERT_NO_THROW( {
+        boost::shared_ptr<GenSignalSource> signal_source;
+        SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
+        FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
+        signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
+        signal_source->connect(top_block);
+        top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+
+    // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
+    // i = 1 --> satellite in acquisition is not visible (prob of false detection)
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 10; // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 20; // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+
+            start_queue();
+
+            EXPECT_NO_THROW( {
+                top_block->run(); // Start threads and wait
+            }) << "Failure running the top_block."<< std::endl;
+
+            if (i == 0)
+            {
+                std::cout << "Estimated probability of detection = " << Pd << std::endl;
+                std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
+                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
+            else if (i == 1)
+            {
+                std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
+                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
+            }
+#ifdef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.timed_join(boost::posix_time::seconds(1));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+#ifndef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+        }
+
+    delete acquisition;
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
new file mode 100644
index 000000000..7b3a7fee7
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -0,0 +1,237 @@
+#include <ctime>
+#include <cstdlib>
+#include <iostream>
+#include <boost/chrono.hpp>
+#include <boost/make_shared.hpp>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaPcpsAcquisitionTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr;
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+class GlonassL1CaPcpsAcquisitionTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaPcpsAcquisitionTest_msg_rx();
+public:
+    int rx_message;
+    ~GlonassL1CaPcpsAcquisitionTest_msg_rx(); //!< Default destructor
+};
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make()
+{
+    return GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionTest_msg_rx());
+}
+
+
+void GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
+            rx_message = 0;
+    }
+}
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx::GlonassL1CaPcpsAcquisitionTest_msg_rx() :
+    gr::block("GlonassL1CaPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx::~GlonassL1CaPcpsAcquisitionTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+class GlonassL1CaPcpsAcquisitionTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaPcpsAcquisitionTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaPcpsAcquisitionTest()
+    {}
+
+    void init();
+
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaPcpsAcquisitionTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_hz", "4000000");
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms", "1");
+    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump_filename", "./acquisition.dat");
+    config->set_property("Acquisition.implementation", "Glonass_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.001");
+    config->set_property("Acquisition.doppler_max", "5000");
+    config->set_property("Acquisition.doppler_step", "500");
+    config->set_property("Acquisition.repeat_satellite", "false");
+    config->set_property("Acquisition.pfa", "0.0");
+}
+
+
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
+{
+    init();
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
+{
+    int fs_in = 4000000;
+    int nsamples = 4000;
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+
+    top_block = gr::make_top_block("Acquisition test");
+    init();
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec * 1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    top_block = gr::make_top_block("Acquisition test");
+
+    double expected_delay_samples = 524;
+    double expected_doppler_hz = 1680;
+    init();
+    std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(0.1);
+    }) << "Failure setting threshold." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(10000);
+    }) << "Failure setting doppler_max." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(250);
+    }) << "Failure setting doppler_step." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+    }) << "Failure connecting acquisition to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        std::string path = std::string(TEST_PATH);
+        std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
+        // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+
+    acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+    acquisition->init();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec * 1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+
+    unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
+    std::cout <<  "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+
+    ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+
+    double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
+    float delay_error_chips = (float)(delay_error_samples * 511 / 4000);
+    double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+    EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
+    EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
+
+}

From ce68bbf0692293f093fa54ed5b7e782c18bf69f4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:51:28 -0300
Subject: [PATCH 109/379] Add glonass signal acquisition

---
 .../gnuradio_blocks/pcps_acquisition_sc.cc    | 36 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_sc.h     |  3 ++
 2 files changed, 39 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index c265dee17..c4d20f962 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -41,6 +41,8 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
+
 
 using google::LogMessage;
 
@@ -159,6 +161,11 @@ pcps_acquisition_sc::~pcps_acquisition_sc()
 
 void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -175,6 +182,22 @@ void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 }
 
 
+bool pcps_acquisition_sc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
 void pcps_acquisition_sc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
     float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in);
@@ -211,6 +234,19 @@ void pcps_acquisition_sc::init()
 }
 
 
+void pcps_acquisition_sc::update_grid_doppler_wipeoffs()
+{
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
+}
+
 
 void pcps_acquisition_sc::set_state(int state)
 {
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
index 1b3ab7bf6..5f207d8b8 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
@@ -97,6 +97,9 @@ private:
             int correlator_length_samples,
             float freq);
 
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
+
     long d_fs_in;
     long d_freq;
     int d_samples_per_ms;

From 4be07c78c7726716ba42c29ebb8706620a1535f3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:53:10 -0300
Subject: [PATCH 110/379] Add chip delay in Glonass L1 CA Code

---
 .../libs/glonass_l1_signal_processing.cc      | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index d19b349ab..96b8cfa9b 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -41,6 +41,7 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
     bool G1_register[9];
     bool feedback1;
     bool aux;
+    unsigned int delay;
     unsigned int lcv, lcv2;
 
     for(lcv = 0; lcv < 9; lcv++)
@@ -78,6 +79,26 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
         }
 
     /* TODO: Implement the chip shifting*/
+    /* Set the delay */
+    delay = _code_length;
+    delay += _chip_shift;
+    delay %= _code_length;
+
+    /* Generate PRN from G1 and G2 Registers */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[(lcv + _chip_shift) % _code_length];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+            delay++;
+            delay %= _code_length;
+        }
 }
 
 

From 2dbab56c6cb5e2642f98fbc93ce3450f6227592c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:57:05 -0300
Subject: [PATCH 111/379] Reset acquisition

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc        | 4 ++++
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h         | 1 +
 .../acquisition/gnuradio_blocks/pcps_acquisition_sc.cc        | 3 +++
 .../acquisition/gnuradio_blocks/pcps_acquisition_sc.h         | 1 +
 4 files changed, 9 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index d009ced91..bc2edb0ce 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -78,6 +78,7 @@ pcps_acquisition_cc::pcps_acquisition_cc(
     d_active = false;
     d_state = 0;
     d_freq = freq;
+    d_old_freq = freq;
     d_fs_in = fs_in;
     d_samples_per_ms = samples_per_ms;
     d_samples_per_code = samples_per_code;
@@ -160,6 +161,8 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // reset the intermediate frequency
+    d_freq = d_old_freq;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if( is_fdma() )
         {
@@ -185,6 +188,7 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+
 bool pcps_acquisition_cc::is_fdma()
 {
     // Dealing with FDMA system
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 792835114..4bd5ab857 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -102,6 +102,7 @@ private:
     void send_positive_acquisition();
     long d_fs_in;
     long d_freq;
+    long d_old_freq;
     int d_samples_per_ms;
     int d_samples_per_code;
     //unsigned int d_doppler_resolution;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index c4d20f962..7200ce946 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -76,6 +76,7 @@ pcps_acquisition_sc::pcps_acquisition_sc(
     d_active = false;
     d_state = 0;
     d_freq = freq;
+    d_old_freq = freq;
     d_fs_in = fs_in;
     d_samples_per_ms = samples_per_ms;
     d_samples_per_code = samples_per_code;
@@ -161,6 +162,8 @@ pcps_acquisition_sc::~pcps_acquisition_sc()
 
 void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 {
+    // reset the intermediate frequency
+    d_freq = d_old_freq;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if( is_fdma() )
         {
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
index 5f207d8b8..093c88dd8 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
@@ -102,6 +102,7 @@ private:
 
     long d_fs_in;
     long d_freq;
+    long d_old_freq;
     int d_samples_per_ms;
     int d_samples_per_code;
     //unsigned int d_doppler_resolution;

From f0eb1d80551b8f4f2f45ffef624407c9a62b7ea5 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:20:52 -0300
Subject: [PATCH 112/379] Add telemetry rate

---
 src/core/system_parameters/Glonass_L1_CA.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index bd529b34e..bcdfd2b32 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -37,7 +37,8 @@ const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C
 
 // GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN = 
-                                               {{ 1, 1,},  //Plane 1
+                                               {{ 0, 8,},  //For test
+                                                { 1, 1,},  //Plane 1
                                                 { 2,-4,},  //Plane 1
                                                 { 3, 5,},  //Plane 1
                                                 { 4, 6,},  //Plane 1
@@ -62,4 +63,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {23, 3,},  //Plane 3
                                                 {24, 2}};  //Plane 3
 
+
+const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 5b4ffb9d0b5dcca27d4fdcd86b4609b2fda3cd92 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:21:30 -0300
Subject: [PATCH 113/379] Add Glonass signal for tests

---
 .../gnuradio_blocks/signal_generator_c.cc     | 73 +++++++++++++++++++
 1 file changed, 73 insertions(+)

diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 86f488588..026b47352 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -34,11 +34,13 @@
 #include <gnuradio/io_signature.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "gps_sdr_signal_processing.h"
+#include "glonass_l1_signal_processing.h"
 #include "galileo_e1_signal_processing.h"
 #include "galileo_e5_signal_processing.h"
 #include "Galileo_E1.h"
 #include "Galileo_E5a.h"
 #include "GPS_L1_CA.h"
+#include "Glonass_L1_CA.h"
 
 /*
 * Create a new instance of signal_generator_c and return
@@ -107,6 +109,14 @@ void signal_generator_c::init()
                     num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
                     data_bit_duration_ms_.push_back(1e3 / GPS_CA_TELEMETRY_RATE_BITS_SECOND);
                 }
+            else if (system_[sat] == "R")
+                {
+                    samples_per_code_.push_back(round(static_cast<float>(fs_in_)
+                            / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
+
+                    num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
+                    data_bit_duration_ms_.push_back(1e3 / GLONASS_CA_TELEMETRY_RATE_BITS_SECOND);
+                }
             else if (system_[sat] == "E")
                 {
                     if (signal_[sat].at(0) == '5')
@@ -160,6 +170,28 @@ void signal_generator_c::generate_codes()
                                 }
                         }
 
+                    // Concatenate "num_of_codes_per_vector_" codes
+                    for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
+                        {
+                            memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
+                                    code, sizeof(gr_complex) * samples_per_code_[sat]);
+                        }
+                }
+            else if (system_[sat] == "R")
+                {
+                    // Generate one code-period of 1G signal
+                    glonass_l1_ca_code_gen_complex_sampled(code, /*PRN_[sat],*/ fs_in_,
+                             static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) - delay_chips_[sat]);
+
+                    // Obtain the desired CN0 assuming that Pn = 1.
+                    if (noise_flag_)
+                        {
+                            for (unsigned int i = 0; i < samples_per_code_[sat]; i++)
+                                {
+                                    code[i] *= sqrt(pow(10,CN0_dB_[sat] / 10) / BW_BB_);
+                                }
+                        }
+
                     // Concatenate "num_of_codes_per_vector_" codes
                     for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
                         {
@@ -261,6 +293,8 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
     unsigned int out_idx = 0;
     unsigned int i = 0;
     unsigned int k = 0;
+    // the intermediate frequency must set by the user
+    unsigned int freq = 9540000;
 
     for (out_idx = 0; out_idx < vector_length_; out_idx++)
         {
@@ -311,6 +345,45 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
                         }
                 }
 
+            else if (system_[sat] == "R")
+                {
+                    phase_step_rad = -static_cast<float>(GPS_TWO_PI) * (freq + (DFRQ1_GLO * GLONASS_PRN.at(PRN_[sat])) + doppler_Hz_[sat]) / static_cast<float>(fs_in_);
+                    // std::cout << "sat " << PRN_[sat] << " SG - Freq = " << (freq + (DFRQ1_GLO * GLONASS_PRN.at(PRN_[sat]))) << " Doppler = " << doppler_Hz_[sat] << std::endl;
+                    _phase[0] = -start_phase_rad_[sat];
+                    volk_gnsssdr_s32f_sincos_32fc(complex_phase_, -phase_step_rad, _phase, vector_length_);
+
+                    unsigned int delay_samples = (delay_chips_[sat] % static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS))
+                                                            * samples_per_code_[sat] / GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+
+                    for (i = 0; i < num_of_codes_per_vector_[sat]; i++)
+                        {
+                            for (k = 0; k < delay_samples; k++)
+                                {
+                                    out[out_idx] += sampled_code_data_[sat][out_idx]
+                                                                            * current_data_bits_[sat]
+                                                                                                 * complex_phase_[out_idx];
+                                    out_idx++;
+                                }
+
+                            if (ms_counter_[sat] == 0 && data_flag_)
+                                {
+                                    // New random data bit
+                                    current_data_bits_[sat] = gr_complex((uniform_dist(e1) % 2) == 0 ? 1 : -1, 0);
+                                }
+
+                            for (k = delay_samples; k < samples_per_code_[sat]; k++)
+                                {
+                                    out[out_idx] += sampled_code_data_[sat][out_idx]
+                                                                            * current_data_bits_[sat]
+                                                                                                 * complex_phase_[out_idx];
+                                    out_idx++;
+                                }
+
+                            ms_counter_[sat] = (ms_counter_[sat] + static_cast<int>(round(1e3*GLONASS_L1_CA_CODE_PERIOD)))
+                                                        % data_bit_duration_ms_[sat];
+                        }
+                }
+
             else if (system_[sat] == "E")
                 {
                     if(signal_[sat].at(0)=='5')

From b3d289d9ab4cd3812e9d4c01166cad7af0165a59 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:23:41 -0300
Subject: [PATCH 114/379] Add signal sample for glonass and installation rule

---
 src/tests/CMakeLists.txt                      |   2 ++
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 0 -> 1994068 bytes
 2 files changed, 2 insertions(+)
 create mode 100644 src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 4403d3616..e1e8d41ce 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -267,11 +267,13 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 
diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
new file mode 100644
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HcmV?d00001


From 2721e29b36fe5d6aeb0118e67e7927b0d82f162e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:29 -0300
Subject: [PATCH 115/379] Update test

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 224 ++++++++++--------
 1 file changed, 124 insertions(+), 100 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 421da60c3..17365541e 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -161,10 +161,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 4e6;
+    fs_in = 62316000;
 
-    expected_delay_chips = 600;
-    expected_doppler_hz = 750;
+    expected_delay_chips = 457;
+    expected_doppler_hz = -2000;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
 
@@ -178,14 +178,119 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "1");
+    config->set_property("SignalSource.num_satellites", "4");
 
-    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
     config->set_property("SignalSource.CN0_dB_0", "44");
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.8");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 62316000;
+
+    expected_delay_chips = 457;
+    expected_doppler_hz = -2000;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "R");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
     config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
@@ -210,99 +315,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.threshold", "0.8");
-    config->set_property("Acquisition.doppler_max", "10000");
-    config->set_property("Acquisition.doppler_step", "250");
-    config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
-}
-
-void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
-{
-    gnss_synchro.Channel_ID = 0;
-    gnss_synchro.System = 'R';
-    std::string signal = "1G";
-    signal.copy(gnss_synchro.Signal,2,0);
-
-    integration_time_ms = 1;
-    fs_in = 4e6;
-
-    expected_delay_chips = 600;
-    expected_doppler_hz = 750;
-    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
-    max_delay_error_chips = 0.50;
-
-    num_of_realizations = 100;
-
-    config = std::make_shared<InMemoryConfiguration>();
-
-    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
-
-    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
-
-    config->set_property("SignalSource.item_type", "gr_complex");
-
-    config->set_property("SignalSource.num_satellites", "4");
-
-    config->set_property("SignalSource.system_0", "G");
-    config->set_property("SignalSource.PRN_0", "10");
-    config->set_property("SignalSource.CN0_dB_0", "44");
-    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
-    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
-
-    config->set_property("SignalSource.system_1", "G");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "G");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "true");
-    config->set_property("SignalSource.data_flag", "true");
-    config->set_property("SignalSource.BW_BB", "0.97");
-
-    config->set_property("InputFilter.implementation", "Fir_Filter");
-    config->set_property("InputFilter.input_item_type", "gr_complex");
-    config->set_property("InputFilter.output_item_type", "gr_complex");
-    config->set_property("InputFilter.taps_item_type", "float");
-    config->set_property("InputFilter.number_of_taps", "11");
-    config->set_property("InputFilter.number_of_bands", "2");
-    config->set_property("InputFilter.band1_begin", "0.0");
-    config->set_property("InputFilter.band1_end", "0.97");
-    config->set_property("InputFilter.band2_begin", "0.98");
-    config->set_property("InputFilter.band2_end", "1.0");
-    config->set_property("InputFilter.ampl1_begin", "1.0");
-    config->set_property("InputFilter.ampl1_end", "1.0");
-    config->set_property("InputFilter.ampl2_begin", "0.0");
-    config->set_property("InputFilter.ampl2_end", "0.0");
-    config->set_property("InputFilter.band1_error", "1.0");
-    config->set_property("InputFilter.band2_error", "1.0");
-    config->set_property("InputFilter.filter_type", "bandpass");
-    config->set_property("InputFilter.grid_density", "16");
-
-    config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
-    config->set_property("Acquisition.coherent_integration_time_ms",
-                         std::to_string(integration_time_ms));
-    config->set_property("Acquisition.max_dwells", "1");
-    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.pfa", "0.0001");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -346,11 +364,16 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             detection_counter++;
 
             // The term -5 is here to correct the additional delay introduced by the FIR filter
-            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
+            // The value 511.0 must be a variable, chips/length
+            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
+            // std::cout << "delay_error_chips = " << delay_error_chips << std::endl;
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
+            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
+            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -447,11 +470,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(500);
+        acquisition->set_doppler_step(250);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.5);
+        acquisition->set_threshold(0.05);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -461,14 +484,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    ASSERT_NO_THROW( {
+    //ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -565,7 +588,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -614,3 +637,4 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 
     delete acquisition;
 }
+

From fcf891a7969cb1baa25ef1381c5cbc213b6daae0 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:49 -0300
Subject: [PATCH 116/379] Update test

---
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 22 +++++++++----------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 7b3a7fee7..2a42f3bfa 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -103,10 +103,10 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     gnss_synchro.System = 'R';
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 1;
-    config->set_property("GNSS-SDR.internal_fs_hz", "4000000");
+    gnss_synchro.PRN = 10;
+    config->set_property("GNSS-SDR.internal_fs_hz", "62316000");
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
     config->set_property("Acquisition.dump", "true");
     config->set_property("Acquisition.dump_filename", "./acquisition.dat");
@@ -128,8 +128,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 4000000;
-    int nsamples = 4000;
+    int fs_in = 62316000;
+    int nsamples = 62316;
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
@@ -168,8 +168,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     long long int end = 0;
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 524;
-    double expected_doppler_hz = 1680;
+    double expected_delay_samples = 31839;
+    double expected_doppler_hz = 250;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 
@@ -184,7 +184,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro." << std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.1);
+        acquisition->set_threshold(0.001);
     }) << "Failure setting threshold." << std::endl;
 
     ASSERT_NO_THROW( {
@@ -201,8 +201,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
 
     ASSERT_NO_THROW( {
         std::string path = std::string(TEST_PATH);
-        std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
-        // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat";
+        std::string file = path + "signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat";
         const char * file_name = file.c_str();
         gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
         top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
@@ -228,10 +227,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
 
     double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
-    float delay_error_chips = (float)(delay_error_samples * 511 / 4000);
+    float delay_error_chips = (float)(delay_error_samples * 511 / 62316);
     double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
     EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
     EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
-
 }

From 6b7993b84431aa4f799102188c7d681d8ec698ed Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:26:57 -0300
Subject: [PATCH 117/379] Add plot function for glonass acquisition

---
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m | 98 +++++++++++++++++++
 1 file changed, 98 insertions(+)
 create mode 100644 src/utils/matlab/plot_acq_grid_gsoc_glonass.m

diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
new file mode 100644
index 000000000..527cfd630
--- /dev/null
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -0,0 +1,98 @@
+% /*!
+%  * \file plot_acq_grid_gsoc.m
+%  * \brief Read GNSS-SDR Acquisition dump binary file using the provided
+%  function and plot acquisition grid of acquisition statistic of PRN sat
+%
+%  This function analyzes a experiment performed by Luis Esteve in the framework 
+%  of the Google Summer of Code (GSoC) 2012, with the collaboration of Javier Arribas
+%  and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
+%
+%  * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */ 
+
+function plot_acq_grid_gsoc_glonass(sat)
+
+file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
+
+sampling_freq_Hz=62316000
+Doppler_max_Hz = 10000
+Doppler_min_Hz = -10000
+Doppler_step_Hz = 250
+
+
+% read files
+
+x=read_complex_binary (file);
+
+l_y=length(x);
+
+Doppler_axes=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz;
+
+l_x=length(Doppler_axes);
+
+acq_grid = zeros(l_x,l_y);
+
+index=0;
+
+for k=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz
+    index=index+1;
+    filename=['acquisition_R_1G_sat_' num2str(sat) '_doppler_' num2str(k) '.dat'];
+    acq_grid(index,:)=abs(read_complex_binary (filename));
+ end
+
+ acq_grid = acq_grid.^2;
+
+maximum_correlation_peak = max(max(acq_grid))
+
+[fila,col]=find(acq_grid==max(max(acq_grid)));
+
+delay_error_sps = col -1
+
+Doppler_error_Hz = Doppler_axes(fila)
+
+noise_grid=acq_grid;
+delay_span=floor(3*sampling_freq_Hz/(0.511e6));
+Doppler_span=floor(500/Doppler_step_Hz);
+noise_grid(fila-Doppler_span:fila+Doppler_span,col-delay_span:col+delay_span)=0;
+
+n=numel(noise_grid)-(2*delay_span+1)*(2*Doppler_span+1);
+
+noise_floor= sum(sum(noise_grid))/n
+
+Gain_dbs = 10*log10(maximum_correlation_peak/noise_floor)
+
+
+%% Plot 3D FULL RESOLUTION
+
+
+[X,Y] = meshgrid(Doppler_axes,1:1:l_y);
+figure;
+surf(X,Y,acq_grid');
+
+xlabel('Doppler(Hz)');ylabel('Code Delay(samples)');title(['GLRT statistic of Glonass Parallel Code Phase Search Acquisition. Local replica: L1 cboc PRN ' num2str(sat)]);
+
+
+end

From 911c5da12c6133a9ee11e39eaa1ae1aafda3dcec Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:00 -0300
Subject: [PATCH 118/379] Update signal generator for glonass

---
 .../signal_generator/adapters/signal_generator.cc           | 6 ++++++
 .../signal_generator/gnuradio_blocks/signal_generator_c.cc  | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc
index 35ecfdddc..a2ef90cdf 100644
--- a/src/algorithms/signal_generator/adapters/signal_generator.cc
+++ b/src/algorithms/signal_generator/adapters/signal_generator.cc
@@ -36,6 +36,7 @@
 #include "Galileo_E1.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E5a.h"
+#include "Glonass_L1_CA.h"
 
 
 using google::LogMessage;
@@ -102,6 +103,11 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
             vector_length = round(static_cast<float>(fs_in)
                     / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
         }
+    else if (std::find(system.begin(), system.end(), "R") != system.end())
+        {
+            vector_length = round((float)fs_in
+                    / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+        }
 
     if (item_type_.compare("gr_complex") == 0)
         {
diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 026b47352..a99c4751d 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -293,8 +293,8 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
     unsigned int out_idx = 0;
     unsigned int i = 0;
     unsigned int k = 0;
-    // the intermediate frequency must set by the user
-    unsigned int freq = 9540000;
+    // the intermediate frequency must be set by the user
+    unsigned int freq = 4e6;
 
     for (out_idx = 0; out_idx < vector_length_; out_idx++)
         {

From 9bc72ab71ad63dea819ca615d21cc3fa69a1ff32 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:35 -0300
Subject: [PATCH 119/379] Update tests

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 64 ++++++-------------
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 12 ++--
 2 files changed, 27 insertions(+), 49 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 17365541e..2899b4844 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -161,10 +161,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 62316000;
+    fs_in = 31.75e6;
 
-    expected_delay_chips = 457;
-    expected_doppler_hz = -2000;
+    expected_delay_chips = 255;
+    expected_doppler_hz = -1500;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
 
@@ -178,7 +178,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "4");
+    config->set_property("SignalSource.num_satellites", "1");
 
     config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
@@ -186,26 +186,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.system_1", "R");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "R");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -228,7 +210,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.if", "4000000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
@@ -237,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
+    config->set_property("Acquisition.dump", "true");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
@@ -248,9 +230,9 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 62316000;
+    fs_in = 31.75e6;
 
-    expected_delay_chips = 457;
+    expected_delay_chips = 374;
     expected_doppler_hz = -2000;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
@@ -285,14 +267,14 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("SignalSource.doppler_Hz_2", "2000");
     config->set_property("SignalSource.delay_chips_2", "200");
 
-    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.system_3", "R");
     config->set_property("SignalSource.PRN_3", "22");
     config->set_property("SignalSource.CN0_dB_3", "44");
     config->set_property("SignalSource.doppler_Hz_3", "3000");
     config->set_property("SignalSource.delay_chips_3", "300");
 
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -315,12 +297,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.if", "4000000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.0001");
+    config->set_property("Acquisition.pfa", "0.1");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -366,14 +348,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             // The term -5 is here to correct the additional delay introduced by the FIR filter
             // The value 511.0 must be a variable, chips/length
             double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
-            // std::cout << "delay_error_chips = " << delay_error_chips << std::endl;
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
-            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
-            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
-            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -470,11 +448,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(250);
+        acquisition->set_doppler_step(500);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.05);
+        acquisition->set_threshold(0.5);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -484,14 +462,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    //ASSERT_NO_THROW( {
+    ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -588,7 +566,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -602,7 +580,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
                 }
             else if (i == 1)
                 {
-                    gnss_synchro.PRN = 20; // This satellite is not visible
+                    gnss_synchro.PRN = 1; // This satellite is not visible
                 }
 
             acquisition->set_local_code();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 2a42f3bfa..1a29bda80 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -103,8 +103,8 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     gnss_synchro.System = 'R';
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 10;
-    config->set_property("GNSS-SDR.internal_fs_hz", "62316000");
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_hz", "62314000");
     config->set_property("Acquisition.item_type", "gr_complex");
     config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
@@ -128,8 +128,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 62316000;
-    int nsamples = 62316;
+    int fs_in = 62314000;
+    int nsamples = 62314;
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
@@ -168,8 +168,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     long long int end = 0;
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 31839;
-    double expected_doppler_hz = 250;
+    double expected_delay_samples = 31874;
+    double expected_doppler_hz = -9500;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 

From 906a5f5176a29fefb0d7d1c913b88c7e27a04d8d Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:43:45 -0300
Subject: [PATCH 120/379] Update tests utils

---
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 1994068 -> 1994068 bytes
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m |   5 +++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
index 96132b7535547ae705134f15579a6f5ea51d9671..8d7b27c2543daf5f94bb45fc6bee9707d85deded 100644
GIT binary patch
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diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
index 527cfd630..385a53030 100644
--- a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -37,10 +37,11 @@ function plot_acq_grid_gsoc_glonass(sat)
 
 file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
 
-sampling_freq_Hz=62316000
+% sampling_freq_Hz=62316000
+sampling_freq_Hz=31.75e6
 Doppler_max_Hz = 10000
 Doppler_min_Hz = -10000
-Doppler_step_Hz = 250
+Doppler_step_Hz = 500
 
 
 % read files

From 422cbdcdd2c070495e11c9d42d9c43634f21bff3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 20:52:19 -0300
Subject: [PATCH 121/379] Set noise_flag and dump to false

---
 .../glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 2899b4844..a346cf12f 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -186,7 +186,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
@@ -219,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump", "false");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()

From 22da2ad606a280e328bb178858cce6cbdc9a20a2 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:47:00 -0300
Subject: [PATCH 122/379] Add adapter for Glonass L1 C/A tracking

---
 .../tracking/adapters/CMakeLists.txt          |   1 +
 .../glonass_l1_ca_dll_pll_tracking.cc         | 111 ++++++++++++++++++
 .../adapters/glonass_l1_ca_dll_pll_tracking.h |  67 +++++++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h

diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index da2051114..7e1f93924 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -33,6 +33,7 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l1_ca_tcp_connector_tracking.cc
      galileo_e5a_dll_pll_tracking.cc
      gps_l2_m_dll_pll_tracking.cc
+     glonass_l1_ca_dll_pll_tracking.cc
      ${OPT_TRACKING_ADAPTERS}
 )
  
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
new file mode 100644
index 000000000..6209f9299
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -0,0 +1,111 @@
+#include "glonass_l1_ca_dll_pll_tracking.h"
+#include <glog/logging.h>
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string item_type;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float dll_bw_hz;
+    float early_late_space_chips;
+    item_type = configuration->property(role + ".item_type", default_item_type);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
+    vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_ = glonass_l1_ca_dll_pll_make_tracking_cc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    early_late_space_chips);
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type << " unknown tracking item type.";
+        }
+    channel_ = 0;
+    DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+
+GlonassL1CaDllPllTracking::~GlonassL1CaDllPllTracking()
+{}
+
+
+void GlonassL1CaDllPllTracking::start_tracking()
+{
+    tracking_->start_tracking();
+}
+
+
+/*
+ * Set tracking channel unique ID
+ */
+void GlonassL1CaDllPllTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    tracking_->set_channel(channel);
+}
+
+
+void GlonassL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+
+void GlonassL1CaDllPllTracking::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+
+void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_left_block()
+{
+    return tracking_;
+}
+
+
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
+{
+    return tracking_;
+}
+
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
new file mode 100644
index 000000000..b9d39cbef
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -0,0 +1,67 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
+
+#include <string>
+#include "tracking_interface.h"
+#include "glonass_l1_ca_dll_pll_tracking_cc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GlonassL1CaDllPllTracking : public TrackingInterface
+{
+public:
+    GlonassL1CaDllPllTracking(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaDllPllTracking();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_DLL_PLL_Tracking"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_DLL_PLL_Tracking";
+    }
+
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    void start_tracking();
+
+private:
+    glonass_l1_ca_dll_pll_tracking_cc_sptr tracking_;
+    size_t item_size_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif // GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_

From b69f20396743e88fc94b4686e614313f083c8752 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:47:52 -0300
Subject: [PATCH 123/379] Add gnuradio block for glonass tracking

---
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   3 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 495 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.h       | 134 +++++
 3 files changed, 631 insertions(+), 1 deletion(-)
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h

diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index d7c8981c6..05da2619b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -34,7 +34,8 @@ set(TRACKING_GR_BLOCKS_SOURCES
      galileo_e5a_dll_pll_tracking_cc.cc
      gps_l2_m_dll_pll_tracking_cc.cc
      gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
-     gps_l1_ca_dll_pll_c_aid_tracking_sc.cc     
+     gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
+     glonass_l1_ca_dll_pll_tracking_cc.cc
      ${OPT_TRACKING_BLOCKS}   
 )
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
new file mode 100644
index 000000000..79ca0fb0f
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -0,0 +1,495 @@
+#include "glonass_l1_ca_dll_pll_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_tracking_cc_sptr
+glonass_l1_ca_dll_pll_make_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_tracking_cc_sptr(new Glonass_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+}
+
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+    {
+        ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+    }
+}
+
+
+
+Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float early_late_space_chips) :
+                gr::block("Glonass_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                        gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+    this->message_port_register_out(pmt::mp("events"));
+
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+
+    d_current_prn_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+    d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+    //--- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+    d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+    {
+        d_correlator_outs[n] = gr_complex(0,0);
+    }
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carr_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0;
+    //d_sample_counter_seconds = 0;
+    d_acq_sample_stamp = 0;
+
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_acc_carrier_phase_rad = 0.0;
+    d_code_phase_samples = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+}
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (glonass_freq_ch + d_acq_carrier_doppler_hz) / glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1/d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_current_prn_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+    {
+        corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+    }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(); // initialize the carrier filter
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+
+    multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+    {
+        d_correlator_outs[n] = gr_complex(0,0);
+    }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0;
+    d_rem_carr_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_rad = 0.0;
+
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+            << " Code Phase correction [samples]=" << delay_correction_samples
+            << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_correlator_outs);
+    volk_gnsssdr_free(d_ca_code);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu.free();
+}
+
+
+
+int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // process vars
+    double carr_error_hz = 0.0;
+    double carr_error_filt_hz = 0.0;
+    double code_error_chips = 0.0;
+    double code_error_filt_chips = 0.0;
+
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    if (d_enable_tracking == true)
+    {
+        // Fill the acquisition data
+        current_synchro_data = *d_acquisition_gnss_synchro;
+        // Receiver signal alignment
+        if (d_pull_in == true)
+        {
+            int samples_offset;
+            double acq_trk_shif_correction_samples;
+            int acq_to_trk_delay_samples;
+            acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+            acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
+            samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+            d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
+            d_pull_in = false;
+            // take into account the carrier cycles accumulated in the pull in signal alignment
+            d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
+            current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+            current_synchro_data.fs=d_fs_in;
+            current_synchro_data.correlation_length_ms = 1;
+            *out[0] = current_synchro_data;
+            consume_each(samples_offset); // shift input to perform alignment with local replica
+            return 1;
+        }
+
+        // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+        // perform carrier wipe-off and compute Early, Prompt and Late correlation
+        multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
+        multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad,
+                d_carrier_phase_step_rad,
+                d_rem_code_phase_chips,
+                d_code_phase_step_chips,
+                d_current_prn_length_samples);
+
+        // ################## PLL ##########################################################
+        // PLL discriminator
+        // Update PLL discriminator [rads/Ti -> Secs/Ti]
+        carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+        // Carrier discriminator filter
+        carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
+        // New carrier Doppler frequency estimation
+        d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+        // New code Doppler frequency estimation
+        long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / glonass_freq_ch);
+
+        // ################## DLL ##########################################################
+        // DLL discriminator
+        code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
+        // Code discriminator filter
+        code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
+        double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
+        double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+        double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips*T_chip_seconds); //[seconds]
+        //double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GLONASS_L1_CA_CODE_RATE_HZ; // [seconds]
+
+        // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+        // keep alignment parameters for the next input buffer
+        // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+        //double T_chip_seconds =  1.0 / static_cast<double>(d_code_freq_chips);
+        //double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+        double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+        double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
+        d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
+
+        //################### PLL COMMANDS #################################################
+        // carrier phase step (NCO phase increment per sample) [rads/sample]
+        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+        // remnant carrier phase to prevent overflow in the code NCO
+        d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
+        d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
+        // carrier phase accumulator
+        d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
+
+        //################### DLL COMMANDS #################################################
+        // code phase step (Code resampler phase increment per sample) [chips/sample]
+        d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+        // remnant code phase [chips]
+        d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample
+        d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
+
+        // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+        if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+        {
+            // fill buffer with prompt correlator output values
+            d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
+            d_cn0_estimation_counter++;
+        }
+        else
+        {
+            d_cn0_estimation_counter = 0;
+            // Code lock indicator
+            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+            // Carrier lock indicator
+            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+            // Loss of lock detection
+            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+            {
+                d_carrier_lock_fail_counter++;
+            }
+            else
+            {
+                if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+            }
+            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+            {
+                std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
+                d_carrier_lock_fail_counter = 0;
+                d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+            }
+        }
+        // ########### Output the tracking data to navigation and PVT ##########
+        current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+        current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+        current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
+        current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+        current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+        current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+        current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+        current_synchro_data.Flag_valid_symbol_output = true;
+        current_synchro_data.correlation_length_ms = 1;
+    }
+    else
+    {
+        for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+
+        current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
+        current_synchro_data.System = {'R'};
+        current_synchro_data.correlation_length_ms = 1;
+    }
+
+    //assign the GNURadio block output data
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+    {
+        // MULTIPLEXED FILE RECORDING - Record results to file
+        float prompt_I;
+        float prompt_Q;
+        float tmp_E, tmp_P, tmp_L;
+        double tmp_double;
+        unsigned long int tmp_long;
+        prompt_I = d_correlator_outs[1].real();
+        prompt_Q = d_correlator_outs[1].imag();
+        tmp_E = std::abs<float>(d_correlator_outs[0]);
+        tmp_P = std::abs<float>(d_correlator_outs[1]);
+        tmp_L = std::abs<float>(d_correlator_outs[2]);
+        try
+        {
+            // EPR
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+            // PROMPT I and Q (to analyze navigation symbols)
+            d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+            // PRN start sample stamp
+            tmp_long = d_sample_counter + d_current_prn_length_samples;
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_long), sizeof(unsigned long int));
+            // accumulated carrier phase
+            d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+
+            // carrier and code frequency
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+            // PLL commands
+            d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
+
+            // DLL commands
+            d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+
+            // CN0 and carrier lock test
+            d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+            // AUX vars (for debug purposes)
+            tmp_double = d_rem_code_phase_samples;
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+            tmp_double = static_cast<double>(d_sample_counter);
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+        }
+        catch (const std::ifstream::failure &e)
+        {
+            LOG(WARNING) << "Exception writing trk dump file " << e.what();
+        }
+    }
+
+    consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_current_prn_length_samples; // count for the processed samples
+    return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+    {
+        if (d_dump_file.is_open() == false)
+        {
+            try
+            {
+                d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                d_dump_filename.append(".dat");
+                d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
+            }
+            catch (const std::ifstream::failure &e)
+            {
+                LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
+            }
+        }
+    }
+}
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
new file mode 100644
index 000000000..092492876
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -0,0 +1,134 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
+
+#include <fstream>
+#include <map>
+#include <string>
+#include <gnuradio/block.h>
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_2nd_PLL_filter.h"
+#include "cpu_multicorrelator.h"
+
+class Glonass_L1_Ca_Dll_Pll_Tracking_cc;
+
+typedef boost::shared_ptr<Glonass_L1_Ca_Dll_Pll_Tracking_cc>
+        glonass_l1_ca_dll_pll_tracking_cc_sptr;
+
+glonass_l1_ca_dll_pll_tracking_cc_sptr
+glonass_l1_ca_dll_pll_make_tracking_cc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class Glonass_L1_Ca_Dll_Pll_Tracking_cc: public gr::block
+{
+public:
+    ~Glonass_L1_Ca_Dll_Pll_Tracking_cc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_tracking_cc_sptr
+    glonass_l1_ca_dll_pll_make_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float early_late_space_chips);
+
+    Glonass_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+
+    double d_early_late_spc_chips;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carr_phase_rad;
+
+    // PLL and DLL filter library
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_2nd_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+    // correlator
+    int d_n_correlator_taps;
+    gr_complex* d_ca_code;
+    float* d_local_code_shift_chips;
+    gr_complex* d_correlator_outs;
+    cpu_multicorrelator multicorrelator_cpu;
+
+
+    // tracking vars
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_rad;
+    double d_code_phase_samples;
+
+    //PRN period in samples
+    int d_current_prn_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H

From 78f7e02de147b983c8e486502d1a49512201d500 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:48:44 -0300
Subject: [PATCH 124/379] Add glonass system in satellite signal

---
 src/core/system_parameters/gnss_signal.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/system_parameters/gnss_signal.h b/src/core/system_parameters/gnss_signal.h
index 4922e5399..91b6f7162 100644
--- a/src/core/system_parameters/gnss_signal.h
+++ b/src/core/system_parameters/gnss_signal.h
@@ -51,7 +51,7 @@ public:
     Gnss_Signal(const std::string& signal_);
     Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_);
     ~Gnss_Signal();
-    std::string get_signal_str() const; //!<  Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "1B" for Galileo E1B, "5X" for Galileo E5a}
+    std::string get_signal_str() const; //!<  Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "1G" for GLONASS L1 C/A, "1B" for Galileo E1B, "5X" for Galileo E5a}
     Gnss_Satellite get_satellite() const;    //!< Get the Gnss_Satellite associated to the signal
     friend bool operator== (const Gnss_Signal &, const Gnss_Signal &);    //!< operator== for comparison
     friend std::ostream& operator<<(std::ostream &, const Gnss_Signal &); //!< operator<< for pretty printing

From c2e04a23c6610d230d7fdc824c59533e1520f8f0 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:49:15 -0300
Subject: [PATCH 125/379] Add Glonass Tracking block to block factory

---
 src/core/receiver/gnss_block_factory.cc | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 39557a0a9..9f0f6c28a 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -86,6 +86,7 @@
 #include "galileo_e1_tcp_connector_tracking.h"
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
+#include "glonass_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
@@ -1157,6 +1158,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // TELEMETRY DECODERS ----------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@@ -1409,6 +1416,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
             block = std::move(block_);
         }
 #endif
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From c2563787073a58d8ccfa0bf836bfb91d4b517c14 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 16 Aug 2017 10:37:13 -0300
Subject: [PATCH 126/379] Update info

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index bc2edb0ce..c7ac73f96 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -195,7 +195,7 @@ bool pcps_acquisition_cc::is_fdma()
     if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
         {
             d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     else

From e9a6038a28a1fba08f2174f137f3284762dd1f99 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 10:23:44 -0300
Subject: [PATCH 127/379] Add header with authors and license

---
 .../glonass_l1_ca_dll_pll_tracking.cc         | 39 ++++++++++++++++++-
 .../adapters/glonass_l1_ca_dll_pll_tracking.h | 38 ++++++++++++++++++
 2 files changed, 76 insertions(+), 1 deletion(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 6209f9299..965e0142d 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -1,3 +1,41 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.cc
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_tracking.h"
 #include <glog/logging.h>
 #include "Glonass_L1_CA.h"
@@ -108,4 +146,3 @@ gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
 {
     return tracking_;
 }
-
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index b9d39cbef..192cb0853 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -1,3 +1,41 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
 

From 00352d8d0f1c5223a0841f91d1928dfad4bbad81 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:01:14 -0300
Subject: [PATCH 128/379] clean code and fix dump file

---
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 42 ++++++++++++++-----
 1 file changed, 31 insertions(+), 11 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 79ca0fb0f..3d2e73886 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -217,7 +217,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     sys = sys_.substr(0,1);
 
     // DEBUG OUTPUT
-    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
     LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
 
     // enable tracking
@@ -229,16 +229,32 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
             << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
 }
 
+
 Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
 {
-    d_dump_file.close();
-
-    volk_gnsssdr_free(d_local_code_shift_chips);
-    volk_gnsssdr_free(d_correlator_outs);
-    volk_gnsssdr_free(d_ca_code);
-
-    delete[] d_Prompt_buffer;
-    multicorrelator_cpu.free();
+    if (d_dump_file.is_open())
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor " << ex.what();
+            }
+        }
+    try
+    {
+            volk_gnsssdr_free(d_local_code_shift_chips);
+            volk_gnsssdr_free(d_correlator_outs);
+            volk_gnsssdr_free(d_ca_code);
+            delete[] d_Prompt_buffer;
+            multicorrelator_cpu.free();
+    }
+    catch(const std::exception & ex)
+    {
+            LOG(WARNING) << "Exception in destructor " << ex.what();
+    }
 }
 
 
@@ -279,7 +295,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
-            current_synchro_data.fs=d_fs_in;
+            current_synchro_data.fs = d_fs_in;
             current_synchro_data.correlation_length_ms = 1;
             *out[0] = current_synchro_data;
             consume_each(samples_offset); // shift input to perform alignment with local replica
@@ -398,7 +414,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
     }
 
     //assign the GNURadio block output data
-    current_synchro_data.fs=d_fs_in;
+    current_synchro_data.fs = d_fs_in;
     *out[0] = current_synchro_data;
     if(d_dump)
     {
@@ -449,6 +465,10 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
             tmp_double = static_cast<double>(d_sample_counter);
             d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+            // PRN
+            unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+            d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
         }
         catch (const std::ifstream::failure &e)
         {

From d95419d6703c07cdec90ca94b1d27c31b627ac53 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:05:03 -0300
Subject: [PATCH 129/379] Add Glonass C Aid track adapter

---
 .../tracking/adapters/CMakeLists.txt          |   1 +
 .../glonass_l1_ca_dll_pll_c_aid_tracking.cc   | 191 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    |  72 +++++++
 3 files changed, 264 insertions(+)
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h

diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index 7e1f93924..0502aac5b 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -34,6 +34,7 @@ set(TRACKING_ADAPTER_SOURCES
      galileo_e5a_dll_pll_tracking.cc
      gps_l2_m_dll_pll_tracking.cc
      glonass_l1_ca_dll_pll_tracking.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking.cc
      ${OPT_TRACKING_ADAPTERS}
 )
  
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
new file mode 100644
index 000000000..6f9bf340a
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -0,0 +1,191 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+#include <glog/logging.h>
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float pll_bw_narrow_hz;
+    float dll_bw_hz;
+    float dll_bw_narrow_hz;
+    float early_late_space_chips;
+    item_type_ = configuration->property(role + ".item_type", default_item_type);
+    //vector_length = configuration->property(role + ".vector_length", 2048);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
+    dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
+    int extend_correlation_ms;
+    extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
+
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename",
+            default_dump_filename); //unused!
+    vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_cc = glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
+                    extend_correlation_ms,
+                    early_late_space_chips);
+            DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")";
+        }
+    else if(item_type_.compare("cshort") == 0)
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            tracking_sc = glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
+                    extend_correlation_ms,
+                    early_late_space_chips);
+            DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")";
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type_ << " unknown tracking item type.";
+        }
+    channel_ = 0;
+}
+
+
+GlonassL1CaDllPllCAidTracking::~GlonassL1CaDllPllCAidTracking()
+{}
+
+
+void GlonassL1CaDllPllCAidTracking::start_tracking()
+{
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->start_tracking();
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->start_tracking();
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+/*
+ * Set tracking channel unique ID
+ */
+void GlonassL1CaDllPllCAidTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->set_channel(channel);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->set_channel(channel);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->set_gnss_synchro(p_gnss_synchro);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->set_gnss_synchro(p_gnss_synchro);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+void GlonassL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+void GlonassL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return tracking_cc;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return tracking_sc;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+            return nullptr;
+        }
+}
+
+gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_right_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return tracking_cc;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return tracking_sc;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+            return nullptr;
+        }
+}
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
new file mode 100644
index 000000000..19a9502b5
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -0,0 +1,72 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
+
+#include <string>
+#include "tracking_interface.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GlonassL1CaDllPllCAidTracking : public TrackingInterface
+{
+public:
+
+  GlonassL1CaDllPllCAidTracking(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaDllPllCAidTracking();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+
+    void start_tracking();
+
+private:
+    glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc;
+    glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr tracking_sc;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif // GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_

From 8997f72eebdf4df6563c5917b724c2b0df5dd983 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:05:44 -0300
Subject: [PATCH 130/379] Add Glonass C Aid track blocks

---
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   2 +
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 646 +++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h | 167 +++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 648 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 170 +++++
 5 files changed, 1633 insertions(+)
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h

diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 05da2619b..97e609a5f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -36,6 +36,8 @@ set(TRACKING_GR_BLOCKS_SOURCES
      gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
      gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
      glonass_l1_ca_dll_pll_tracking_cc.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
      ${OPT_TRACKING_BLOCKS}   
 )
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
new file mode 100644
index 000000000..231058ec8
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -0,0 +1,646 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <boost/bind.hpp>
+#include <gnuradio/io_signature.h>
+#include <pmt/pmt.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_cc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+        {
+            ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg)
+{
+    //pmt::print(msg);
+    DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
+    if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
+        {
+            d_preamble_timestamp_s = pmt::to_double(msg);
+            d_enable_extended_integration = true;
+            d_preamble_synchronized = false;
+        }
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips) :
+        gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+
+    this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+            boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
+
+    this->message_port_register_out(pmt::mp("events"));
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+    d_correlation_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_pll_bw_hz = pll_bw_hz;
+    d_dll_bw_hz = dll_bw_hz;
+    d_pll_bw_narrow_hz = pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz = dll_bw_narrow_hz;
+    d_extend_correlation_ms = extend_correlation_ms;
+    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
+
+    // --- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+    d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carrier_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0; //(from trk to tlm)
+    d_acq_sample_stamp = 0;
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_code_phase_samples = 0.0;
+
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
+    d_rem_code_phase_integer_samples = 0;
+    d_code_error_chips_Ti = 0.0;
+    d_code_error_filt_chips_s = 0.0;
+    d_carr_phase_error_secs_Ti = 0.0;
+    d_preamble_timestamp_s = 0.0;
+    //set_min_output_buffer((long int)300);
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1.0 / d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_correlation_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+        {
+            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+        }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+
+    multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0.0;
+    d_rem_carrier_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+    d_enable_extended_integration = true;
+    d_preamble_synchronized = true;
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+              << " Code Phase correction [samples]=" << delay_correction_samples
+              << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_cc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_correlator_outs);
+    volk_gnsssdr_free(d_ca_code);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu.free();
+}
+
+
+
+int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    // process vars
+    double code_error_filt_secs_Ti = 0.0;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
+
+    if (d_enable_tracking == true)
+        {
+            // Fill the acquisition data
+            current_synchro_data = *d_acquisition_gnss_synchro;
+            // Receiver signal alignment
+            if (d_pull_in == true)
+                {
+                    int samples_offset;
+                    double acq_trk_shif_correction_samples;
+                    int acq_to_trk_delay_samples;
+                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+                    acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
+                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+                    d_sample_counter += samples_offset; // count for the processed samples
+                    d_pull_in = false;
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.fs=d_fs_in;
+                    *out[0] = current_synchro_data;
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
+                    return 1;
+                }
+
+            // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+            // perform carrier wipe-off and compute Early, Prompt and Late correlation
+            multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,in);
+            multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
+                    d_carrier_phase_step_rad,
+                    d_rem_code_phase_chips,
+                    d_code_phase_step_chips,
+                    d_correlation_length_samples);
+
+            // ####### coherent intergration extension
+            // keep the last symbols
+            d_E_history.push_back(d_correlator_outs[0]); // save early output
+            d_P_history.push_back(d_correlator_outs[1]); // save prompt output
+            d_L_history.push_back(d_correlator_outs[2]); // save late output
+
+            if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
+                {
+                    d_E_history.pop_front();
+                    d_P_history.pop_front();
+                    d_L_history.pop_front();
+                }
+
+            bool enable_dll_pll;
+            if (d_enable_extended_integration == true)
+                {
+                    long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
+                    if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
+                        {
+                            // compute coherent integration and enable tracking loop
+                            // perform coherent integration using correlator output history
+                            // std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
+                            d_correlator_outs[0] = gr_complex(0.0,0.0);
+                            d_correlator_outs[1] = gr_complex(0.0,0.0);
+                            d_correlator_outs[2] = gr_complex(0.0,0.0);
+                            for (int n = 0; n < d_extend_correlation_ms; n++)
+                                {
+                                    d_correlator_outs[0] += d_E_history.at(n);
+                                    d_correlator_outs[1] += d_P_history.at(n);
+                                    d_correlator_outs[2] += d_L_history.at(n);
+                                }
+
+                            if (d_preamble_synchronized == false)
+                                {
+                                    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+                                    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+                                    d_preamble_synchronized = true;
+                                    std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                                              << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
+                                              << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
+                                }
+                            // UPDATE INTEGRATION TIME
+                            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD;
+                            d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
+                            enable_dll_pll = true;
+                        }
+                    else
+                        {
+                            if(d_preamble_synchronized == true)
+                                {
+                                    // continue extended coherent correlation
+                                    // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+                                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                                    int K_prn_samples = round(T_prn_samples);
+                                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
+                                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+                                    // code phase step (Code resampler phase increment per sample) [chips/sample]
+                                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                                    // remnant code phase [chips]
+                                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+                                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
+
+                                    // UPDATE ACCUMULATED CARRIER PHASE
+                                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+
+                                    // disable tracking loop and inform telemetry decoder
+                                    enable_dll_pll = false;
+                                }
+                            else
+                                {
+                                    //  perform basic (1ms) correlation
+                                    // UPDATE INTEGRATION TIME
+                                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                                    d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
+                                    enable_dll_pll = true;
+                                }
+                        }
+                }
+            else
+                {
+                    // UPDATE INTEGRATION TIME
+                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                    enable_dll_pll = true;
+                }
+
+            if (enable_dll_pll == true)
+                {
+                    // ################## PLL ##########################################################
+                    // Update PLL discriminator [rads/Ti -> Secs/Ti]
+                    d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+                    // Carrier discriminator filter
+                    // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
+                    // Input [s/Ti] -> output [Hz]
+                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+                    // PLL to DLL assistance [Secs/Ti]
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    // code Doppler frequency update
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+
+                    // ################## DLL ##########################################################
+                    // DLL discriminator
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
+                    // Code discriminator filter
+                    d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
+                    d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
+                    code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
+
+                    // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+                    // keep alignment parameters for the next input buffer
+                    // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                    double K_prn_samples = round(T_prn_samples);
+                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
+                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+
+                   //################### PLL COMMANDS #################################################
+                    //carrier phase step (NCO phase increment per sample) [rads/sample]
+                    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+                    // UPDATE ACCUMULATED CARRIER PHASE
+                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                    //remnant carrier phase [rad]
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
+
+                    //################### DLL COMMANDS #################################################
+                    //code phase step (Code resampler phase increment per sample) [chips/sample]
+                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                    //remnant code phase [chips]
+                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
+                    // ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
+                    if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+                        {
+                            // fill buffer with prompt correlator output values
+                            d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
+                            d_cn0_estimation_counter++;
+                        }
+                    else
+                        {
+                            d_cn0_estimation_counter = 0;
+                            // Code lock indicator
+                            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+                            // Carrier lock indicator
+                            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+                            // Loss of lock detection
+                            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+                                {
+                                    d_carrier_lock_fail_counter++;
+                                }
+                            else
+                                {
+                                    if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+                                }
+                            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+                                {
+                                    std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                                    LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                                    this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                                    d_carrier_lock_fail_counter = 0;
+                                    d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+                                }
+                        }
+                    // ########### Output the tracking data to navigation and PVT ##########
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                    current_synchro_data.Flag_valid_symbol_output = true;
+                    if (d_preamble_synchronized == true)
+                        {
+                            current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
+                        }
+                    else
+                        {
+                            current_synchro_data.correlation_length_ms = 1;
+                        }
+                }
+            else
+                {
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                }
+        }
+    else
+        {
+            for (int n = 0; n < d_n_correlator_taps; n++)
+                {
+                    d_correlator_outs[n] = gr_complex(0,0);
+                }
+
+            current_synchro_data.System = {'R'};
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+        }
+    //assign the GNURadio block output data
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            float prompt_I;
+            float prompt_Q;
+            float tmp_E, tmp_P, tmp_L;
+            double tmp_double;
+            prompt_I = d_correlator_outs[1].real();
+            prompt_Q = d_correlator_outs[1].imag();
+            tmp_E = std::abs<float>(d_correlator_outs[0]);
+            tmp_P = std::abs<float>(d_correlator_outs[1]);
+            tmp_L = std::abs<float>(d_correlator_outs[2]);
+            try
+            {
+                    // EPR
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+                    // PROMPT I and Q (to analyze navigation symbols)
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+                    // PRN start sample stamp
+                    //tmp_float=(float)d_sample_counter;
+                    d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+                    // accumulated carrier phase
+                    d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
+
+                    // carrier and code frequency
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+                    //PLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+
+                    //DLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
+
+                    // CN0 and carrier lock test
+                    d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+                    // AUX vars (for debug purposes)
+                    tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                    tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                    // PRN
+                    unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+                    d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+            }
+            catch (const std::ifstream::failure* e)
+            {
+                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+            }
+        }
+
+    consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_correlation_length_samples; //count for the processed samples
+
+    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (const std::ifstream::failure* e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
new file mode 100644
index 000000000..280d590b1
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -0,0 +1,167 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
+
+#include <fstream>
+#include <map>
+#include <deque>
+#include <string>
+#include <gnuradio/block.h>
+#include <pmt/pmt.h>
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_FLL_PLL_filter.h"
+//#include "tracking_loop_filter.h"
+#include "cpu_multicorrelator.h"
+
+class glonass_l1_ca_dll_pll_c_aid_tracking_cc;
+
+typedef boost::shared_ptr<glonass_l1_ca_dll_pll_c_aid_tracking_cc>
+        glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class glonass_l1_ca_dll_pll_c_aid_tracking_cc: public gr::block
+{
+public:
+    ~glonass_l1_ca_dll_pll_c_aid_tracking_cc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+    glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    glonass_l1_ca_dll_pll_c_aid_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+    long d_glonass_freq_ch;
+
+    double d_early_late_spc_chips;
+    int d_n_correlator_taps;
+
+    gr_complex* d_ca_code;
+    float* d_local_code_shift_chips;
+    gr_complex* d_correlator_outs;
+    cpu_multicorrelator multicorrelator_cpu;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carrier_phase_rad;
+    int d_rem_code_phase_integer_samples;
+
+    // PLL and DLL filter library
+    //Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+
+    // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_cycles;
+    double d_code_phase_samples;
+    double d_pll_to_dll_assist_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
+    double d_carr_phase_error_secs_Ti;
+
+    // symbol history to detect bit transition
+    std::deque<gr_complex> d_E_history;
+    std::deque<gr_complex> d_P_history;
+    std::deque<gr_complex> d_L_history;
+    double d_preamble_timestamp_s;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
+    bool d_preamble_synchronized;
+    void msg_handler_preamble_index(pmt::pmt_t msg);
+
+    //Integration period in samples
+    int d_correlation_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
new file mode 100644
index 000000000..f22bbc732
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -0,0 +1,648 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/bind.hpp>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <pmt/pmt.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <glog/logging.h>
+#include "gnss_synchro.h"
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_sc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
+}
+
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+        {
+            ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
+{
+    //pmt::print(msg);
+    DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
+    if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
+        {
+            d_preamble_timestamp_s = pmt::to_double(msg);
+            d_enable_extended_integration = true;
+            d_preamble_synchronized = false;
+        }
+}
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips) :
+        gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
+                gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+    this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+            boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1));
+    this->message_port_register_out(pmt::mp("events"));
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+    d_correlation_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_pll_bw_hz = pll_bw_hz;
+    d_dll_bw_hz = dll_bw_hz;
+    d_pll_bw_narrow_hz = pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz = dll_bw_narrow_hz;
+    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
+    d_extend_correlation_ms = extend_correlation_ms;
+
+    // --- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    d_ca_code_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+
+    d_correlator_outs_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs_16sc[n] = lv_cmake(0,0);
+        }
+
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carrier_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0; //(from trk to tlm)
+    d_acq_sample_stamp = 0;
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_code_phase_samples = 0.0;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
+    d_rem_code_phase_integer_samples = 0;
+    d_code_error_chips_Ti = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+    d_code_error_filt_chips_s = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
+    d_preamble_timestamp_s = 0.0;
+    d_carr_phase_error_secs_Ti = 0.0;
+    //set_min_output_buffer((long int)300);
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1.0 / d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_correlation_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+        {
+            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+        }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+    volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs_16sc[n] = lv_16sc_t(0,0);
+        }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0.0;
+    d_rem_carrier_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+    d_enable_extended_integration = true;
+    d_preamble_synchronized = true;
+
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+            << " Code Phase correction [samples]=" << delay_correction_samples
+            << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc::~glonass_l1_ca_dll_pll_c_aid_tracking_sc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_ca_code);
+    volk_gnsssdr_free(d_ca_code_16sc);
+    volk_gnsssdr_free(d_correlator_outs_16sc);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu_16sc.free();
+}
+
+
+
+int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // Block input data and block output stream pointers
+    const lv_16sc_t* in = (lv_16sc_t*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    // process vars
+    double code_error_filt_secs_Ti = 0.0;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
+
+    if (d_enable_tracking == true)
+        {
+            // Fill the acquisition data
+            current_synchro_data = *d_acquisition_gnss_synchro;
+            // Receiver signal alignment
+            if (d_pull_in == true)
+                {
+                    int samples_offset;
+                    double acq_trk_shif_correction_samples;
+                    int acq_to_trk_delay_samples;
+                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+                    acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
+                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+                    d_sample_counter += samples_offset; // count for the processed samples
+                    d_pull_in = false;
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.fs=d_fs_in;
+                    *out[0] = current_synchro_data;
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
+                    return 1;
+                }
+
+            // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+            // perform carrier wipe-off and compute Early, Prompt and Late correlation
+            multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc, in);
+            multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
+                d_carrier_phase_step_rad,
+                d_rem_code_phase_chips,
+                d_code_phase_step_chips,
+                d_correlation_length_samples);
+
+            // ####### coherent intergration extension
+            // keep the last symbols
+            d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
+            d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
+            d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
+
+            if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
+                {
+                    d_E_history.pop_front();
+                    d_P_history.pop_front();
+                    d_L_history.pop_front();
+                }
+
+            bool enable_dll_pll;
+            if (d_enable_extended_integration == true)
+                {
+                    long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
+                    if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
+                        {
+                            // compute coherent integration and enable tracking loop
+                            // perform coherent integration using correlator output history
+                            // std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
+                            d_correlator_outs_16sc[0] = lv_cmake(0,0);
+                            d_correlator_outs_16sc[1] = lv_cmake(0,0);
+                            d_correlator_outs_16sc[2] = lv_cmake(0,0);
+                            for (int n = 0; n < d_extend_correlation_ms; n++)
+                                {
+                                    d_correlator_outs_16sc[0] += d_E_history.at(n);
+                                    d_correlator_outs_16sc[1] += d_P_history.at(n);
+                                    d_correlator_outs_16sc[2] += d_L_history.at(n);
+                                }
+
+                            if (d_preamble_synchronized == false)
+                                {
+                                    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+                                    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+                                    d_preamble_synchronized = true;
+                                    std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                                              << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
+                                              << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
+                                }
+                            // UPDATE INTEGRATION TIME
+                            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD;
+                            enable_dll_pll = true;
+                        }
+                    else
+                        {
+                            if(d_preamble_synchronized == true)
+                                {
+                                    // continue extended coherent correlation
+                                    // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+                                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                                    int K_prn_samples = round(T_prn_samples);
+                                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
+                                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+                                    // code phase step (Code resampler phase increment per sample) [chips/sample]
+                                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                                    // remnant code phase [chips]
+                                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+                                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
+
+                                    // UPDATE ACCUMULATED CARRIER PHASE
+                                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+
+                                    // disable tracking loop and inform telemetry decoder
+                                    enable_dll_pll = false;
+                                }
+                            else
+                                {
+                                    //  perform basic (1ms) correlation
+                                    // UPDATE INTEGRATION TIME
+                                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                                    enable_dll_pll = true;
+                                }
+                        }
+                }
+            else
+                {
+                    // UPDATE INTEGRATION TIME
+                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                    enable_dll_pll = true;
+                }
+
+            if (enable_dll_pll == true)
+                {
+                    // ################## PLL ##########################################################
+                    // Update PLL discriminator [rads/Ti -> Secs/Ti]
+                    d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
+
+                    // Carrier discriminator filter
+                    // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
+                    // Input [s/Ti] -> output [Hz]
+                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+                    // PLL to DLL assistance [Secs/Ti]
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    // code Doppler frequency update
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+
+                    // ################## DLL ##########################################################
+                    // DLL discriminator
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
+                    // Code discriminator filter
+                    d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
+                    d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
+                    code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
+
+                    // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+                    // keep alignment parameters for the next input buffer
+                    // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                    double K_prn_samples = round(T_prn_samples);
+                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
+                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+
+                   //################### PLL COMMANDS #################################################
+                    //carrier phase step (NCO phase increment per sample) [rads/sample]
+                    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+                    // UPDATE ACCUMULATED CARRIER PHASE
+                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                    //remnant carrier phase [rad]
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
+
+                    //################### DLL COMMANDS #################################################
+                    //code phase step (Code resampler phase increment per sample) [chips/sample]
+                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                    //remnant code phase [chips]
+                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
+                    // ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
+                    if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+                        {
+                            // fill buffer with prompt correlator output values
+                            d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag()) ); // prompt
+                            d_cn0_estimation_counter++;
+                        }
+                    else
+                        {
+                            d_cn0_estimation_counter = 0;
+                            // Code lock indicator
+                            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+                            // Carrier lock indicator
+                            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+                            // Loss of lock detection
+                            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+                                {
+                                    d_carrier_lock_fail_counter++;
+                                }
+                            else
+                                {
+                                    if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+                                }
+                            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+                                {
+                                    std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                                    LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                                    this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                                    d_carrier_lock_fail_counter = 0;
+                                    d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+                                }
+                        }
+                    // ########### Output the tracking data to navigation and PVT ##########
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
+                    // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                    current_synchro_data.Flag_valid_symbol_output = true;
+                    if (d_preamble_synchronized == true)
+                        {
+                            current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
+                        }
+                    else
+                        {
+                            current_synchro_data.correlation_length_ms = 1;
+                        }
+                }
+            else
+                {
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                }
+        }
+    else
+        {
+            for (int n = 0; n < d_n_correlator_taps; n++)
+                {
+                    d_correlator_outs_16sc[n] = lv_cmake(0,0);
+                }
+
+            current_synchro_data.System = {'R'};
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+        }
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            float prompt_I;
+            float prompt_Q;
+            float tmp_E, tmp_P, tmp_L;
+            double tmp_double;
+            prompt_I = d_correlator_outs_16sc[1].real();
+            prompt_Q = d_correlator_outs_16sc[1].imag();
+            tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()));
+            tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag()));
+            tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag()));
+            try
+            {
+                    // EPR
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+                    // PROMPT I and Q (to analyze navigation symbols)
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+                    // PRN start sample stamp
+                    //tmp_float=(float)d_sample_counter;
+                    d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+                    // accumulated carrier phase
+                    d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
+
+                    // carrier and code frequency
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+                    //PLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+
+                    //DLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
+
+                    // CN0 and carrier lock test
+                    d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+                    // AUX vars (for debug purposes)
+                    tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                    tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                    // PRN
+                    unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+                    d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+            }
+            catch (const std::ifstream::failure* e)
+            {
+                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+            }
+        }
+
+    consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_correlation_length_samples; //count for the processed samples
+
+    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (const std::ifstream::failure* e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
new file mode 100644
index 000000000..dbc0a084a
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -0,0 +1,170 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
+
+#include <fstream>
+#include <map>
+#include <string>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <gnuradio/block.h>
+#include <volk/volk.h>
+#include "glonass_l1_signal_processing.h"
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_FLL_PLL_filter.h"
+#include "cpu_multicorrelator_16sc.h"
+
+class glonass_l1_ca_dll_pll_c_aid_tracking_sc;
+
+typedef boost::shared_ptr<glonass_l1_ca_dll_pll_c_aid_tracking_sc>
+        glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class glonass_l1_ca_dll_pll_c_aid_tracking_sc: public gr::block
+{
+public:
+    ~glonass_l1_ca_dll_pll_c_aid_tracking_sc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+    glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    glonass_l1_ca_dll_pll_c_aid_tracking_sc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+    long d_glonass_freq_ch;
+
+    double d_early_late_spc_chips;
+    int d_n_correlator_taps;
+
+    gr_complex* d_ca_code;
+    lv_16sc_t* d_ca_code_16sc;
+    float* d_local_code_shift_chips;
+    //gr_complex* d_correlator_outs;
+    lv_16sc_t* d_correlator_outs_16sc;
+    //cpu_multicorrelator multicorrelator_cpu;
+    cpu_multicorrelator_16sc multicorrelator_cpu_16sc;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carrier_phase_rad;
+    int d_rem_code_phase_integer_samples;
+
+    // PLL and DLL filter library
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+
+    // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_cycles;
+    double d_code_phase_samples;
+    double d_pll_to_dll_assist_secs_Ti;
+    double d_carr_phase_error_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_preamble_timestamp_s;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
+    bool d_preamble_synchronized;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
+    void msg_handler_preamble_index(pmt::pmt_t msg);
+
+    // symbol history to detect bit transition
+    std::deque<lv_16sc_t> d_E_history;
+    std::deque<lv_16sc_t> d_P_history;
+    std::deque<lv_16sc_t> d_L_history;
+
+    //Integration period in samples
+    int d_correlation_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H

From 8763689cb09f60c301c5bc1670d4f77517ff3c75 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:08:12 -0300
Subject: [PATCH 131/379] Add Glonass C Aid tracking block to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 9f0f6c28a..7cba2a649 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -87,6 +87,7 @@
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
 #include "glonass_l1_ca_dll_pll_tracking.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
@@ -1164,6 +1165,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // TELEMETRY DECODERS ----------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@@ -1422,6 +1429,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From 87d0f95d9c515c1787538a65757bc22ee4f65062 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:40:13 -0300
Subject: [PATCH 132/379] Add author tag

---
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc         | 2 +-
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.h          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 965e0142d..cce1b19a7 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -3,7 +3,7 @@
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
- *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  *
  *
  * Code DLL + carrier PLL according to the algorithms described in:
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index 192cb0853..46565b2e1 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -3,7 +3,7 @@
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
- *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  *
  *
  * Code DLL + carrier PLL according to the algorithms described in:

From afede9c6cda341bfb93b2dfc74892ae0cbe7bd73 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:45:43 -0300
Subject: [PATCH 133/379] Add glonass frequency channel variable as private
 member

---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc  | 8 +++-----
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h   | 1 +
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 3d2e73886..ad7b16cd6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -161,8 +161,8 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-    double radial_velocity = (glonass_freq_ch + d_acq_carrier_doppler_hz) / glonass_freq_ch;
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
     double T_prn_mod_seconds;
@@ -319,9 +319,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
         // New carrier Doppler frequency estimation
         d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
-        // New code Doppler frequency estimation
-        long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / glonass_freq_ch);
+        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
         // ################## DLL ##########################################################
         // DLL discriminator
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 092492876..0c40ef9fd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -73,6 +73,7 @@ private:
 
     long d_if_freq;
     long d_fs_in;
+    long d_glonass_freq_ch;
 
     double d_early_late_spc_chips;
 

From 438cc5f4ee5e836f1db160c0a9741c593e6db858 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:48:16 -0300
Subject: [PATCH 134/379] Add new file for glonasstests

---
 src/tests/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index e1e8d41ce..1efed9015 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -268,12 +268,14 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 

From e890fa01471f8aa18ed1fc1eb5808cf63d0f55a0 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:48:40 -0300
Subject: [PATCH 135/379] Add tracking glonass tests

---
 src/tests/test_main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 6839c41a8..b86bde939 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -129,6 +129,8 @@ DECLARE_string(log_dir);
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"
 #if MODERN_ARMADILLO
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"

From d3038dd162dbd7018d6eb1f9c6dc00f696af005f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:49:55 -0300
Subject: [PATCH 136/379] Add unit test for new tracking blocks

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 230 +++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 233 ++++++++++++++++++
 2 files changed, 463 insertions(+)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
new file mode 100644
index 000000000..5bb4fbdf8
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -0,0 +1,230 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+ * \brief  This class implements a tracking test for GLONASS_L1_CA_DLL_PLL_Tracking
+ *  implementation based on some input parameters.
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+// #include "signal_conditioner.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaDllPllCAidTrackingTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr;
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+
+class GlonassL1CaDllPllCAidTrackingTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaDllPllCAidTrackingTest_msg_rx();
+
+public:
+    int rx_message;
+    ~GlonassL1CaDllPllCAidTrackingTest_msg_rx(); //!< Default destructor
+
+};
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make()
+{
+    return GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr(new GlonassL1CaDllPllCAidTrackingTest_msg_rx());
+}
+
+void GlonassL1CaDllPllCAidTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx::GlonassL1CaDllPllCAidTrackingTest_msg_rx() :
+            gr::block("GlonassL1CaDllPllCAidTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaDllPllCAidTrackingTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx::~GlonassL1CaDllPllCAidTrackingTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GlonassL1CaDllPllCAidTrackingTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaDllPllCAidTrackingTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaDllPllCAidTrackingTest()
+    {}
+
+    void init();
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaDllPllCAidTrackingTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 11;
+
+    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+
+
+    std::string path = std::string(TEST_PATH);
+    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
+    const char * file_name = file.c_str();
+
+    config->set_property("SignalSource.implementation","File_Signal_Source");
+    config->set_property("SignalSource.filename",file_name);
+    config->set_property("SignalSource.item_type","ibyte");
+    config->set_property("SignalSource.sampling_frequency","6625000");
+
+    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
+    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
+    config->set_property("InputFilter.implementation","Pass_Through");
+    config->set_property("InputFilter.item_type","gr_complex");
+    config->set_property("Resampler.implementation","Direct_Resampler");
+    config->set_property("Resampler.sample_freq_in","6625000");
+    config->set_property("Resampler.sample_freq_out","2000000");
+    config->set_property("Resampler.item_type","gr_complex");
+
+    config->set_property("Tracking_1G.item_type", "gr_complex");
+    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.if", "0.0");
+    config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
+    config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking");
+    config->set_property("Tracking_1G.early_late_space_chips", "0.5");
+    config->set_property("Tracking_1G.order", "2");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
+}
+
+TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    int fs_in = 6625000;
+    int nsamples = fs_in*4e-3*2;
+
+    init();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Tracking test");
+    std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
+    boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+
+    gnss_synchro.Acq_delay_samples = 1343;
+    gnss_synchro.Acq_doppler_hz = -2750;
+    // gnss_synchro.Acq_doppler_hz = -2750;
+    gnss_synchro.Acq_samplestamp_samples = 0;
+
+    ASSERT_NO_THROW( {
+        tracking->set_channel(gnss_synchro.Channel_ID);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->connect(top_block);
+    }) << "Failure connecting tracking to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        std::string path = std::string(TEST_PATH);
+        std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+        top_block->connect(file_source, 0, valve, 0);
+        top_block->connect(valve, 0, tracking->get_left_block(), 0);
+        top_block->connect(tracking->get_right_block(), 0, sink, 0);
+        top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+    tracking->start_tracking();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    // TODO: Verify tracking results
+    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
new file mode 100644
index 000000000..9827a00ed
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -0,0 +1,233 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking_test.cc
+ * \brief  This class implements a tracking test for GLONASS_L1_CA_DLL_PLL_Tracking
+ *  implementation based on some input parameters.
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "array_signal_conditioner.h"
+#include "signal_conditioner.h"
+#include "ibyte_to_complex.h"
+#include "direct_resampler_conditioner.h"
+#include "glonass_l1_ca_dll_pll_tracking.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaDllPllTrackingTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> GlonassL1CaDllPllTrackingTest_msg_rx_sptr;
+
+GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make();
+
+class GlonassL1CaDllPllTrackingTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaDllPllTrackingTest_msg_rx();
+
+public:
+    int rx_message;
+    ~GlonassL1CaDllPllTrackingTest_msg_rx(); //!< Default destructor
+
+};
+
+GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make()
+{
+    return GlonassL1CaDllPllTrackingTest_msg_rx_sptr(new GlonassL1CaDllPllTrackingTest_msg_rx());
+}
+
+void GlonassL1CaDllPllTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+GlonassL1CaDllPllTrackingTest_msg_rx::GlonassL1CaDllPllTrackingTest_msg_rx() :
+            gr::block("GlonassL1CaDllPllTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaDllPllTrackingTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaDllPllTrackingTest_msg_rx::~GlonassL1CaDllPllTrackingTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GlonassL1CaDllPllTrackingTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaDllPllTrackingTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaDllPllTrackingTest()
+    {}
+
+    void init();
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaDllPllTrackingTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 11;
+
+    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+
+
+    std::string path = std::string(TEST_PATH);
+    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
+    const char * file_name = file.c_str();
+
+    config->set_property("SignalSource.implementation","File_Signal_Source");
+    config->set_property("SignalSource.filename",file_name);
+    config->set_property("SignalSource.item_type","ibyte");
+    config->set_property("SignalSource.sampling_frequency","6625000");
+
+    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
+    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
+    config->set_property("InputFilter.implementation","Pass_Through");
+    config->set_property("InputFilter.item_type","gr_complex");
+    config->set_property("Resampler.implementation","Direct_Resampler");
+    config->set_property("Resampler.sample_freq_in","6625000");
+    config->set_property("Resampler.sample_freq_out","2000000");
+    config->set_property("Resampler.item_type","gr_complex");
+
+    config->set_property("Tracking_1G.item_type", "gr_complex");
+    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.if", "0.0");
+    config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
+    config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
+    config->set_property("Tracking_1G.early_late_space_chips", "0.5");
+    config->set_property("Tracking_1G.order", "2");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
+}
+
+TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    int fs_in = 6625000;
+    int nsamples = fs_in*4e-3*2;
+
+    init();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Tracking test");
+    std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
+    boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllTrackingTest_msg_rx_make();
+
+    gnss_synchro.Acq_delay_samples = 1343;
+    gnss_synchro.Acq_doppler_hz = -2750;
+    // gnss_synchro.Acq_doppler_hz = -2750;
+    gnss_synchro.Acq_samplestamp_samples = 0;
+
+    ASSERT_NO_THROW( {
+        tracking->set_channel(gnss_synchro.Channel_ID);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->connect(top_block);
+    }) << "Failure connecting tracking to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        std::string path = std::string(TEST_PATH);
+        std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+        top_block->connect(file_source, 0, valve, 0);
+        top_block->connect(valve, 0, tracking->get_left_block(), 0);
+        top_block->connect(tracking->get_right_block(), 0, sink, 0);
+        top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+    tracking->start_tracking();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    // TODO: Verify tracking results
+    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}

From c2120ce6bac9a5646f8c39a8e87cb4821d43dc5a Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:03:55 -0300
Subject: [PATCH 137/379] Update test configuration

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 27 ++---------------
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 30 ++-----------------
 2 files changed, 6 insertions(+), 51 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
index 5bb4fbdf8..9a65a43a6 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -47,7 +47,6 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
-// #include "signal_conditioner.h"
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 
 
@@ -139,35 +138,15 @@ void GlonassL1CaDllPllCAidTrackingTest::init()
     gnss_synchro.PRN = 11;
 
     config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
-
-
-    std::string path = std::string(TEST_PATH);
-    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
-    const char * file_name = file.c_str();
-
-    config->set_property("SignalSource.implementation","File_Signal_Source");
-    config->set_property("SignalSource.filename",file_name);
-    config->set_property("SignalSource.item_type","ibyte");
-    config->set_property("SignalSource.sampling_frequency","6625000");
-
-    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation","Pass_Through");
-    config->set_property("InputFilter.item_type","gr_complex");
-    config->set_property("Resampler.implementation","Direct_Resampler");
-    config->set_property("Resampler.sample_freq_in","6625000");
-    config->set_property("Resampler.sample_freq_out","2000000");
-    config->set_property("Resampler.item_type","gr_complex");
-
     config->set_property("Tracking_1G.item_type", "gr_complex");
-    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
     config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 9827a00ed..0957b3b24 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -47,10 +47,6 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
-#include "array_signal_conditioner.h"
-#include "signal_conditioner.h"
-#include "ibyte_to_complex.h"
-#include "direct_resampler_conditioner.h"
 #include "glonass_l1_ca_dll_pll_tracking.h"
 
 
@@ -142,35 +138,15 @@ void GlonassL1CaDllPllTrackingTest::init()
     gnss_synchro.PRN = 11;
 
     config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
-
-
-    std::string path = std::string(TEST_PATH);
-    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
-    const char * file_name = file.c_str();
-
-    config->set_property("SignalSource.implementation","File_Signal_Source");
-    config->set_property("SignalSource.filename",file_name);
-    config->set_property("SignalSource.item_type","ibyte");
-    config->set_property("SignalSource.sampling_frequency","6625000");
-
-    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation","Pass_Through");
-    config->set_property("InputFilter.item_type","gr_complex");
-    config->set_property("Resampler.implementation","Direct_Resampler");
-    config->set_property("Resampler.sample_freq_in","6625000");
-    config->set_property("Resampler.sample_freq_out","2000000");
-    config->set_property("Resampler.item_type","gr_complex");
-
     config->set_property("Tracking_1G.item_type", "gr_complex");
-    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
     config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)

From 8945bfc37bd4bf929a7b5610008b66001ac61430 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:05:24 -0300
Subject: [PATCH 138/379] Add file with real signals for testing

---
 ..._GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin | Bin 0 -> 211996 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin

diff --git a/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin b/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin
new file mode 100644
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From 56cdd754428238252c4c8631f74b31c82dc4ce90 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 23 Aug 2017 01:03:37 -0300
Subject: [PATCH 139/379] Fix conflict

---
 src/core/receiver/gnss_flowgraph.cc | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 26126e55f..4529a1fba 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -745,15 +745,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
-<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
-=======
-                            *available_gnss_prn_iter), std::string("5X")));
->>>>>>> Add glonass svn in signals list
-=======
-                            *available_gnss_prn_iter), std::string("1G")));
->>>>>>> fix glonass signal string
                 }
         }
     /*

From 99104bc8bc0d8c9f12854cf2ae5d2ab89d622ba1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 140/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 37 +++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index cf1788cc0..7e41acb9f 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -596,6 +596,12 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
+    /*
+     * Only 24 operational
+     */
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
     if( sv_list.length() > 0 )
@@ -644,6 +650,22 @@ void GNSSFlowgraph::set_signals_list()
                 }
         }
 
+    sv_list = configuration_->property("Glonass.prns", std::string("") );
+
+    if( sv_list.length() > 0 )
+        {
+            // Reset the available prns:
+            std::set< unsigned int > tmp_set;
+            boost::tokenizer<> tok( sv_list );
+            std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
+                    boost::lexical_cast<unsigned int, std::string> );
+
+            if( tmp_set.size() > 0 )
+                {
+                    available_glonass_prn = tmp_set;
+                }
+        }
+
     if (configuration_->property("Channels_1C.count", 0) > 0 )
         {
             /*
@@ -714,6 +736,20 @@ void GNSSFlowgraph::set_signals_list()
                             *available_gnss_prn_iter), std::string("5X")));
                 }
         }
+
+        if (configuration_->property("Channels_1G.count", 0) > 0 )
+        {
+            /*
+             * Loop to create the list of GLONASS L1 C/A signals
+             */
+            for (available_gnss_prn_iter = available_glonass_prn.begin();
+                    available_gnss_prn_iter != available_glonass_prn.end();
+                    available_gnss_prn_iter++)
+                {
+                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+                            *available_gnss_prn_iter), std::string("5X")));
+                }
+        }
     /*
      * Ordering the list of signals from configuration file
      */
@@ -727,6 +763,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
+            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From d3c3cab980ed00923508b83273c672e281eef660 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 141/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 7e41acb9f..4ccdaff44 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -747,7 +747,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-                            *available_gnss_prn_iter), std::string("5X")));
+                            *available_gnss_prn_iter), std::string("1G")));
                 }
         }
     /*

From a399e2b0d060d47531dc82406f120f46150f8c37 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 142/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/CMakeLists.txt            |   1 +
 .../libs/glonass_l1_signal_processing.cc      | 131 ++++++++++++++++++
 .../libs/glonass_l1_signal_processing.h       |  47 +++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.cc
 create mode 100644 src/algorithms/libs/glonass_l1_signal_processing.h

diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt
index e7d8b60bd..818c9d947 100644
--- a/src/algorithms/libs/CMakeLists.txt
+++ b/src/algorithms/libs/CMakeLists.txt
@@ -25,6 +25,7 @@ set(GNSS_SPLIBS_SOURCES
     gnss_sdr_sample_counter.cc
     gnss_signal_processing.cc
     gps_sdr_signal_processing.cc
+    glonass_l1_signal_processing.cc
     pass_through.cc
     galileo_e5_signal_processing.cc
     complex_byte_to_float_x2.cc
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
new file mode 100644
index 000000000..ff3ab5a2d
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -0,0 +1,131 @@
+/*!
+ * \file glonass_l1_signal_processing.cc
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_l1_signal_processing.h"
+
+auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
+
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+{
+    const unsigned int _code_length = 511;
+    bool G1[_code_length];
+    bool G1_register[9];
+    bool feedback1;
+    bool aux;
+    unsigned int lcv, lcv2;
+
+    for(lcv = 0; lcv < 9; lcv++)
+        {
+            G1_register[lcv] = 1;
+        }
+
+    /* Generate G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            G1[lcv] = G1_register[2];
+
+            feedback1 = G1_register[4]^G1_register[0];
+
+            for(lcv2 = 0; lcv2 < 8; lcv2++)
+                {
+                    G1_register[lcv2] = G1_register[lcv2 + 1];
+                }
+
+            G1_register[8] = feedback1;
+        }
+
+    /* Generate PRN from G1 Register */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[lcv];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+        }
+}
+
+
+/*
+ *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
+ */
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+{
+    // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
+    std::complex<float> _code[511];
+    signed int _samplesPerCode, _codeValueIndex;
+    float _ts;
+    float _tc;
+    float aux;
+    const signed int _codeFreqBasis = 511000; //Hz
+    const signed int _codeLength = 511;
+
+    //--- Find number of samples per spreading code ----------------------------
+    _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
+
+    //--- Find time constants --------------------------------------------------
+    _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
+    _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
+    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+
+    for (signed int i = 0; i < _samplesPerCode; i++)
+        {
+            //=== Digitizing =======================================================
+
+            //--- Make index array to read C/A code values -------------------------
+            // The length of the index array depends on the sampling frequency -
+            // number of samples per millisecond (because one C/A code period is one
+            // millisecond).
+
+            // _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
+            aux = (_ts * (i + 1)) / _tc;   
+            _codeValueIndex = auxCeil( aux ) - 1;
+
+            //--- Make the digitized version of the C/A code -----------------------
+            // The "upsampled" code is made by selecting values form the CA code
+            // chip array (caCode) for the time instances of each sample.
+            if (i == _samplesPerCode - 1)
+                {
+                    //--- Correct the last index (due to number rounding issues) -----------
+                    _dest[i] = _code[_codeLength - 1];
+
+                }
+            else
+                {
+                    _dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
+                }
+        }
+}
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
new file mode 100644
index 000000000..b181d68ae
--- /dev/null
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -0,0 +1,47 @@
+/*!
+ * \file glonass_l1_signal_processing.h
+ * \brief This class implements various functions for GLONASS L1 CA signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo(at)ieee.org
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+
+#include <complex>
+
+//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From f7092b68b69bd35ae3466ed161a17d853b2375da Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 143/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  1 +
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  1 +
 src/core/system_parameters/Glonass_L1_CA.h    | 63 +++++++++++++++++++
 3 files changed, 65 insertions(+)
 create mode 100644 src/core/system_parameters/Glonass_L1_CA.h

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 399f443b6..21efd08b4 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -41,6 +41,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 07fcb32a9..9640e5e3a 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -56,6 +56,7 @@
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/fft/fft.h>
 #include "gnss_synchro.h"
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
 
 class pcps_acquisition_cc;
 
diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
new file mode 100644
index 000000000..f6391c56b
--- /dev/null
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -0,0 +1,63 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_H_
+#define GNSS_SDR_GLONASS_L1_CA_H_
+
+#include <vector>
+#include <utility> // std::pair
+#include "MATH_CONSTANTS.h"
+
+// Physical constants
+const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
+const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
+const double GLONASS_PI          = 3.1415926535898;  //!< Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_TWO_PI      = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
+const double GLONASS_OMEGA_EARTH_DOT     = 7.292115e-5;  //!< Earth rotation rate, [rad/s]
+const double GLONASS_GM          = 3.986004418e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+// const double F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
+
+// Geodesic constants and parameters
+const double fMa                = 0.35e9;           //!< The Gravitational constant of atmosphere, [m^3/s^2]
+const double SEMI_MAJOR_AXIS    = 6378136;          //!< The Semi-major axis, [m]
+const double FLATTENING         = 1/298.25784;      //!< The Orbital Flattening
+const double EQUATORIAL_GRAVITY = 978032.84;        //!< The Equatorial acceleration of gravity, [mGal]
+const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
+const double SECOND_HARMONIC    = 1082625.75e-9;    //!< Second zonal harmonic of the geopotential (J_2^0)
+const double FOURTH_HARMONIC    = -2370.89e-9;    //!< Fourth zonal harmonic of the geopotential (J_4^0)
+const double SIXTH_HARMONIC     = 6.08e-9;    //!< Sixth zonal harmonic of the geopotential (J_6^0)
+const double EIGHTH_HARMONIC    = 1.40e-11;     //!< Eighth zonal harmonic of the geopotential (J_8^0)
+const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
+
+
+// carrier and code frequencies
+const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
+const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
+const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
+const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
+
+// GLONASS SV's orbital slots
+const short int GLONASS_PRN[24] = { 1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2,   //Plane 3
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2};  //Plane 3
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 5ad65ab0e141a2f47dbad79416b2b6415b41d96c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:45:16 -0300
Subject: [PATCH 144/379] Add pcps acquisition adapter for glonass l1 ca signal

---
 .../acquisition/adapters/CMakeLists.txt       |   1 +
 .../glonass_l1_ca_pcps_acquisition.cc         | 366 ++++++++++++++++++
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 138 +++++++
 3 files changed, 505 insertions(+)
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
 create mode 100644 src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt
index c0900d4ff..f8c6b34b1 100644
--- a/src/algorithms/acquisition/adapters/CMakeLists.txt
+++ b/src/algorithms/acquisition/adapters/CMakeLists.txt
@@ -31,6 +31,7 @@ set(ACQ_ADAPTER_SOURCES
     galileo_e1_pcps_tong_ambiguous_acquisition.cc
     galileo_e1_pcps_8ms_ambiguous_acquisition.cc
     galileo_e5a_noncoherent_iq_acquisition_caf.cc
+    glonass_l1_ca_pcps_acquisition.cc
 )
 
 if(ENABLE_FPGA)
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
new file mode 100644
index 000000000..a8e25b151
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -0,0 +1,366 @@
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include <boost/math/distributions/exponential.hpp>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+    role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    configuration_ = configuration;
+    std::string default_item_type = "gr_complex";
+    std::string default_dump_filename = "./data/acquisition.dat";
+
+    DLOG(INFO) << "role " << role;
+
+    item_type_ = configuration_->property(role + ".item_type", default_item_type);
+
+    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    if_ = configuration_->property(role + ".if", 0);
+    dump_ = configuration_->property(role + ".dump", false);
+    doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
+
+    bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
+    use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
+
+    max_dwells_ = configuration_->property(role + ".max_dwells", 1);
+
+    dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
+
+    //--- Find number of samples per spreading code -------------------------
+    code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    LOG(ERROR) << "fs_in_ " << fs_in_;
+    LOG(ERROR) << "code_length_ " << code_length_;
+
+    vector_length_ = code_length_ * sampled_ms_;
+
+    LOG(ERROR) << "vector_length_ " << vector_length_;
+    
+
+    if( bit_transition_flag_ )
+        {
+            vector_length_ *= 2;
+        }
+
+    code_ = new gr_complex[vector_length_];
+
+    if (item_type_.compare("cshort") == 0 )
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
+                    doppler_max_, if_, fs_in_, code_length_, code_length_,
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+            DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
+
+        }else{
+                item_size_ = sizeof(gr_complex);
+                acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
+                        doppler_max_, if_, fs_in_, code_length_, code_length_,
+                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
+        }
+
+    stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
+    DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
+    
+    if (item_type_.compare("cbyte") == 0)
+        {
+            cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
+            float_to_complex_ = gr::blocks::float_to_complex::make();
+        }
+
+    channel_ = 0;
+    threshold_ = 0.0;
+    doppler_step_ = 0;
+    gnss_synchro_ = 0;
+}
+
+
+GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
+{
+    delete[] code_;
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_channel(channel_);
+        }
+    else
+        {
+            acquisition_cc_->set_channel(channel_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
+{
+    float pfa = configuration_->property(role_ + ".pfa", 0.0);
+
+    if(pfa == 0.0)
+        {
+            threshold_ = threshold;
+        }
+    else
+        {
+            threshold_ = calculate_threshold(pfa);
+        }
+
+    DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
+
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_threshold(threshold_);
+        }
+    else
+        {
+            acquisition_cc_->set_threshold(threshold_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
+{
+    doppler_max_ = doppler_max;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_max(doppler_max_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_max(doppler_max_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
+{
+    doppler_step_ = doppler_step;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_doppler_step(doppler_step_);
+        }
+    else
+        {
+            acquisition_cc_->set_doppler_step(doppler_step_);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
+{
+    gnss_synchro_ = gnss_synchro;
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_gnss_synchro(gnss_synchro_);
+        }
+    else
+        {
+            acquisition_cc_->set_gnss_synchro(gnss_synchro_);
+        }
+}
+
+
+signed int GlonassL1CaPcpsAcquisition::mag()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_->mag();
+        }
+    else
+        {
+            return acquisition_cc_->mag();
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::init()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->init();
+        }
+    else
+        {
+            acquisition_cc_->init();
+        }
+
+    set_local_code();
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_local_code()
+{
+
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0);
+
+    for (unsigned int i = 0; i < sampled_ms_; i++)
+        {
+            memcpy(&(code_[i*code_length_]), code,
+                    sizeof(gr_complex)*code_length_);
+        }
+
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_local_code(code_);
+        }
+    else
+        {
+            acquisition_cc_->set_local_code(code_);
+        }
+
+    delete[] code;
+}
+
+
+void GlonassL1CaPcpsAcquisition::reset()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_active(true);
+        }
+    else
+        {
+            acquisition_cc_->set_active(true);
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::set_state(int state)
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            acquisition_sc_->set_state(state);
+        }
+    else
+        {
+            acquisition_cc_->set_state(state);
+        }
+}
+
+
+float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
+{
+    //Calculate the threshold
+    unsigned int frequency_bins = 0;
+    /*
+    for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
+        {
+            frequency_bins++;
+        }
+    */
+
+    frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_;
+
+    DLOG(INFO) << "Channel " << channel_ << "  Pfa = " << pfa;
+    unsigned int ncells = vector_length_ * frequency_bins;
+    double exponent = 1 / static_cast<double>(ncells);
+    double val = pow(1.0 - pfa, exponent);
+    double lambda = double(vector_length_);
+    boost::math::exponential_distribution<double> mydist (lambda);
+    float threshold = (float)quantile(mydist,val);
+
+    return threshold;
+}
+
+
+void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0);
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            // Since a byte-based acq implementation is not available,
+            // we just convert cshorts to gr_complex
+            top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
+            top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
+            top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
+            top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return stream_to_vector_;
+        }
+    else if (item_type_.compare("cbyte") == 0)
+        {
+            return cbyte_to_float_x2_;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+            return nullptr;
+        }
+}
+
+
+gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
+{
+    if (item_type_.compare("cshort") == 0)
+        {
+            return acquisition_sc_;
+        }
+    else
+        {
+            return acquisition_cc_;
+        }
+}
+
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
new file mode 100644
index 000000000..2cc43c90f
--- /dev/null
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -0,0 +1,138 @@
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
+
+#include <string>
+#include <gnuradio/blocks/stream_to_vector.h>
+#include <gnuradio/blocks/float_to_complex.h>
+#include "gnss_synchro.h"
+#include "acquisition_interface.h"
+#include "pcps_acquisition_cc.h"
+#include "pcps_acquisition_sc.h"
+#include "complex_byte_to_float_x2.h"
+#include <volk_gnsssdr/volk_gnsssdr.h>
+
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
+ *  for GPS L1 C/A signals
+ */
+class GlonassL1CaPcpsAcquisition: public AcquisitionInterface
+{
+public:
+    GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
+            std::string role, unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaPcpsAcquisition();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    /*!
+     * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
+     */
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_PCPS_Acquisition";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and
+     *  tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    /*!
+     * \brief Set acquisition channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set statistics threshold of PCPS algorithm
+     */
+    void set_threshold(float threshold);
+
+    /*!
+     * \brief Set maximum Doppler off grid search
+     */
+    void set_doppler_max(unsigned int doppler_max);
+
+    /*!
+     * \brief Set Doppler steps for the grid search
+     */
+    void set_doppler_step(unsigned int doppler_step);
+
+    /*!
+     * \brief Initializes acquisition algorithm.
+     */
+    void init();
+
+    /*!
+     * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
+     */
+    void set_local_code();
+
+    /*!
+     * \brief Returns the maximum peak of grid search
+     */
+    signed int mag();
+
+    /*!
+     * \brief Restart acquisition algorithm
+     */
+    void reset();
+
+    /*!
+     * \brief If state = 1, it forces the block to start acquiring from the first sample
+     */
+    void set_state(int state);
+
+private:
+    ConfigurationInterface* configuration_;
+    pcps_acquisition_cc_sptr acquisition_cc_;
+    pcps_acquisition_sc_sptr acquisition_sc_;
+    gr::blocks::stream_to_vector::sptr stream_to_vector_;
+    gr::blocks::float_to_complex::sptr float_to_complex_;
+    complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int vector_length_;
+    unsigned int code_length_;
+    bool bit_transition_flag_;
+    bool use_CFAR_algorithm_flag_;
+    unsigned int channel_;
+    float threshold_;
+    unsigned int doppler_max_;
+    unsigned int doppler_step_;
+    unsigned int sampled_ms_;
+    unsigned int max_dwells_;
+    long fs_in_;
+    long if_;
+    bool dump_;
+    std::string dump_filename_;
+    std::complex<float> * code_;
+    Gnss_Synchro * gnss_synchro_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+
+    float calculate_threshold(float pfa);
+};
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ */

From e78f80d45924c0797ed5f02e0d477766904ba7d8 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 145/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 8 +++++---
 src/algorithms/libs/glonass_l1_signal_processing.h  | 6 +++---
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index ff3ab5a2d..d19b349ab 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -34,7 +34,7 @@
 
 auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); };
 
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/)
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _prn,*/ unsigned int _chip_shift)
 {
     const unsigned int _code_length = 511;
     bool G1[_code_length];
@@ -76,13 +76,15 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _pr
                     _dest[lcv] = std::complex<float>(-1, 0);
                 }
         }
+
+    /* TODO: Implement the chip shifting*/
 }
 
 
 /*
  *  Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
  */
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
 {
     // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
     std::complex<float> _code[511];
@@ -99,7 +101,7 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned
     //--- Find time constants --------------------------------------------------
     _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
     _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
-    glonass_l1_ca_code_gen_complex(_code); //generate C/A code 1 sample per chip
+    glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
 
     for (signed int i = 0; i < _samplesPerCode; i++)
         {
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index b181d68ae..40fcd6ad1 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,12 +36,12 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
 
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

From 2369c98e1229177c88d4a5b26294910cd5ea4117 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:50:12 -0300
Subject: [PATCH 146/379] fix ifndef include

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 40fcd6ad1..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -30,8 +30,8 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
-#define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
+#ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
+#define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
 #include <complex>
 
@@ -44,4 +44,4 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

From cb32755045750528c196972a6728b94b097b4d8f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:53:17 -0300
Subject: [PATCH 147/379] Add Glonass L1 C/A channel to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 116 +++++++++++++++++++++++-
 src/core/receiver/gnss_block_factory.h  |   4 +
 2 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 0e85d4f2d..7db6ddd95 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -78,6 +78,7 @@
 #include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
 #include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_tcp_connector_tracking.h"
@@ -513,6 +514,74 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
     return channel_;
 }
 
+//********* GLONASS L1 C/A CHANNEL *****************
+std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
+        std::shared_ptr<ConfigurationInterface> configuration,
+        std::string acq, std::string trk, std::string tlm, int channel,
+        boost::shared_ptr<gr::msg_queue> queue)
+{
+    std::stringstream stream;
+    stream << channel;
+    std::string id = stream.str();
+    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
+              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
+
+    std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix1;
+    if(aux.compare("W") != 0)
+        {
+            appendix1 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix1 = "";
+        }
+    aux = configuration->property("Tracking_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix2;
+    if(aux.compare("W") != 0)
+        {
+            appendix2 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix2 = "";
+        }
+    aux = configuration->property("TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
+    std::string appendix3;
+    if(aux.compare("W") != 0)
+        {
+            appendix3 = boost::lexical_cast<std::string>(channel);
+        }
+    else
+        {
+            appendix3 = "";
+        }
+    // Automatically detect input data type
+    std::shared_ptr<InMemoryConfiguration> config;
+    config = std::make_shared<InMemoryConfiguration>();
+    std::string default_item_type = "gr_complex";
+    std::string acq_item_type = configuration->property("Acquisition_1G" + appendix1 + ".item_type", default_item_type);
+    std::string trk_item_type = configuration->property("Tracking_1G" + appendix2 + ".item_type", default_item_type);
+    if(acq_item_type.compare(trk_item_type))
+        {
+            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
+        }
+    config->set_property("Channel.item_type", acq_item_type);
+
+    std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
+    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
+    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G"+ appendix2, trk, 1, 1);
+    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
+
+    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
+            std::move(acq_),
+            std::move(trk_),
+            std::move(tlm_),
+            "Channel", "1G", queue));
+
+    return channel_;
+}
+
 
 std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
         std::shared_ptr<ConfigurationInterface> configuration, boost::shared_ptr<gr::msg_queue> queue)
@@ -528,11 +597,13 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
     unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
     unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0);
     unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
+    unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0);
 
     unsigned int total_channels = Channels_1C_count +
             Channels_2S_count +
             Channels_1B_count +
-            Channels_5X_count;
+            Channels_5X_count +
+            Channels_1G_count;
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
 
     //**************** GPS L1 C/A  CHANNELS **********************
@@ -656,6 +727,37 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                 channel_absolute_id++;
            }
 
+
+    //**************** GLONASS L1 C/A  CHANNELS **********************
+    LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
+    acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
+    tracking_implementation  = configuration->property("Tracking_1G.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation);
+
+    for (unsigned int i = 0; i < Channels_1G_count; i++)
+        {
+            //(i.e. Acquisition_1G0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                            "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            acquisition_implementation);
+            //(i.e. Tracking_1G0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                            "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                            "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                            telemetry_decoder_implementation);
+
+            // Push back the channel to the vector of channels
+             channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
+                     acquisition_implementation_specific,
+                     tracking_implementation_specific,
+                     telemetry_decoder_implementation_specific,
+                     channel_absolute_id,
+                     queue));
+             channel_absolute_id++;
+        }
+
     return channels;
 }
 
@@ -984,6 +1086,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
 
 
@@ -1217,6 +1325,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_PCPS_Acquisition") == 0)
+        {
+            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.
diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h
index 13c614ee8..6dd6ae11f 100644
--- a/src/core/receiver/gnss_block_factory.h
+++ b/src/core/receiver/gnss_block_factory.h
@@ -94,6 +94,10 @@ private:
             std::string acq, std::string trk, std::string tlm, int channel,
             boost::shared_ptr<gr::msg_queue> queue);
 
+    std::unique_ptr<GNSSBlockInterface> GetChannel_1G(std::shared_ptr<ConfigurationInterface> configuration,
+            std::string acq, std::string trk, std::string tlm, int channel,
+            boost::shared_ptr<gr::msg_queue> queue);
+
     std::unique_ptr<AcquisitionInterface> GetAcqBlock(
             std::shared_ptr<ConfigurationInterface> configuration,
             std::string role,

From ffb523a8c08e99d7b153333c8ea3f9b929fd20de Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:56:01 -0300
Subject: [PATCH 148/379] Only 24 SV's available

---
 src/core/receiver/gnss_flowgraph.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 4ccdaff44..16d0d3ae7 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -579,7 +579,8 @@ void GNSSFlowgraph::set_signals_list()
     unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
             configuration_->property("Channels_2S.count", 0) +
             configuration_->property("Channels_1B.count", 0) +
-            configuration_->property("Channels_5X.count", 0);
+            configuration_->property("Channels_5X.count", 0) + 
+            configuration_->property("Channels_1G.count", 0);
 
     /*
      * Loop to create the list of GNSS Signals
@@ -600,7 +601,7 @@ void GNSSFlowgraph::set_signals_list()
      * Only 24 operational
      */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27};
+                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 

From e3cba491c143429ccc6d853b52ba4c899c251d06 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 149/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 9640e5e3a..d1443d18c 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -148,6 +148,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From 7a667635e8760b7270907a10aff2039f4e1dfe19 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:58:59 -0300
Subject: [PATCH 150/379] Change Glonass string

---
 src/core/system_parameters/gnss_satellite.cc | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index 2e2e18f00..b192224fb 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -61,9 +61,9 @@ Gnss_Satellite::~Gnss_Satellite()
 
 void Gnss_Satellite::reset()
 {
-    system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"};
+    system_set = {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"};
     satelliteSystem["GPS"] = "G";
-    satelliteSystem["GLONASS"] = "R";
+    satelliteSystem["Glonass"] = "R";
     satelliteSystem["SBAS"] = "S";
     satelliteSystem["Galileo"] = "E";
     satelliteSystem["Beidou"] = "C";
@@ -120,8 +120,8 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite &rhs) {
 
 void Gnss_Satellite::set_system(const std::string& system_)
 {
-    // Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
-    std::set<std::string>::const_iterator it = system_set.find(system_);
+    // Set the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Compass"}
+    std::set<std::string>::iterator it = system_set.find(system_);
 
     if(it != system_set.cend())
         {
@@ -129,7 +129,7 @@ void Gnss_Satellite::set_system(const std::string& system_)
         }
     else
         {
-            DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Beidou}. Initialization?";
+            DLOG(INFO) << "System " << system_ << " is not defined {GPS, Glonass, SBAS, Galileo, Beidou}. Initialization?";
             system =  std::string("");
         }
 }
@@ -220,7 +220,7 @@ unsigned int Gnss_Satellite::get_PRN() const
 
 std::string Gnss_Satellite::get_system() const
 {
-    // Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
+    // Get the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"}
     std::string system_;
     system_ = system;
     return system_;

From 3990e0a7ce468053543ef3937aa0c7f87497d4cf Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 16:58:20 -0300
Subject: [PATCH 151/379] Add Glonass channels to PVT and Observables

---
 src/core/receiver/gnss_block_factory.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 7db6ddd95..39557a0a9 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -229,7 +229,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels, Galileo_channels + GPS_channels);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels);
 }
 
 
@@ -243,7 +244,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(std::shared_ptr<Con
     Galileo_channels += configuration->property("Channels_5X.count", 0);
     unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
     GPS_channels += configuration->property("Channels_2S.count", 0);
-    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels, 0);
+    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
+    return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels + Glonass_channels, 0);
 }
 
 

From 7f4fc690dff629407709aadeda740d3e6f737906 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:21:21 -0300
Subject: [PATCH 152/379] Update glonass prn table

---
 src/core/system_parameters/Glonass_L1_CA.h | 57 ++++++++++++----------
 1 file changed, 30 insertions(+), 27 deletions(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index f6391c56b..5661c2a52 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -2,8 +2,10 @@
 #define GNSS_SDR_GLONASS_L1_CA_H_
 
 #include <vector>
-#include <utility> // std::pair
+#include <map> // std::map
 #include "MATH_CONSTANTS.h"
+#include "gnss_frequencies.h"
+
 
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
@@ -28,36 +30,37 @@ const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at su
 
 
 // carrier and code frequencies
-const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
 
-// GLONASS SV's orbital slots
-const short int GLONASS_PRN[24] = { 1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2,   //Plane 3
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2};  //Plane 3
+// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
+const std::map<unsigned int, int> GLONASS_PRN = 
+                                               {{ 1, 1,},  //Plane 1
+                                                { 2,-4,},  //Plane 1
+                                                { 3, 5,},  //Plane 1
+                                                { 4, 6,},  //Plane 1
+                                                { 5, 1,},  //Plane 1
+                                                { 6,-4,},  //Plane 1
+                                                { 7, 5,},  //Plane 1
+                                                { 8, 6,},  //Plane 1
+                                                { 9,-2,},  //Plane 2
+                                                {10,-7,},  //Plane 2
+                                                {11, 0,},  //Plane 2
+                                                {12,-1,},  //Plane 2
+                                                {13,-2,},  //Plane 2
+                                                {14,-7,},  //Plane 2
+                                                {15, 0,},  //Plane 2
+                                                {16,-1,},  //Plane 2
+                                                {17, 4,},  //Plane 3
+                                                {18,-3,},  //Plane 3
+                                                {19, 3,},  //Plane 3
+                                                {20, 2,},  //Plane 3
+                                                {21, 4,},  //Plane 3
+                                                {22,-3,},  //Plane 3
+                                                {23, 3,},  //Plane 3
+                                                {24, 2}};  //Plane 3
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 4a74e308902d6500ba68e0ba830228e86b29fb3f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 153/379] Add FDMA protocol to pcps algorithm

---
 .../glonass_l1_ca_pcps_acquisition.cc         |  6 -----
 .../gnuradio_blocks/pcps_acquisition_cc.cc    | 25 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  8 ++----
 3 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index a8e25b151..2ef2828f1 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -36,14 +36,8 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     //--- Find number of samples per spreading code -------------------------
     code_length_ = round(fs_in_ / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
 
-    LOG(ERROR) << "fs_in_ " << fs_in_;
-    LOG(ERROR) << "code_length_ " << code_length_;
-
     vector_length_ = code_length_ * sampled_ms_;
 
-    LOG(ERROR) << "vector_length_ " << vector_length_;
-    
-
     if( bit_transition_flag_ )
         {
             vector_length_ *= 2;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 21efd08b4..68fd54202 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -34,6 +34,7 @@
 
 #include "pcps_acquisition_cc.h"
 #include <sstream>
+#include <cstring>
 #include <boost/filesystem.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
@@ -159,6 +160,11 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -179,6 +185,21 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+bool pcps_acquisition_cc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
 
 void pcps_acquisition_cc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
@@ -203,7 +224,10 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+}
 
+void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
+{
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
 
@@ -216,6 +240,7 @@ void pcps_acquisition_cc::init()
 }
 
 
+
 void pcps_acquisition_cc::set_state(int state)
 {
     gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index d1443d18c..792835114 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -95,6 +95,8 @@ private:
             std::string dump_filename);
 
     void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
 
     void send_negative_acquisition();
     void send_positive_acquisition();
@@ -148,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From 3ee267448e33c5d82fd9b6a7b4ce994432159a61 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 154/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 src/core/system_parameters/Glonass_L1_CA.h | 32 ++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 5661c2a52..210048772 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -30,12 +30,17 @@ const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at su
 
 
 // carrier and code frequencies
+<<<<<<< 4a74e308902d6500ba68e0ba830228e86b29fb3f
 const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
+=======
+const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
+>>>>>>> Add Glonass_L1_CA.h with Glonass L1 CA parameters
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
 
+<<<<<<< 4a74e308902d6500ba68e0ba830228e86b29fb3f
 // GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN = 
                                                {{ 1, 1,},  //Plane 1
@@ -62,5 +67,32 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {22,-3,},  //Plane 3
                                                 {23, 3,},  //Plane 3
                                                 {24, 2}};  //Plane 3
+=======
+// GLONASS SV's orbital slots
+const short int GLONASS_PRN[24] = { 1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    1,   //Plane 1
+                                    -4,  //Plane 1
+                                    5,   //Plane 1
+                                    6,   //Plane 1
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    -2,  //Plane 2
+                                    -7,  //Plane 2
+                                    0,   //Plane 2
+                                    -1,  //Plane 2
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2,   //Plane 3
+                                    4,   //Plane 3
+                                    -3,  //Plane 3
+                                    3,   //Plane 3
+                                    2};  //Plane 3
+>>>>>>> Add Glonass_L1_CA.h with Glonass L1 CA parameters
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 26b58fa759907ec25e90b4e1b2a8edbd7a415411 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 155/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 792835114..372c9f9f7 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -150,6 +150,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From f72c2f6a750bca132e4ad1073563d91ead19368b Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 156/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 16d0d3ae7..c652ee061 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -748,7 +748,11 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
+=======
+                            *available_gnss_prn_iter), std::string("5X")));
+>>>>>>> Add glonass svn in signals list
                 }
         }
     /*

From a84bdc7d54fd648b54abf69bab33cee9c1329482 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 157/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index c652ee061..b148a5948 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -748,11 +748,15 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
 <<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
 =======
                             *available_gnss_prn_iter), std::string("5X")));
 >>>>>>> Add glonass svn in signals list
+=======
+                            *available_gnss_prn_iter), std::string("1G")));
+>>>>>>> fix glonass signal string
                 }
         }
     /*

From 4fe9f37578ec118c3b47dcadc231d9f47fc3e025 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 158/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 891febcb9..495925c3d 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,6 +36,7 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -45,3 +46,14 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
+=======
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+>>>>>>> Add code for C/A signal generation for glonass

From c281ae769af291503abeeec5ce558d33618b01cb Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 159/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 495925c3d..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,7 +36,6 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -46,14 +45,3 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
-=======
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
-
-//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
-
-//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
-
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
->>>>>>> Add code for C/A signal generation for glonass

From fc4ba6a1149ac5b693774fc7a5643afab6db433e Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:21:21 -0300
Subject: [PATCH 160/379] Update glonass prn table

---
 src/core/system_parameters/Glonass_L1_CA.h | 32 ----------------------
 1 file changed, 32 deletions(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 210048772..5661c2a52 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -30,17 +30,12 @@ const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at su
 
 
 // carrier and code frequencies
-<<<<<<< 4a74e308902d6500ba68e0ba830228e86b29fb3f
 const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
-=======
-const double GLONASS_L1_FREQ_HZ              = 1.602e9; //!< L1 [Hz]
->>>>>>> Add Glonass_L1_CA.h with Glonass L1 CA parameters
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
 
-<<<<<<< 4a74e308902d6500ba68e0ba830228e86b29fb3f
 // GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN = 
                                                {{ 1, 1,},  //Plane 1
@@ -67,32 +62,5 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {22,-3,},  //Plane 3
                                                 {23, 3,},  //Plane 3
                                                 {24, 2}};  //Plane 3
-=======
-// GLONASS SV's orbital slots
-const short int GLONASS_PRN[24] = { 1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    1,   //Plane 1
-                                    -4,  //Plane 1
-                                    5,   //Plane 1
-                                    6,   //Plane 1
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    -2,  //Plane 2
-                                    -7,  //Plane 2
-                                    0,   //Plane 2
-                                    -1,  //Plane 2
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2,   //Plane 3
-                                    4,   //Plane 3
-                                    -3,  //Plane 3
-                                    3,   //Plane 3
-                                    2};  //Plane 3
->>>>>>> Add Glonass_L1_CA.h with Glonass L1 CA parameters
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 6525c57e8ea3402ea26513dea2f85c45749ed34f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 161/379] Add FDMA protocol to pcps algorithm

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 372c9f9f7..792835114 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -150,12 +150,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From 1859f591e78f63054942359773e760afd5807b29 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:29:33 -0300
Subject: [PATCH 162/379] fix another conflict

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 5661c2a52..bd529b34e 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -6,7 +6,6 @@
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 
-
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
 const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]

From 80d232158ef1983c6108fa6ca2dd1bdbcc39a394 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:39:14 -0300
Subject: [PATCH 163/379] Fix wipeoff bug

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 68fd54202..d009ced91 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -224,6 +224,16 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
 }
 
 void pcps_acquisition_cc::update_grid_doppler_wipeoffs()

From bfa0d507714c39fa4e2f73fac0af045f24df74e8 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:41:38 -0300
Subject: [PATCH 164/379] Add glonass acquisition tests

---
 src/tests/test_main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index c149edc2c..6839c41a8 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -101,6 +101,8 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc"
 //#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc"
 #if OPENCL_BLOCKS_TEST
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"

From 936c5d5beab8e2b579a65907c16a0d5b7e2d71dc Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:53:06 -0300
Subject: [PATCH 165/379] Add unit-test for glonass pcps acquisition

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 616 ++++++++++++++++++
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 237 +++++++
 2 files changed, 853 insertions(+)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
new file mode 100644
index 000000000..421da60c3
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -0,0 +1,616 @@
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gtest/gtest.h>
+#include "gnss_block_interface.h"
+#include "in_memory_configuration.h"
+#include "configuration_interface.h"
+#include "gnss_synchro.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include "signal_generator.h"
+#include "signal_generator_c.h"
+#include "fir_filter.h"
+#include "gen_signal_source.h"
+#include "gnss_sdr_valve.h"
+#include "boost/shared_ptr.hpp"
+#include "pass_through.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr;
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue);
+
+
+class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue);
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue<int>& queue);
+    concurrent_queue<int>& channel_internal_queue;
+public:
+    int rx_message;
+    ~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(); //!< Default destructor
+};
+
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue<int>& queue)
+{
+    return GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(queue));
+}
+
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+            channel_internal_queue.push(rx_message);
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue<int>& queue) :
+    gr::block("GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx()
+{}
+
+
+// ###########################################################
+
+class GlonassL1CaPcpsAcquisitionGSoC2017Test: public ::testing::Test
+{
+protected:
+    GlonassL1CaPcpsAcquisitionGSoC2017Test()
+    {
+        item_size = sizeof(gr_complex);
+        stop = false;
+        message = 0;
+        gnss_synchro = Gnss_Synchro();
+        acquisition = 0;
+        init();
+    }
+
+    ~GlonassL1CaPcpsAcquisitionGSoC2017Test()
+    {
+    }
+
+    void init();
+    void config_1();
+    void config_2();
+    void start_queue();
+    void wait_message();
+    void process_message();
+    void stop_queue();
+
+    concurrent_queue<int> channel_internal_queue;
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    GlonassL1CaPcpsAcquisition *acquisition;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+    bool stop;
+    int message;
+    boost::thread ch_thread;
+
+    unsigned int integration_time_ms = 0;
+    unsigned int fs_in = 0;
+
+    double expected_delay_chips = 0.0;
+    double expected_doppler_hz = 0.0;
+    float max_doppler_error_hz = 0.0;
+    float max_delay_error_chips = 0.0;
+
+    unsigned int num_of_realizations = 0;
+    unsigned int realization_counter;
+    unsigned int detection_counter;
+    unsigned int correct_estimation_counter;
+    unsigned int acquired_samples;
+    unsigned int mean_acq_time_us;
+
+    double mse_doppler;
+    double mse_delay;
+
+    double Pd;
+    double Pfa_p;
+    double Pfa_a;
+};
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
+{
+    message = 0;
+    realization_counter = 0;
+    detection_counter = 0;
+    correct_estimation_counter = 0;
+    acquired_samples = 0;
+    mse_doppler = 0;
+    mse_delay = 0;
+    mean_acq_time_us = 0;
+    Pd = 0;
+    Pfa_p = 0;
+    Pfa_a = 0;
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 4e6;
+
+    expected_delay_chips = 600;
+    expected_doppler_hz = 750;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 1;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "1");
+
+    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.8");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 4e6;
+
+    expected_delay_chips = 600;
+    expected_doppler_hz = 750;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_1", "G");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "G");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
+{
+    stop = false;
+    ch_thread = boost::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+
+    while (!stop)
+        {
+            acquisition->reset();
+
+            gettimeofday(&tv, NULL);
+            begin = tv.tv_sec *1e6 + tv.tv_usec;
+
+            channel_internal_queue.wait_and_pop(message);
+
+            gettimeofday(&tv, NULL);
+            end = tv.tv_sec *1e6 + tv.tv_usec;
+
+            mean_acq_time_us += (end-begin);
+
+            process_message();
+        }
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
+{
+    if (message == 1)
+        {
+            detection_counter++;
+
+            // The term -5 is here to correct the additional delay introduced by the FIR filter
+            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
+            double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+            mse_delay += std::pow(delay_error_chips, 2);
+            mse_doppler += std::pow(doppler_error_hz, 2);
+
+            if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
+                {
+                    correct_estimation_counter++;
+                }
+        }
+
+    realization_counter++;
+
+    std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
+
+    if (realization_counter == num_of_realizations)
+        {
+            mse_delay /= num_of_realizations;
+            mse_doppler /= num_of_realizations;
+
+            Pd = (double)correct_estimation_counter / (double)num_of_realizations;
+            Pfa_a = (double)detection_counter / (double)num_of_realizations;
+            Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
+
+            mean_acq_time_us /= num_of_realizations;
+
+            stop_queue();
+            top_block->stop();
+        }
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
+{
+    stop = true;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
+{
+    config_1();
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
+{
+    int nsamples = floor(fs_in*integration_time_ms*1e-3);
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    config_1();
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test."<< std::endl;
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1e6 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1e6 + tv.tv_usec;
+    }) << "Failure running the top_block."<< std::endl;
+
+    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
+{
+    config_1();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(10000);
+    }) << "Failure setting doppler_max."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(500);
+    }) << "Failure setting doppler_step."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(0.5);
+    }) << "Failure setting threshold."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+
+    acquisition->init();
+
+    ASSERT_NO_THROW( {
+        boost::shared_ptr<GenSignalSource> signal_source;
+        SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
+        FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
+        signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
+        signal_source->connect(top_block);
+        top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    // i = 0 --> satellite in acquisition is visible
+    // i = 1 --> satellite in acquisition is not visible
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 10; // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 20; // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+            acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+            start_queue();
+
+            EXPECT_NO_THROW( {
+                top_block->run(); // Start threads and wait
+            }) << "Failure running the top_block."<< std::endl;
+
+            if (i == 0)
+            {
+                EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+                if (message == 1)
+                    {
+                        EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
+                    }
+
+            }
+            else if (i == 1)
+            {
+                EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
+            }
+#ifdef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.timed_join(boost::posix_time::seconds(1));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+#ifndef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+        }
+
+    delete acquisition;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
+{
+    config_2();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Acquisition test");
+    acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
+    }) << "Failure setting doppler_max."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
+    }) << "Failure setting doppler_step."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
+    }) << "Failure setting threshold."<< std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+
+    acquisition->init();
+
+    ASSERT_NO_THROW( {
+        boost::shared_ptr<GenSignalSource> signal_source;
+        SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
+        FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
+        signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
+        signal_source->connect(top_block);
+        top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+
+    // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
+    // i = 1 --> satellite in acquisition is not visible (prob of false detection)
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 10; // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 20; // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+
+            start_queue();
+
+            EXPECT_NO_THROW( {
+                top_block->run(); // Start threads and wait
+            }) << "Failure running the top_block."<< std::endl;
+
+            if (i == 0)
+            {
+                std::cout << "Estimated probability of detection = " << Pd << std::endl;
+                std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
+                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
+            else if (i == 1)
+            {
+                std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
+                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
+            }
+#ifdef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.timed_join(boost::posix_time::seconds(1));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+#ifndef OLD_BOOST
+            ASSERT_NO_THROW( {
+                ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
+            }) << "Failure while waiting the queue to stop" << std::endl;
+#endif
+        }
+
+    delete acquisition;
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
new file mode 100644
index 000000000..7b3a7fee7
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -0,0 +1,237 @@
+#include <ctime>
+#include <cstdlib>
+#include <iostream>
+#include <boost/chrono.hpp>
+#include <boost/make_shared.hpp>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaPcpsAcquisitionTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr;
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+class GlonassL1CaPcpsAcquisitionTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaPcpsAcquisitionTest_msg_rx();
+public:
+    int rx_message;
+    ~GlonassL1CaPcpsAcquisitionTest_msg_rx(); //!< Default destructor
+};
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make()
+{
+    return GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionTest_msg_rx());
+}
+
+
+void GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
+            rx_message = 0;
+    }
+}
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx::GlonassL1CaPcpsAcquisitionTest_msg_rx() :
+    gr::block("GlonassL1CaPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+
+GlonassL1CaPcpsAcquisitionTest_msg_rx::~GlonassL1CaPcpsAcquisitionTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+class GlonassL1CaPcpsAcquisitionTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaPcpsAcquisitionTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaPcpsAcquisitionTest()
+    {}
+
+    void init();
+
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaPcpsAcquisitionTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_hz", "4000000");
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.coherent_integration_time_ms", "1");
+    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump_filename", "./acquisition.dat");
+    config->set_property("Acquisition.implementation", "Glonass_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.001");
+    config->set_property("Acquisition.doppler_max", "5000");
+    config->set_property("Acquisition.doppler_step", "500");
+    config->set_property("Acquisition.repeat_satellite", "false");
+    config->set_property("Acquisition.pfa", "0.0");
+}
+
+
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
+{
+    init();
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
+{
+    int fs_in = 4000000;
+    int nsamples = 4000;
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+
+    top_block = gr::make_top_block("Acquisition test");
+    init();
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+        boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        top_block->connect(source, 0, valve, 0);
+        top_block->connect(valve, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec * 1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}
+
+TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    top_block = gr::make_top_block("Acquisition test");
+
+    double expected_delay_samples = 524;
+    double expected_doppler_hz = 1680;
+    init();
+    std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+
+    boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
+
+    ASSERT_NO_THROW( {
+        acquisition->set_channel(1);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_threshold(0.1);
+    }) << "Failure setting threshold." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_max(10000);
+    }) << "Failure setting doppler_max." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->set_doppler_step(250);
+    }) << "Failure setting doppler_step." << std::endl;
+
+    ASSERT_NO_THROW( {
+        acquisition->connect(top_block);
+    }) << "Failure connecting acquisition to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        std::string path = std::string(TEST_PATH);
+        std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
+        // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+
+
+    acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+    acquisition->init();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec * 1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+
+    unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
+    std::cout <<  "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+
+    ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+
+    double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
+    float delay_error_chips = (float)(delay_error_samples * 511 / 4000);
+    double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+    EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
+    EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
+
+}

From 52140c85f29e5be497645f5223e10dd5c5561319 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:51:28 -0300
Subject: [PATCH 166/379] Add glonass signal acquisition

---
 .../gnuradio_blocks/pcps_acquisition_sc.cc    | 36 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_sc.h     |  3 ++
 2 files changed, 39 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index c265dee17..c4d20f962 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -41,6 +41,8 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
+#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
+
 
 using google::LogMessage;
 
@@ -159,6 +161,11 @@ pcps_acquisition_sc::~pcps_acquisition_sc()
 
 void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 {
+    // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
+    if( is_fdma() )
+        {
+            update_grid_doppler_wipeoffs();
+        }
     // COD
     // Here we want to create a buffer that looks like this:
     // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
@@ -175,6 +182,22 @@ void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 }
 
 
+bool pcps_acquisition_sc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
 void pcps_acquisition_sc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
 {
     float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in);
@@ -211,6 +234,19 @@ void pcps_acquisition_sc::init()
 }
 
 
+void pcps_acquisition_sc::update_grid_doppler_wipeoffs()
+{
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
+}
+
 
 void pcps_acquisition_sc::set_state(int state)
 {
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
index 1b3ab7bf6..5f207d8b8 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
@@ -97,6 +97,9 @@ private:
             int correlator_length_samples,
             float freq);
 
+    void update_grid_doppler_wipeoffs();
+    bool is_fdma();
+
     long d_fs_in;
     long d_freq;
     int d_samples_per_ms;

From cd8527d99e92e79ffb3e385c1101bb637d494736 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:53:10 -0300
Subject: [PATCH 167/379] Add chip delay in Glonass L1 CA Code

---
 .../libs/glonass_l1_signal_processing.cc      | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index d19b349ab..96b8cfa9b 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -41,6 +41,7 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
     bool G1_register[9];
     bool feedback1;
     bool aux;
+    unsigned int delay;
     unsigned int lcv, lcv2;
 
     for(lcv = 0; lcv < 9; lcv++)
@@ -78,6 +79,26 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
         }
 
     /* TODO: Implement the chip shifting*/
+    /* Set the delay */
+    delay = _code_length;
+    delay += _chip_shift;
+    delay %= _code_length;
+
+    /* Generate PRN from G1 and G2 Registers */
+    for(lcv = 0; lcv < _code_length; lcv++)
+        {
+            aux = G1[(lcv + _chip_shift) % _code_length];
+            if(aux == true)
+                {
+                    _dest[lcv] = std::complex<float>(1, 0);
+                }
+            else
+                {
+                    _dest[lcv] = std::complex<float>(-1, 0);
+                }
+            delay++;
+            delay %= _code_length;
+        }
 }
 
 

From 3719da985385d54c47dcf5b900c8279f5f9754c1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:57:05 -0300
Subject: [PATCH 168/379] Reset acquisition

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc        | 4 ++++
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h         | 1 +
 .../acquisition/gnuradio_blocks/pcps_acquisition_sc.cc        | 3 +++
 .../acquisition/gnuradio_blocks/pcps_acquisition_sc.h         | 1 +
 4 files changed, 9 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index d009ced91..bc2edb0ce 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -78,6 +78,7 @@ pcps_acquisition_cc::pcps_acquisition_cc(
     d_active = false;
     d_state = 0;
     d_freq = freq;
+    d_old_freq = freq;
     d_fs_in = fs_in;
     d_samples_per_ms = samples_per_ms;
     d_samples_per_code = samples_per_code;
@@ -160,6 +161,8 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
 
 void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
 {
+    // reset the intermediate frequency
+    d_freq = d_old_freq;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if( is_fdma() )
         {
@@ -185,6 +188,7 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+
 bool pcps_acquisition_cc::is_fdma()
 {
     // Dealing with FDMA system
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 792835114..4bd5ab857 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -102,6 +102,7 @@ private:
     void send_positive_acquisition();
     long d_fs_in;
     long d_freq;
+    long d_old_freq;
     int d_samples_per_ms;
     int d_samples_per_code;
     //unsigned int d_doppler_resolution;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index c4d20f962..7200ce946 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -76,6 +76,7 @@ pcps_acquisition_sc::pcps_acquisition_sc(
     d_active = false;
     d_state = 0;
     d_freq = freq;
+    d_old_freq = freq;
     d_fs_in = fs_in;
     d_samples_per_ms = samples_per_ms;
     d_samples_per_code = samples_per_code;
@@ -161,6 +162,8 @@ pcps_acquisition_sc::~pcps_acquisition_sc()
 
 void pcps_acquisition_sc::set_local_code(std::complex<float> * code)
 {
+    // reset the intermediate frequency
+    d_freq = d_old_freq;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if( is_fdma() )
         {
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
index 5f207d8b8..093c88dd8 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.h
@@ -102,6 +102,7 @@ private:
 
     long d_fs_in;
     long d_freq;
+    long d_old_freq;
     int d_samples_per_ms;
     int d_samples_per_code;
     //unsigned int d_doppler_resolution;

From 7bb3174e88f8a19bd6dae02f8000d7834ebee5d9 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:20:52 -0300
Subject: [PATCH 169/379] Add telemetry rate

---
 src/core/system_parameters/Glonass_L1_CA.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index bd529b34e..bcdfd2b32 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -37,7 +37,8 @@ const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C
 
 // GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN = 
-                                               {{ 1, 1,},  //Plane 1
+                                               {{ 0, 8,},  //For test
+                                                { 1, 1,},  //Plane 1
                                                 { 2,-4,},  //Plane 1
                                                 { 3, 5,},  //Plane 1
                                                 { 4, 6,},  //Plane 1
@@ -62,4 +63,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {23, 3,},  //Plane 3
                                                 {24, 2}};  //Plane 3
 
+
+const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 070c42164b6f9bef3392df668a8a7e806ff34fa1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:21:30 -0300
Subject: [PATCH 170/379] Add Glonass signal for tests

---
 .../gnuradio_blocks/signal_generator_c.cc     | 73 +++++++++++++++++++
 1 file changed, 73 insertions(+)

diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 86f488588..026b47352 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -34,11 +34,13 @@
 #include <gnuradio/io_signature.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "gps_sdr_signal_processing.h"
+#include "glonass_l1_signal_processing.h"
 #include "galileo_e1_signal_processing.h"
 #include "galileo_e5_signal_processing.h"
 #include "Galileo_E1.h"
 #include "Galileo_E5a.h"
 #include "GPS_L1_CA.h"
+#include "Glonass_L1_CA.h"
 
 /*
 * Create a new instance of signal_generator_c and return
@@ -107,6 +109,14 @@ void signal_generator_c::init()
                     num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
                     data_bit_duration_ms_.push_back(1e3 / GPS_CA_TELEMETRY_RATE_BITS_SECOND);
                 }
+            else if (system_[sat] == "R")
+                {
+                    samples_per_code_.push_back(round(static_cast<float>(fs_in_)
+                            / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
+
+                    num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
+                    data_bit_duration_ms_.push_back(1e3 / GLONASS_CA_TELEMETRY_RATE_BITS_SECOND);
+                }
             else if (system_[sat] == "E")
                 {
                     if (signal_[sat].at(0) == '5')
@@ -160,6 +170,28 @@ void signal_generator_c::generate_codes()
                                 }
                         }
 
+                    // Concatenate "num_of_codes_per_vector_" codes
+                    for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
+                        {
+                            memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
+                                    code, sizeof(gr_complex) * samples_per_code_[sat]);
+                        }
+                }
+            else if (system_[sat] == "R")
+                {
+                    // Generate one code-period of 1G signal
+                    glonass_l1_ca_code_gen_complex_sampled(code, /*PRN_[sat],*/ fs_in_,
+                             static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) - delay_chips_[sat]);
+
+                    // Obtain the desired CN0 assuming that Pn = 1.
+                    if (noise_flag_)
+                        {
+                            for (unsigned int i = 0; i < samples_per_code_[sat]; i++)
+                                {
+                                    code[i] *= sqrt(pow(10,CN0_dB_[sat] / 10) / BW_BB_);
+                                }
+                        }
+
                     // Concatenate "num_of_codes_per_vector_" codes
                     for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
                         {
@@ -261,6 +293,8 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
     unsigned int out_idx = 0;
     unsigned int i = 0;
     unsigned int k = 0;
+    // the intermediate frequency must set by the user
+    unsigned int freq = 9540000;
 
     for (out_idx = 0; out_idx < vector_length_; out_idx++)
         {
@@ -311,6 +345,45 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
                         }
                 }
 
+            else if (system_[sat] == "R")
+                {
+                    phase_step_rad = -static_cast<float>(GPS_TWO_PI) * (freq + (DFRQ1_GLO * GLONASS_PRN.at(PRN_[sat])) + doppler_Hz_[sat]) / static_cast<float>(fs_in_);
+                    // std::cout << "sat " << PRN_[sat] << " SG - Freq = " << (freq + (DFRQ1_GLO * GLONASS_PRN.at(PRN_[sat]))) << " Doppler = " << doppler_Hz_[sat] << std::endl;
+                    _phase[0] = -start_phase_rad_[sat];
+                    volk_gnsssdr_s32f_sincos_32fc(complex_phase_, -phase_step_rad, _phase, vector_length_);
+
+                    unsigned int delay_samples = (delay_chips_[sat] % static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS))
+                                                            * samples_per_code_[sat] / GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+
+                    for (i = 0; i < num_of_codes_per_vector_[sat]; i++)
+                        {
+                            for (k = 0; k < delay_samples; k++)
+                                {
+                                    out[out_idx] += sampled_code_data_[sat][out_idx]
+                                                                            * current_data_bits_[sat]
+                                                                                                 * complex_phase_[out_idx];
+                                    out_idx++;
+                                }
+
+                            if (ms_counter_[sat] == 0 && data_flag_)
+                                {
+                                    // New random data bit
+                                    current_data_bits_[sat] = gr_complex((uniform_dist(e1) % 2) == 0 ? 1 : -1, 0);
+                                }
+
+                            for (k = delay_samples; k < samples_per_code_[sat]; k++)
+                                {
+                                    out[out_idx] += sampled_code_data_[sat][out_idx]
+                                                                            * current_data_bits_[sat]
+                                                                                                 * complex_phase_[out_idx];
+                                    out_idx++;
+                                }
+
+                            ms_counter_[sat] = (ms_counter_[sat] + static_cast<int>(round(1e3*GLONASS_L1_CA_CODE_PERIOD)))
+                                                        % data_bit_duration_ms_[sat];
+                        }
+                }
+
             else if (system_[sat] == "E")
                 {
                     if(signal_[sat].at(0)=='5')

From be8bde063f4a035caef114daaecbef95e59a88a5 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:23:41 -0300
Subject: [PATCH 171/379] Add signal sample for glonass and installation rule

---
 src/tests/CMakeLists.txt                      |   2 ++
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 0 -> 1994068 bytes
 2 files changed, 2 insertions(+)
 create mode 100644 src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 4403d3616..e1e8d41ce 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -267,11 +267,13 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 
diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
new file mode 100644
index 0000000000000000000000000000000000000000..96132b7535547ae705134f15579a6f5ea51d9671
GIT binary patch
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literal 0
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From e02e8f8df4130d977026f62ea85bc63a179e4bb3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:29 -0300
Subject: [PATCH 172/379] Update test

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 224 ++++++++++--------
 1 file changed, 124 insertions(+), 100 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 421da60c3..17365541e 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -161,10 +161,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 4e6;
+    fs_in = 62316000;
 
-    expected_delay_chips = 600;
-    expected_doppler_hz = 750;
+    expected_delay_chips = 457;
+    expected_doppler_hz = -2000;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
 
@@ -178,14 +178,119 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "1");
+    config->set_property("SignalSource.num_satellites", "4");
 
-    config->set_property("SignalSource.system_0", "G");
+    config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
     config->set_property("SignalSource.CN0_dB_0", "44");
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.coherent_integration_time_ms",
+                         std::to_string(integration_time_ms));
+    config->set_property("Acquisition.max_dwells", "1");
+    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition.threshold", "0.8");
+    config->set_property("Acquisition.doppler_max", "10000");
+    config->set_property("Acquisition.doppler_step", "250");
+    config->set_property("Acquisition.bit_transition_flag", "false");
+    config->set_property("Acquisition.dump", "false");
+}
+
+void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal,2,0);
+
+    integration_time_ms = 1;
+    fs_in = 62316000;
+
+    expected_delay_chips = 457;
+    expected_doppler_hz = -2000;
+    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "R");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
     config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
@@ -210,99 +315,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.threshold", "0.8");
-    config->set_property("Acquisition.doppler_max", "10000");
-    config->set_property("Acquisition.doppler_step", "250");
-    config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
-}
-
-void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
-{
-    gnss_synchro.Channel_ID = 0;
-    gnss_synchro.System = 'R';
-    std::string signal = "1G";
-    signal.copy(gnss_synchro.Signal,2,0);
-
-    integration_time_ms = 1;
-    fs_in = 4e6;
-
-    expected_delay_chips = 600;
-    expected_doppler_hz = 750;
-    max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
-    max_delay_error_chips = 0.50;
-
-    num_of_realizations = 100;
-
-    config = std::make_shared<InMemoryConfiguration>();
-
-    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
-
-    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
-
-    config->set_property("SignalSource.item_type", "gr_complex");
-
-    config->set_property("SignalSource.num_satellites", "4");
-
-    config->set_property("SignalSource.system_0", "G");
-    config->set_property("SignalSource.PRN_0", "10");
-    config->set_property("SignalSource.CN0_dB_0", "44");
-    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
-    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
-
-    config->set_property("SignalSource.system_1", "G");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "G");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "true");
-    config->set_property("SignalSource.data_flag", "true");
-    config->set_property("SignalSource.BW_BB", "0.97");
-
-    config->set_property("InputFilter.implementation", "Fir_Filter");
-    config->set_property("InputFilter.input_item_type", "gr_complex");
-    config->set_property("InputFilter.output_item_type", "gr_complex");
-    config->set_property("InputFilter.taps_item_type", "float");
-    config->set_property("InputFilter.number_of_taps", "11");
-    config->set_property("InputFilter.number_of_bands", "2");
-    config->set_property("InputFilter.band1_begin", "0.0");
-    config->set_property("InputFilter.band1_end", "0.97");
-    config->set_property("InputFilter.band2_begin", "0.98");
-    config->set_property("InputFilter.band2_end", "1.0");
-    config->set_property("InputFilter.ampl1_begin", "1.0");
-    config->set_property("InputFilter.ampl1_end", "1.0");
-    config->set_property("InputFilter.ampl2_begin", "0.0");
-    config->set_property("InputFilter.ampl2_end", "0.0");
-    config->set_property("InputFilter.band1_error", "1.0");
-    config->set_property("InputFilter.band2_error", "1.0");
-    config->set_property("InputFilter.filter_type", "bandpass");
-    config->set_property("InputFilter.grid_density", "16");
-
-    config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
-    config->set_property("Acquisition.coherent_integration_time_ms",
-                         std::to_string(integration_time_ms));
-    config->set_property("Acquisition.max_dwells", "1");
-    config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.pfa", "0.0001");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -346,11 +364,16 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             detection_counter++;
 
             // The term -5 is here to correct the additional delay introduced by the FIR filter
-            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3));
+            // The value 511.0 must be a variable, chips/length
+            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
+            // std::cout << "delay_error_chips = " << delay_error_chips << std::endl;
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
+            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
+            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -447,11 +470,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(500);
+        acquisition->set_doppler_step(250);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.5);
+        acquisition->set_threshold(0.05);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -461,14 +484,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    ASSERT_NO_THROW( {
+    //ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -565,7 +588,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -614,3 +637,4 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 
     delete acquisition;
 }
+

From 3550a4dfb72616bfd60cf9bfd6f0284d86da4e04 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:49 -0300
Subject: [PATCH 173/379] Update test

---
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 22 +++++++++----------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 7b3a7fee7..2a42f3bfa 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -103,10 +103,10 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     gnss_synchro.System = 'R';
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 1;
-    config->set_property("GNSS-SDR.internal_fs_hz", "4000000");
+    gnss_synchro.PRN = 10;
+    config->set_property("GNSS-SDR.internal_fs_hz", "62316000");
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
     config->set_property("Acquisition.dump", "true");
     config->set_property("Acquisition.dump_filename", "./acquisition.dat");
@@ -128,8 +128,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 4000000;
-    int nsamples = 4000;
+    int fs_in = 62316000;
+    int nsamples = 62316;
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
@@ -168,8 +168,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     long long int end = 0;
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 524;
-    double expected_doppler_hz = 1680;
+    double expected_delay_samples = 31839;
+    double expected_doppler_hz = 250;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 
@@ -184,7 +184,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro." << std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.1);
+        acquisition->set_threshold(0.001);
     }) << "Failure setting threshold." << std::endl;
 
     ASSERT_NO_THROW( {
@@ -201,8 +201,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
 
     ASSERT_NO_THROW( {
         std::string path = std::string(TEST_PATH);
-        std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
-        // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat";
+        std::string file = path + "signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat";
         const char * file_name = file.c_str();
         gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
         top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
@@ -228,10 +227,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
 
     double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
-    float delay_error_chips = (float)(delay_error_samples * 511 / 4000);
+    float delay_error_chips = (float)(delay_error_samples * 511 / 62316);
     double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
     EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
     EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
-
 }

From e15dace0d3d122e4e370b0e06036a35728617242 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:26:57 -0300
Subject: [PATCH 174/379] Add plot function for glonass acquisition

---
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m | 98 +++++++++++++++++++
 1 file changed, 98 insertions(+)
 create mode 100644 src/utils/matlab/plot_acq_grid_gsoc_glonass.m

diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
new file mode 100644
index 000000000..527cfd630
--- /dev/null
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -0,0 +1,98 @@
+% /*!
+%  * \file plot_acq_grid_gsoc.m
+%  * \brief Read GNSS-SDR Acquisition dump binary file using the provided
+%  function and plot acquisition grid of acquisition statistic of PRN sat
+%
+%  This function analyzes a experiment performed by Luis Esteve in the framework 
+%  of the Google Summer of Code (GSoC) 2012, with the collaboration of Javier Arribas
+%  and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
+%
+%  * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */ 
+
+function plot_acq_grid_gsoc_glonass(sat)
+
+file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
+
+sampling_freq_Hz=62316000
+Doppler_max_Hz = 10000
+Doppler_min_Hz = -10000
+Doppler_step_Hz = 250
+
+
+% read files
+
+x=read_complex_binary (file);
+
+l_y=length(x);
+
+Doppler_axes=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz;
+
+l_x=length(Doppler_axes);
+
+acq_grid = zeros(l_x,l_y);
+
+index=0;
+
+for k=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz
+    index=index+1;
+    filename=['acquisition_R_1G_sat_' num2str(sat) '_doppler_' num2str(k) '.dat'];
+    acq_grid(index,:)=abs(read_complex_binary (filename));
+ end
+
+ acq_grid = acq_grid.^2;
+
+maximum_correlation_peak = max(max(acq_grid))
+
+[fila,col]=find(acq_grid==max(max(acq_grid)));
+
+delay_error_sps = col -1
+
+Doppler_error_Hz = Doppler_axes(fila)
+
+noise_grid=acq_grid;
+delay_span=floor(3*sampling_freq_Hz/(0.511e6));
+Doppler_span=floor(500/Doppler_step_Hz);
+noise_grid(fila-Doppler_span:fila+Doppler_span,col-delay_span:col+delay_span)=0;
+
+n=numel(noise_grid)-(2*delay_span+1)*(2*Doppler_span+1);
+
+noise_floor= sum(sum(noise_grid))/n
+
+Gain_dbs = 10*log10(maximum_correlation_peak/noise_floor)
+
+
+%% Plot 3D FULL RESOLUTION
+
+
+[X,Y] = meshgrid(Doppler_axes,1:1:l_y);
+figure;
+surf(X,Y,acq_grid');
+
+xlabel('Doppler(Hz)');ylabel('Code Delay(samples)');title(['GLRT statistic of Glonass Parallel Code Phase Search Acquisition. Local replica: L1 cboc PRN ' num2str(sat)]);
+
+
+end

From 88177d772e9d4f88e6de28ac7a518d96be240ee1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:00 -0300
Subject: [PATCH 175/379] Update signal generator for glonass

---
 .../signal_generator/adapters/signal_generator.cc           | 6 ++++++
 .../signal_generator/gnuradio_blocks/signal_generator_c.cc  | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc
index 35ecfdddc..a2ef90cdf 100644
--- a/src/algorithms/signal_generator/adapters/signal_generator.cc
+++ b/src/algorithms/signal_generator/adapters/signal_generator.cc
@@ -36,6 +36,7 @@
 #include "Galileo_E1.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E5a.h"
+#include "Glonass_L1_CA.h"
 
 
 using google::LogMessage;
@@ -102,6 +103,11 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
             vector_length = round(static_cast<float>(fs_in)
                     / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
         }
+    else if (std::find(system.begin(), system.end(), "R") != system.end())
+        {
+            vector_length = round((float)fs_in
+                    / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+        }
 
     if (item_type_.compare("gr_complex") == 0)
         {
diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 026b47352..a99c4751d 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -293,8 +293,8 @@ int signal_generator_c::general_work (int noutput_items __attribute__((unused)),
     unsigned int out_idx = 0;
     unsigned int i = 0;
     unsigned int k = 0;
-    // the intermediate frequency must set by the user
-    unsigned int freq = 9540000;
+    // the intermediate frequency must be set by the user
+    unsigned int freq = 4e6;
 
     for (out_idx = 0; out_idx < vector_length_; out_idx++)
         {

From 195c836922960f03af377e104d2f48816a30b265 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:35 -0300
Subject: [PATCH 176/379] Update tests

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 64 ++++++-------------
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 12 ++--
 2 files changed, 27 insertions(+), 49 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 17365541e..2899b4844 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -161,10 +161,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 62316000;
+    fs_in = 31.75e6;
 
-    expected_delay_chips = 457;
-    expected_doppler_hz = -2000;
+    expected_delay_chips = 255;
+    expected_doppler_hz = -1500;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
 
@@ -178,7 +178,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "4");
+    config->set_property("SignalSource.num_satellites", "1");
 
     config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
@@ -186,26 +186,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.system_1", "R");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "R");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -228,7 +210,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.if", "4000000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
@@ -237,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
+    config->set_property("Acquisition.dump", "true");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
@@ -248,9 +230,9 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     signal.copy(gnss_synchro.Signal,2,0);
 
     integration_time_ms = 1;
-    fs_in = 62316000;
+    fs_in = 31.75e6;
 
-    expected_delay_chips = 457;
+    expected_delay_chips = 374;
     expected_doppler_hz = -2000;
     max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
     max_delay_error_chips = 0.50;
@@ -285,14 +267,14 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("SignalSource.doppler_Hz_2", "2000");
     config->set_property("SignalSource.delay_chips_2", "200");
 
-    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.system_3", "R");
     config->set_property("SignalSource.PRN_3", "22");
     config->set_property("SignalSource.CN0_dB_3", "44");
     config->set_property("SignalSource.doppler_Hz_3", "3000");
     config->set_property("SignalSource.delay_chips_3", "300");
 
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -315,12 +297,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("InputFilter.grid_density", "16");
 
     config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
+    config->set_property("Acquisition.if", "4000000");
     config->set_property("Acquisition.coherent_integration_time_ms",
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.0001");
+    config->set_property("Acquisition.pfa", "0.1");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -366,14 +348,10 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             // The term -5 is here to correct the additional delay introduced by the FIR filter
             // The value 511.0 must be a variable, chips/length
             double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
-            // std::cout << "delay_error_chips = " << delay_error_chips << std::endl;
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
-            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
-            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
-            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -470,11 +448,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(250);
+        acquisition->set_doppler_step(500);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.05);
+        acquisition->set_threshold(0.5);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -484,14 +462,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    //ASSERT_NO_THROW( {
+    ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -588,7 +566,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -602,7 +580,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
                 }
             else if (i == 1)
                 {
-                    gnss_synchro.PRN = 20; // This satellite is not visible
+                    gnss_synchro.PRN = 1; // This satellite is not visible
                 }
 
             acquisition->set_local_code();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 2a42f3bfa..1a29bda80 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -103,8 +103,8 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     gnss_synchro.System = 'R';
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 10;
-    config->set_property("GNSS-SDR.internal_fs_hz", "62316000");
+    gnss_synchro.PRN = 1;
+    config->set_property("GNSS-SDR.internal_fs_hz", "62314000");
     config->set_property("Acquisition.item_type", "gr_complex");
     config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
@@ -128,8 +128,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 62316000;
-    int nsamples = 62316;
+    int fs_in = 62314000;
+    int nsamples = 62314;
     struct timeval tv;
     long long int begin = 0;
     long long int end = 0;
@@ -168,8 +168,8 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     long long int end = 0;
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 31839;
-    double expected_doppler_hz = 250;
+    double expected_delay_samples = 31874;
+    double expected_doppler_hz = -9500;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 

From d796a74f237bf0a8976005140e5a962adf923e76 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:43:45 -0300
Subject: [PATCH 177/379] Update tests utils

---
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 1994068 -> 1994068 bytes
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m |   5 +++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
index 96132b7535547ae705134f15579a6f5ea51d9671..8d7b27c2543daf5f94bb45fc6bee9707d85deded 100644
GIT binary patch
literal 1994068
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zvb=U(=s1h+nlJxPar|4v2c;tB|KeKFaem2T7{(tj?p;b;E#Gu-q+{*{OIlo`q#+&W
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diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
index 527cfd630..385a53030 100644
--- a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -37,10 +37,11 @@ function plot_acq_grid_gsoc_glonass(sat)
 
 file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
 
-sampling_freq_Hz=62316000
+% sampling_freq_Hz=62316000
+sampling_freq_Hz=31.75e6
 Doppler_max_Hz = 10000
 Doppler_min_Hz = -10000
-Doppler_step_Hz = 250
+Doppler_step_Hz = 500
 
 
 % read files

From 455783781461f3275a2fa215a5ee55609529d021 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 20:52:19 -0300
Subject: [PATCH 178/379] Set noise_flag and dump to false

---
 .../glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 2899b4844..a346cf12f 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -186,7 +186,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
@@ -219,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump", "false");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()

From b7c3221ca54e27302dda9011024eae3aa1333a26 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:47:00 -0300
Subject: [PATCH 179/379] Add adapter for Glonass L1 C/A tracking

---
 .../tracking/adapters/CMakeLists.txt          |   1 +
 .../glonass_l1_ca_dll_pll_tracking.cc         | 111 ++++++++++++++++++
 .../adapters/glonass_l1_ca_dll_pll_tracking.h |  67 +++++++++++
 3 files changed, 179 insertions(+)
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h

diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index da2051114..7e1f93924 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -33,6 +33,7 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l1_ca_tcp_connector_tracking.cc
      galileo_e5a_dll_pll_tracking.cc
      gps_l2_m_dll_pll_tracking.cc
+     glonass_l1_ca_dll_pll_tracking.cc
      ${OPT_TRACKING_ADAPTERS}
 )
  
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
new file mode 100644
index 000000000..6209f9299
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -0,0 +1,111 @@
+#include "glonass_l1_ca_dll_pll_tracking.h"
+#include <glog/logging.h>
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string item_type;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float dll_bw_hz;
+    float early_late_space_chips;
+    item_type = configuration->property(role + ".item_type", default_item_type);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
+    vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_ = glonass_l1_ca_dll_pll_make_tracking_cc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    early_late_space_chips);
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type << " unknown tracking item type.";
+        }
+    channel_ = 0;
+    DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+
+GlonassL1CaDllPllTracking::~GlonassL1CaDllPllTracking()
+{}
+
+
+void GlonassL1CaDllPllTracking::start_tracking()
+{
+    tracking_->start_tracking();
+}
+
+
+/*
+ * Set tracking channel unique ID
+ */
+void GlonassL1CaDllPllTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    tracking_->set_channel(channel);
+}
+
+
+void GlonassL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+
+void GlonassL1CaDllPllTracking::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+
+void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_left_block()
+{
+    return tracking_;
+}
+
+
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
+{
+    return tracking_;
+}
+
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
new file mode 100644
index 000000000..b9d39cbef
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -0,0 +1,67 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
+
+#include <string>
+#include "tracking_interface.h"
+#include "glonass_l1_ca_dll_pll_tracking_cc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GlonassL1CaDllPllTracking : public TrackingInterface
+{
+public:
+    GlonassL1CaDllPllTracking(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaDllPllTracking();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_DLL_PLL_Tracking"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_DLL_PLL_Tracking";
+    }
+
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+    void start_tracking();
+
+private:
+    glonass_l1_ca_dll_pll_tracking_cc_sptr tracking_;
+    size_t item_size_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif // GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_

From 970c32529aca5adfcdd1c52f61c46229caf0042f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:47:52 -0300
Subject: [PATCH 180/379] Add gnuradio block for glonass tracking

---
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   3 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 495 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.h       | 134 +++++
 3 files changed, 631 insertions(+), 1 deletion(-)
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h

diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index d7c8981c6..05da2619b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -34,7 +34,8 @@ set(TRACKING_GR_BLOCKS_SOURCES
      galileo_e5a_dll_pll_tracking_cc.cc
      gps_l2_m_dll_pll_tracking_cc.cc
      gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
-     gps_l1_ca_dll_pll_c_aid_tracking_sc.cc     
+     gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
+     glonass_l1_ca_dll_pll_tracking_cc.cc
      ${OPT_TRACKING_BLOCKS}   
 )
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
new file mode 100644
index 000000000..79ca0fb0f
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -0,0 +1,495 @@
+#include "glonass_l1_ca_dll_pll_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_tracking_cc_sptr
+glonass_l1_ca_dll_pll_make_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_tracking_cc_sptr(new Glonass_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+}
+
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+    {
+        ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+    }
+}
+
+
+
+Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float early_late_space_chips) :
+                gr::block("Glonass_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                        gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+    this->message_port_register_out(pmt::mp("events"));
+
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+
+    d_current_prn_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+    d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+    //--- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+    d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+    {
+        d_correlator_outs[n] = gr_complex(0,0);
+    }
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carr_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0;
+    //d_sample_counter_seconds = 0;
+    d_acq_sample_stamp = 0;
+
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_acc_carrier_phase_rad = 0.0;
+    d_code_phase_samples = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+}
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (glonass_freq_ch + d_acq_carrier_doppler_hz) / glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1/d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_current_prn_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+    {
+        corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+    }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(); // initialize the carrier filter
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+
+    multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+    {
+        d_correlator_outs[n] = gr_complex(0,0);
+    }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0;
+    d_rem_carr_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_rad = 0.0;
+
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+            << " Code Phase correction [samples]=" << delay_correction_samples
+            << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_correlator_outs);
+    volk_gnsssdr_free(d_ca_code);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu.free();
+}
+
+
+
+int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // process vars
+    double carr_error_hz = 0.0;
+    double carr_error_filt_hz = 0.0;
+    double code_error_chips = 0.0;
+    double code_error_filt_chips = 0.0;
+
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    if (d_enable_tracking == true)
+    {
+        // Fill the acquisition data
+        current_synchro_data = *d_acquisition_gnss_synchro;
+        // Receiver signal alignment
+        if (d_pull_in == true)
+        {
+            int samples_offset;
+            double acq_trk_shif_correction_samples;
+            int acq_to_trk_delay_samples;
+            acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+            acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
+            samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+            d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
+            d_pull_in = false;
+            // take into account the carrier cycles accumulated in the pull in signal alignment
+            d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
+            current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+            current_synchro_data.fs=d_fs_in;
+            current_synchro_data.correlation_length_ms = 1;
+            *out[0] = current_synchro_data;
+            consume_each(samples_offset); // shift input to perform alignment with local replica
+            return 1;
+        }
+
+        // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+        // perform carrier wipe-off and compute Early, Prompt and Late correlation
+        multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
+        multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad,
+                d_carrier_phase_step_rad,
+                d_rem_code_phase_chips,
+                d_code_phase_step_chips,
+                d_current_prn_length_samples);
+
+        // ################## PLL ##########################################################
+        // PLL discriminator
+        // Update PLL discriminator [rads/Ti -> Secs/Ti]
+        carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+        // Carrier discriminator filter
+        carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
+        // New carrier Doppler frequency estimation
+        d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+        // New code Doppler frequency estimation
+        long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / glonass_freq_ch);
+
+        // ################## DLL ##########################################################
+        // DLL discriminator
+        code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
+        // Code discriminator filter
+        code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
+        double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
+        double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+        double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips*T_chip_seconds); //[seconds]
+        //double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GLONASS_L1_CA_CODE_RATE_HZ; // [seconds]
+
+        // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+        // keep alignment parameters for the next input buffer
+        // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+        //double T_chip_seconds =  1.0 / static_cast<double>(d_code_freq_chips);
+        //double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+        double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+        double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
+        d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
+
+        //################### PLL COMMANDS #################################################
+        // carrier phase step (NCO phase increment per sample) [rads/sample]
+        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+        // remnant carrier phase to prevent overflow in the code NCO
+        d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
+        d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
+        // carrier phase accumulator
+        d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
+
+        //################### DLL COMMANDS #################################################
+        // code phase step (Code resampler phase increment per sample) [chips/sample]
+        d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+        // remnant code phase [chips]
+        d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample
+        d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
+
+        // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+        if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+        {
+            // fill buffer with prompt correlator output values
+            d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
+            d_cn0_estimation_counter++;
+        }
+        else
+        {
+            d_cn0_estimation_counter = 0;
+            // Code lock indicator
+            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+            // Carrier lock indicator
+            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+            // Loss of lock detection
+            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+            {
+                d_carrier_lock_fail_counter++;
+            }
+            else
+            {
+                if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+            }
+            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+            {
+                std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
+                d_carrier_lock_fail_counter = 0;
+                d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+            }
+        }
+        // ########### Output the tracking data to navigation and PVT ##########
+        current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+        current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+        current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
+        current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+        current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+        current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+        current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+        current_synchro_data.Flag_valid_symbol_output = true;
+        current_synchro_data.correlation_length_ms = 1;
+    }
+    else
+    {
+        for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+
+        current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
+        current_synchro_data.System = {'R'};
+        current_synchro_data.correlation_length_ms = 1;
+    }
+
+    //assign the GNURadio block output data
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+    {
+        // MULTIPLEXED FILE RECORDING - Record results to file
+        float prompt_I;
+        float prompt_Q;
+        float tmp_E, tmp_P, tmp_L;
+        double tmp_double;
+        unsigned long int tmp_long;
+        prompt_I = d_correlator_outs[1].real();
+        prompt_Q = d_correlator_outs[1].imag();
+        tmp_E = std::abs<float>(d_correlator_outs[0]);
+        tmp_P = std::abs<float>(d_correlator_outs[1]);
+        tmp_L = std::abs<float>(d_correlator_outs[2]);
+        try
+        {
+            // EPR
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+            // PROMPT I and Q (to analyze navigation symbols)
+            d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+            d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+            // PRN start sample stamp
+            tmp_long = d_sample_counter + d_current_prn_length_samples;
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_long), sizeof(unsigned long int));
+            // accumulated carrier phase
+            d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+
+            // carrier and code frequency
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+            // PLL commands
+            d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
+
+            // DLL commands
+            d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+
+            // CN0 and carrier lock test
+            d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+            // AUX vars (for debug purposes)
+            tmp_double = d_rem_code_phase_samples;
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+            tmp_double = static_cast<double>(d_sample_counter);
+            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+        }
+        catch (const std::ifstream::failure &e)
+        {
+            LOG(WARNING) << "Exception writing trk dump file " << e.what();
+        }
+    }
+
+    consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_current_prn_length_samples; // count for the processed samples
+    return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+    {
+        if (d_dump_file.is_open() == false)
+        {
+            try
+            {
+                d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                d_dump_filename.append(".dat");
+                d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
+            }
+            catch (const std::ifstream::failure &e)
+            {
+                LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
+            }
+        }
+    }
+}
+
+
+void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
new file mode 100644
index 000000000..092492876
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -0,0 +1,134 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
+
+#include <fstream>
+#include <map>
+#include <string>
+#include <gnuradio/block.h>
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_2nd_PLL_filter.h"
+#include "cpu_multicorrelator.h"
+
+class Glonass_L1_Ca_Dll_Pll_Tracking_cc;
+
+typedef boost::shared_ptr<Glonass_L1_Ca_Dll_Pll_Tracking_cc>
+        glonass_l1_ca_dll_pll_tracking_cc_sptr;
+
+glonass_l1_ca_dll_pll_tracking_cc_sptr
+glonass_l1_ca_dll_pll_make_tracking_cc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class Glonass_L1_Ca_Dll_Pll_Tracking_cc: public gr::block
+{
+public:
+    ~Glonass_L1_Ca_Dll_Pll_Tracking_cc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_tracking_cc_sptr
+    glonass_l1_ca_dll_pll_make_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float early_late_space_chips);
+
+    Glonass_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+
+    double d_early_late_spc_chips;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carr_phase_rad;
+
+    // PLL and DLL filter library
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_2nd_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+    // correlator
+    int d_n_correlator_taps;
+    gr_complex* d_ca_code;
+    float* d_local_code_shift_chips;
+    gr_complex* d_correlator_outs;
+    cpu_multicorrelator multicorrelator_cpu;
+
+
+    // tracking vars
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_rad;
+    double d_code_phase_samples;
+
+    //PRN period in samples
+    int d_current_prn_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H

From 9d6bea831e37615c1c306e284aaa7fdb3b54d0d2 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:48:44 -0300
Subject: [PATCH 181/379] Add glonass system in satellite signal

---
 src/core/system_parameters/gnss_signal.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/system_parameters/gnss_signal.h b/src/core/system_parameters/gnss_signal.h
index 4922e5399..91b6f7162 100644
--- a/src/core/system_parameters/gnss_signal.h
+++ b/src/core/system_parameters/gnss_signal.h
@@ -51,7 +51,7 @@ public:
     Gnss_Signal(const std::string& signal_);
     Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_);
     ~Gnss_Signal();
-    std::string get_signal_str() const; //!<  Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "1B" for Galileo E1B, "5X" for Galileo E5a}
+    std::string get_signal_str() const; //!<  Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "1G" for GLONASS L1 C/A, "1B" for Galileo E1B, "5X" for Galileo E5a}
     Gnss_Satellite get_satellite() const;    //!< Get the Gnss_Satellite associated to the signal
     friend bool operator== (const Gnss_Signal &, const Gnss_Signal &);    //!< operator== for comparison
     friend std::ostream& operator<<(std::ostream &, const Gnss_Signal &); //!< operator<< for pretty printing

From cb87b75aa6c6dfea14c9a9a45b2b1323f15ec8f3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 23 Jul 2017 22:49:15 -0300
Subject: [PATCH 182/379] Add Glonass Tracking block to block factory

---
 src/core/receiver/gnss_block_factory.cc | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 39557a0a9..9f0f6c28a 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -86,6 +86,7 @@
 #include "galileo_e1_tcp_connector_tracking.h"
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
+#include "glonass_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
@@ -1157,6 +1158,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // TELEMETRY DECODERS ----------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@@ -1409,6 +1416,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
             block = std::move(block_);
         }
 #endif
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From c3ca053664791cf8791b845d62d42d041938c174 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 16 Aug 2017 10:37:13 -0300
Subject: [PATCH 183/379] Update info

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index bc2edb0ce..c7ac73f96 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -195,7 +195,7 @@ bool pcps_acquisition_cc::is_fdma()
     if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
         {
             d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     else

From 071c2e2cc0fe30d396ea1d5853a6241e7743fb75 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 10:23:44 -0300
Subject: [PATCH 184/379] Add header with authors and license

---
 .../glonass_l1_ca_dll_pll_tracking.cc         | 39 ++++++++++++++++++-
 .../adapters/glonass_l1_ca_dll_pll_tracking.h | 38 ++++++++++++++++++
 2 files changed, 76 insertions(+), 1 deletion(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 6209f9299..965e0142d 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -1,3 +1,41 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.cc
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_tracking.h"
 #include <glog/logging.h>
 #include "Glonass_L1_CA.h"
@@ -108,4 +146,3 @@ gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
 {
     return tracking_;
 }
-
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index b9d39cbef..192cb0853 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -1,3 +1,41 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_H_
 

From 17e38a28fab589f8cf0d2983f7c0b939fc498916 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:01:14 -0300
Subject: [PATCH 185/379] clean code and fix dump file

---
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 42 ++++++++++++++-----
 1 file changed, 31 insertions(+), 11 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 79ca0fb0f..3d2e73886 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -217,7 +217,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     sys = sys_.substr(0,1);
 
     // DEBUG OUTPUT
-    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
     LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
 
     // enable tracking
@@ -229,16 +229,32 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
             << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
 }
 
+
 Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
 {
-    d_dump_file.close();
-
-    volk_gnsssdr_free(d_local_code_shift_chips);
-    volk_gnsssdr_free(d_correlator_outs);
-    volk_gnsssdr_free(d_ca_code);
-
-    delete[] d_Prompt_buffer;
-    multicorrelator_cpu.free();
+    if (d_dump_file.is_open())
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor " << ex.what();
+            }
+        }
+    try
+    {
+            volk_gnsssdr_free(d_local_code_shift_chips);
+            volk_gnsssdr_free(d_correlator_outs);
+            volk_gnsssdr_free(d_ca_code);
+            delete[] d_Prompt_buffer;
+            multicorrelator_cpu.free();
+    }
+    catch(const std::exception & ex)
+    {
+            LOG(WARNING) << "Exception in destructor " << ex.what();
+    }
 }
 
 
@@ -279,7 +295,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
-            current_synchro_data.fs=d_fs_in;
+            current_synchro_data.fs = d_fs_in;
             current_synchro_data.correlation_length_ms = 1;
             *out[0] = current_synchro_data;
             consume_each(samples_offset); // shift input to perform alignment with local replica
@@ -398,7 +414,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
     }
 
     //assign the GNURadio block output data
-    current_synchro_data.fs=d_fs_in;
+    current_synchro_data.fs = d_fs_in;
     *out[0] = current_synchro_data;
     if(d_dump)
     {
@@ -449,6 +465,10 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
             tmp_double = static_cast<double>(d_sample_counter);
             d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+            // PRN
+            unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+            d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
         }
         catch (const std::ifstream::failure &e)
         {

From c8488eff56b8adc6406896b44362de38a477ec35 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:05:03 -0300
Subject: [PATCH 186/379] Add Glonass C Aid track adapter

---
 .../tracking/adapters/CMakeLists.txt          |   1 +
 .../glonass_l1_ca_dll_pll_c_aid_tracking.cc   | 191 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    |  72 +++++++
 3 files changed, 264 insertions(+)
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
 create mode 100644 src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h

diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index 7e1f93924..0502aac5b 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -34,6 +34,7 @@ set(TRACKING_ADAPTER_SOURCES
      galileo_e5a_dll_pll_tracking.cc
      gps_l2_m_dll_pll_tracking.cc
      glonass_l1_ca_dll_pll_tracking.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking.cc
      ${OPT_TRACKING_ADAPTERS}
 )
  
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
new file mode 100644
index 000000000..6f9bf340a
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -0,0 +1,191 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+#include <glog/logging.h>
+#include "Glonass_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
+        ConfigurationInterface* configuration, std::string role,
+        unsigned int in_streams, unsigned int out_streams) :
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float pll_bw_narrow_hz;
+    float dll_bw_hz;
+    float dll_bw_narrow_hz;
+    float early_late_space_chips;
+    item_type_ = configuration->property(role + ".item_type", default_item_type);
+    //vector_length = configuration->property(role + ".vector_length", 2048);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
+    dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
+    int extend_correlation_ms;
+    extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
+
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename",
+            default_dump_filename); //unused!
+    vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_cc = glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
+                    extend_correlation_ms,
+                    early_late_space_chips);
+            DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")";
+        }
+    else if(item_type_.compare("cshort") == 0)
+        {
+            item_size_ = sizeof(lv_16sc_t);
+            tracking_sc = glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
+                    f_if,
+                    fs_in,
+                    vector_length,
+                    dump,
+                    dump_filename,
+                    pll_bw_hz,
+                    dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
+                    extend_correlation_ms,
+                    early_late_space_chips);
+            DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")";
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type_ << " unknown tracking item type.";
+        }
+    channel_ = 0;
+}
+
+
+GlonassL1CaDllPllCAidTracking::~GlonassL1CaDllPllCAidTracking()
+{}
+
+
+void GlonassL1CaDllPllCAidTracking::start_tracking()
+{
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->start_tracking();
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->start_tracking();
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+/*
+ * Set tracking channel unique ID
+ */
+void GlonassL1CaDllPllCAidTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->set_channel(channel);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->set_channel(channel);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            tracking_cc->set_gnss_synchro(p_gnss_synchro);
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            tracking_sc->set_gnss_synchro(p_gnss_synchro);
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+        }
+}
+
+void GlonassL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+void GlonassL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return tracking_cc;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return tracking_sc;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+            return nullptr;
+        }
+}
+
+gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_right_block()
+{
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            return tracking_cc;
+        }
+    else if (item_type_.compare("cshort") == 0)
+        {
+            return tracking_sc;
+        }
+    else
+        {
+            LOG(WARNING) << item_type_ << " unknown tracking item type";
+            return nullptr;
+        }
+}
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
new file mode 100644
index 000000000..19a9502b5
--- /dev/null
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -0,0 +1,72 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
+
+#include <string>
+#include "tracking_interface.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GlonassL1CaDllPllCAidTracking : public TrackingInterface
+{
+public:
+
+  GlonassL1CaDllPllCAidTracking(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaDllPllCAidTracking();
+
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking";
+    }
+    size_t item_size()
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel);
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+
+    void start_tracking();
+
+private:
+    glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc;
+    glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr tracking_sc;
+    size_t item_size_;
+    std::string item_type_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif // GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_

From bbec0acf28037402c93b1c824701ceebca757181 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:05:44 -0300
Subject: [PATCH 187/379] Add Glonass C Aid track blocks

---
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   2 +
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 646 +++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h | 167 +++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 648 ++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 170 +++++
 5 files changed, 1633 insertions(+)
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
 create mode 100644 src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h

diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 05da2619b..97e609a5f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -36,6 +36,8 @@ set(TRACKING_GR_BLOCKS_SOURCES
      gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
      gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
      glonass_l1_ca_dll_pll_tracking_cc.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+     glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
      ${OPT_TRACKING_BLOCKS}   
 )
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
new file mode 100644
index 000000000..231058ec8
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -0,0 +1,646 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <boost/bind.hpp>
+#include <gnuradio/io_signature.h>
+#include <pmt/pmt.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <glog/logging.h>
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_cc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+        {
+            ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg)
+{
+    //pmt::print(msg);
+    DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
+    if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
+        {
+            d_preamble_timestamp_s = pmt::to_double(msg);
+            d_enable_extended_integration = true;
+            d_preamble_synchronized = false;
+        }
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips) :
+        gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+
+    this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+            boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
+
+    this->message_port_register_out(pmt::mp("events"));
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+    d_correlation_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_pll_bw_hz = pll_bw_hz;
+    d_dll_bw_hz = dll_bw_hz;
+    d_pll_bw_narrow_hz = pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz = dll_bw_narrow_hz;
+    d_extend_correlation_ms = extend_correlation_ms;
+    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
+
+    // --- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+    d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carrier_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0; //(from trk to tlm)
+    d_acq_sample_stamp = 0;
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_code_phase_samples = 0.0;
+
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
+    d_rem_code_phase_integer_samples = 0;
+    d_code_error_chips_Ti = 0.0;
+    d_code_error_filt_chips_s = 0.0;
+    d_carr_phase_error_secs_Ti = 0.0;
+    d_preamble_timestamp_s = 0.0;
+    //set_min_output_buffer((long int)300);
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1.0 / d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_correlation_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+        {
+            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+        }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+
+    multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs[n] = gr_complex(0,0);
+        }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0.0;
+    d_rem_carrier_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+    d_enable_extended_integration = true;
+    d_preamble_synchronized = true;
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+              << " Code Phase correction [samples]=" << delay_correction_samples
+              << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_cc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_correlator_outs);
+    volk_gnsssdr_free(d_ca_code);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu.free();
+}
+
+
+
+int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    // process vars
+    double code_error_filt_secs_Ti = 0.0;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
+
+    if (d_enable_tracking == true)
+        {
+            // Fill the acquisition data
+            current_synchro_data = *d_acquisition_gnss_synchro;
+            // Receiver signal alignment
+            if (d_pull_in == true)
+                {
+                    int samples_offset;
+                    double acq_trk_shif_correction_samples;
+                    int acq_to_trk_delay_samples;
+                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+                    acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
+                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+                    d_sample_counter += samples_offset; // count for the processed samples
+                    d_pull_in = false;
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.fs=d_fs_in;
+                    *out[0] = current_synchro_data;
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
+                    return 1;
+                }
+
+            // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+            // perform carrier wipe-off and compute Early, Prompt and Late correlation
+            multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,in);
+            multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
+                    d_carrier_phase_step_rad,
+                    d_rem_code_phase_chips,
+                    d_code_phase_step_chips,
+                    d_correlation_length_samples);
+
+            // ####### coherent intergration extension
+            // keep the last symbols
+            d_E_history.push_back(d_correlator_outs[0]); // save early output
+            d_P_history.push_back(d_correlator_outs[1]); // save prompt output
+            d_L_history.push_back(d_correlator_outs[2]); // save late output
+
+            if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
+                {
+                    d_E_history.pop_front();
+                    d_P_history.pop_front();
+                    d_L_history.pop_front();
+                }
+
+            bool enable_dll_pll;
+            if (d_enable_extended_integration == true)
+                {
+                    long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
+                    if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
+                        {
+                            // compute coherent integration and enable tracking loop
+                            // perform coherent integration using correlator output history
+                            // std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
+                            d_correlator_outs[0] = gr_complex(0.0,0.0);
+                            d_correlator_outs[1] = gr_complex(0.0,0.0);
+                            d_correlator_outs[2] = gr_complex(0.0,0.0);
+                            for (int n = 0; n < d_extend_correlation_ms; n++)
+                                {
+                                    d_correlator_outs[0] += d_E_history.at(n);
+                                    d_correlator_outs[1] += d_P_history.at(n);
+                                    d_correlator_outs[2] += d_L_history.at(n);
+                                }
+
+                            if (d_preamble_synchronized == false)
+                                {
+                                    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+                                    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+                                    d_preamble_synchronized = true;
+                                    std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                                              << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
+                                              << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
+                                }
+                            // UPDATE INTEGRATION TIME
+                            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD;
+                            d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
+                            enable_dll_pll = true;
+                        }
+                    else
+                        {
+                            if(d_preamble_synchronized == true)
+                                {
+                                    // continue extended coherent correlation
+                                    // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+                                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                                    int K_prn_samples = round(T_prn_samples);
+                                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
+                                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+                                    // code phase step (Code resampler phase increment per sample) [chips/sample]
+                                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                                    // remnant code phase [chips]
+                                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+                                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
+
+                                    // UPDATE ACCUMULATED CARRIER PHASE
+                                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+
+                                    // disable tracking loop and inform telemetry decoder
+                                    enable_dll_pll = false;
+                                }
+                            else
+                                {
+                                    //  perform basic (1ms) correlation
+                                    // UPDATE INTEGRATION TIME
+                                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                                    d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
+                                    enable_dll_pll = true;
+                                }
+                        }
+                }
+            else
+                {
+                    // UPDATE INTEGRATION TIME
+                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                    enable_dll_pll = true;
+                }
+
+            if (enable_dll_pll == true)
+                {
+                    // ################## PLL ##########################################################
+                    // Update PLL discriminator [rads/Ti -> Secs/Ti]
+                    d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+                    // Carrier discriminator filter
+                    // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
+                    // Input [s/Ti] -> output [Hz]
+                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+                    // PLL to DLL assistance [Secs/Ti]
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    // code Doppler frequency update
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+
+                    // ################## DLL ##########################################################
+                    // DLL discriminator
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
+                    // Code discriminator filter
+                    d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
+                    d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
+                    code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
+
+                    // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+                    // keep alignment parameters for the next input buffer
+                    // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                    double K_prn_samples = round(T_prn_samples);
+                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
+                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+
+                   //################### PLL COMMANDS #################################################
+                    //carrier phase step (NCO phase increment per sample) [rads/sample]
+                    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+                    // UPDATE ACCUMULATED CARRIER PHASE
+                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                    //remnant carrier phase [rad]
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
+
+                    //################### DLL COMMANDS #################################################
+                    //code phase step (Code resampler phase increment per sample) [chips/sample]
+                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                    //remnant code phase [chips]
+                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
+                    // ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
+                    if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+                        {
+                            // fill buffer with prompt correlator output values
+                            d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
+                            d_cn0_estimation_counter++;
+                        }
+                    else
+                        {
+                            d_cn0_estimation_counter = 0;
+                            // Code lock indicator
+                            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+                            // Carrier lock indicator
+                            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+                            // Loss of lock detection
+                            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+                                {
+                                    d_carrier_lock_fail_counter++;
+                                }
+                            else
+                                {
+                                    if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+                                }
+                            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+                                {
+                                    std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                                    LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                                    this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                                    d_carrier_lock_fail_counter = 0;
+                                    d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+                                }
+                        }
+                    // ########### Output the tracking data to navigation and PVT ##########
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                    current_synchro_data.Flag_valid_symbol_output = true;
+                    if (d_preamble_synchronized == true)
+                        {
+                            current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
+                        }
+                    else
+                        {
+                            current_synchro_data.correlation_length_ms = 1;
+                        }
+                }
+            else
+                {
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                }
+        }
+    else
+        {
+            for (int n = 0; n < d_n_correlator_taps; n++)
+                {
+                    d_correlator_outs[n] = gr_complex(0,0);
+                }
+
+            current_synchro_data.System = {'R'};
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+        }
+    //assign the GNURadio block output data
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            float prompt_I;
+            float prompt_Q;
+            float tmp_E, tmp_P, tmp_L;
+            double tmp_double;
+            prompt_I = d_correlator_outs[1].real();
+            prompt_Q = d_correlator_outs[1].imag();
+            tmp_E = std::abs<float>(d_correlator_outs[0]);
+            tmp_P = std::abs<float>(d_correlator_outs[1]);
+            tmp_L = std::abs<float>(d_correlator_outs[2]);
+            try
+            {
+                    // EPR
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+                    // PROMPT I and Q (to analyze navigation symbols)
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+                    // PRN start sample stamp
+                    //tmp_float=(float)d_sample_counter;
+                    d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+                    // accumulated carrier phase
+                    d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
+
+                    // carrier and code frequency
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+                    //PLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+
+                    //DLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
+
+                    // CN0 and carrier lock test
+                    d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+                    // AUX vars (for debug purposes)
+                    tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                    tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                    // PRN
+                    unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+                    d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+            }
+            catch (const std::ifstream::failure* e)
+            {
+                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+            }
+        }
+
+    consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_correlation_length_samples; //count for the processed samples
+
+    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (const std::ifstream::failure* e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
new file mode 100644
index 000000000..280d590b1
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -0,0 +1,167 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
+
+#include <fstream>
+#include <map>
+#include <deque>
+#include <string>
+#include <gnuradio/block.h>
+#include <pmt/pmt.h>
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_FLL_PLL_filter.h"
+//#include "tracking_loop_filter.h"
+#include "cpu_multicorrelator.h"
+
+class glonass_l1_ca_dll_pll_c_aid_tracking_cc;
+
+typedef boost::shared_ptr<glonass_l1_ca_dll_pll_c_aid_tracking_cc>
+        glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class glonass_l1_ca_dll_pll_c_aid_tracking_cc: public gr::block
+{
+public:
+    ~glonass_l1_ca_dll_pll_c_aid_tracking_cc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
+    glonass_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    glonass_l1_ca_dll_pll_c_aid_tracking_cc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+    long d_glonass_freq_ch;
+
+    double d_early_late_spc_chips;
+    int d_n_correlator_taps;
+
+    gr_complex* d_ca_code;
+    float* d_local_code_shift_chips;
+    gr_complex* d_correlator_outs;
+    cpu_multicorrelator multicorrelator_cpu;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carrier_phase_rad;
+    int d_rem_code_phase_integer_samples;
+
+    // PLL and DLL filter library
+    //Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+
+    // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_cycles;
+    double d_code_phase_samples;
+    double d_pll_to_dll_assist_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
+    double d_carr_phase_error_secs_Ti;
+
+    // symbol history to detect bit transition
+    std::deque<gr_complex> d_E_history;
+    std::deque<gr_complex> d_P_history;
+    std::deque<gr_complex> d_L_history;
+    double d_preamble_timestamp_s;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
+    bool d_preamble_synchronized;
+    void msg_handler_preamble_index(pmt::pmt_t msg);
+
+    //Integration period in samples
+    int d_correlation_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
new file mode 100644
index 000000000..f22bbc732
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -0,0 +1,648 @@
+#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/bind.hpp>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <pmt/pmt.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <glog/logging.h>
+#include "gnss_synchro.h"
+#include "glonass_l1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Glonass_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips)
+{
+    return glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_sc(if_freq,
+            fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
+}
+
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::forecast (int noutput_items,
+        gr_vector_int &ninput_items_required)
+{
+    if (noutput_items != 0)
+        {
+            ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
+{
+    //pmt::print(msg);
+    DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
+    if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
+        {
+            d_preamble_timestamp_s = pmt::to_double(msg);
+            d_enable_extended_integration = true;
+            d_preamble_synchronized = false;
+        }
+}
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc(
+        long if_freq,
+        long fs_in,
+        unsigned int vector_length,
+        bool dump,
+        std::string dump_filename,
+        float pll_bw_hz,
+        float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
+        int extend_correlation_ms,
+        float early_late_space_chips) :
+        gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
+                gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry bit synchronization message port input
+    this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+    this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+            boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1));
+    this->message_port_register_out(pmt::mp("events"));
+    // initialize internal vars
+    d_dump = dump;
+    d_if_freq = if_freq;
+    d_fs_in = fs_in;
+    d_vector_length = vector_length;
+    d_dump_filename = dump_filename;
+    d_correlation_length_samples = static_cast<int>(d_vector_length);
+
+    // Initialize tracking  ==========================================
+    d_pll_bw_hz = pll_bw_hz;
+    d_dll_bw_hz = dll_bw_hz;
+    d_pll_bw_narrow_hz = pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz = dll_bw_narrow_hz;
+    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
+    d_extend_correlation_ms = extend_correlation_ms;
+
+    // --- DLL variables --------------------------------------------------------
+    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+    // Initialization of local code replica
+    // Get space for a vector with the C/A code replica sampled 1x/chip
+    d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+    d_ca_code_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
+
+    // correlator outputs (scalar)
+    d_n_correlator_taps = 3; // Early, Prompt, and Late
+
+    d_correlator_outs_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs_16sc[n] = lv_cmake(0,0);
+        }
+
+    d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
+    // Set TAPs delay values [chips]
+    d_local_code_shift_chips[0] = - d_early_late_spc_chips;
+    d_local_code_shift_chips[1] = 0.0;
+    d_local_code_shift_chips[2] = d_early_late_spc_chips;
+
+    multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
+
+    //--- Perform initializations ------------------------------
+    // define initial code frequency basis of NCO
+    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ;
+    // define residual code phase (in chips)
+    d_rem_code_phase_samples = 0.0;
+    // define residual carrier phase
+    d_rem_carrier_phase_rad = 0.0;
+
+    // sample synchronization
+    d_sample_counter = 0; //(from trk to tlm)
+    d_acq_sample_stamp = 0;
+    d_enable_tracking = false;
+    d_pull_in = false;
+
+    // CN0 estimation and lock detector buffers
+    d_cn0_estimation_counter = 0;
+    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+    d_carrier_lock_test = 1;
+    d_CN0_SNV_dB_Hz = 0;
+    d_carrier_lock_fail_counter = 0;
+    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+    systemName["R"] = std::string("Glonass");
+
+    set_relative_rate(1.0 / static_cast<double>(d_vector_length));
+
+    d_acquisition_gnss_synchro = 0;
+    d_channel = 0;
+    d_acq_code_phase_samples = 0.0;
+    d_acq_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_hz = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_code_phase_samples = 0.0;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
+    d_rem_code_phase_integer_samples = 0;
+    d_code_error_chips_Ti = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_code_phase_step_chips = 0.0;
+    d_carrier_phase_step_rad = 0.0;
+    d_code_error_filt_chips_s = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
+    d_preamble_timestamp_s = 0.0;
+    d_carr_phase_error_secs_Ti = 0.0;
+    //set_min_output_buffer((long int)300);
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
+{
+    /*
+     *  correct the code phase according to the delay between acq and trk
+     */
+    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+    long int acq_trk_diff_samples;
+    double acq_trk_diff_seconds;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+    acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
+    // Doppler effect
+    // Fd=(C/(C+Vr))*F
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
+    // new chip and prn sequence periods based on acq Doppler
+    double T_chip_mod_seconds;
+    double T_prn_mod_seconds;
+    double T_prn_mod_samples;
+    d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_HZ;
+    d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+    T_chip_mod_seconds = 1.0 / d_code_freq_chips;
+    T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+    T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+
+    d_correlation_length_samples = round(T_prn_mod_samples);
+
+    double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_HZ;
+    double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
+    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+    double corrected_acq_phase_samples, delay_correction_samples;
+    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
+    if (corrected_acq_phase_samples < 0)
+        {
+            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+        }
+    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+    d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_code_loop_filter.initialize();    // initialize the code filter
+
+    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+    glonass_l1_ca_code_gen_complex(d_ca_code, 0);
+    volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+
+    multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast<int>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
+    for (int n = 0; n < d_n_correlator_taps; n++)
+        {
+            d_correlator_outs_16sc[n] = lv_16sc_t(0,0);
+        }
+
+    d_carrier_lock_fail_counter = 0;
+    d_rem_code_phase_samples = 0.0;
+    d_rem_carrier_phase_rad = 0.0;
+    d_rem_code_phase_chips = 0.0;
+    d_acc_carrier_phase_cycles = 0.0;
+    d_pll_to_dll_assist_secs_Ti = 0.0;
+    d_code_phase_samples = d_acq_code_phase_samples;
+
+    std::string sys_ = &d_acquisition_gnss_synchro->System;
+    sys = sys_.substr(0,1);
+
+    // DEBUG OUTPUT
+    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+    // enable tracking
+    d_pull_in = true;
+    d_enable_tracking = true;
+    d_enable_extended_integration = true;
+    d_preamble_synchronized = true;
+
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+            << " Code Phase correction [samples]=" << delay_correction_samples
+            << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc::~glonass_l1_ca_dll_pll_c_aid_tracking_sc()
+{
+    d_dump_file.close();
+
+    volk_gnsssdr_free(d_local_code_shift_chips);
+    volk_gnsssdr_free(d_ca_code);
+    volk_gnsssdr_free(d_ca_code_16sc);
+    volk_gnsssdr_free(d_correlator_outs_16sc);
+
+    delete[] d_Prompt_buffer;
+    multicorrelator_cpu_16sc.free();
+}
+
+
+
+int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    // Block input data and block output stream pointers
+    const lv_16sc_t* in = (lv_16sc_t*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+    // process vars
+    double code_error_filt_secs_Ti = 0.0;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
+
+    if (d_enable_tracking == true)
+        {
+            // Fill the acquisition data
+            current_synchro_data = *d_acquisition_gnss_synchro;
+            // Receiver signal alignment
+            if (d_pull_in == true)
+                {
+                    int samples_offset;
+                    double acq_trk_shif_correction_samples;
+                    int acq_to_trk_delay_samples;
+                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+                    acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
+                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
+                    d_sample_counter += samples_offset; // count for the processed samples
+                    d_pull_in = false;
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.fs=d_fs_in;
+                    *out[0] = current_synchro_data;
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
+                    return 1;
+                }
+
+            // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+            // perform carrier wipe-off and compute Early, Prompt and Late correlation
+            multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc, in);
+            multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
+                d_carrier_phase_step_rad,
+                d_rem_code_phase_chips,
+                d_code_phase_step_chips,
+                d_correlation_length_samples);
+
+            // ####### coherent intergration extension
+            // keep the last symbols
+            d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
+            d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
+            d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
+
+            if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
+                {
+                    d_E_history.pop_front();
+                    d_P_history.pop_front();
+                    d_L_history.pop_front();
+                }
+
+            bool enable_dll_pll;
+            if (d_enable_extended_integration == true)
+                {
+                    long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
+                    if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
+                        {
+                            // compute coherent integration and enable tracking loop
+                            // perform coherent integration using correlator output history
+                            // std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
+                            d_correlator_outs_16sc[0] = lv_cmake(0,0);
+                            d_correlator_outs_16sc[1] = lv_cmake(0,0);
+                            d_correlator_outs_16sc[2] = lv_cmake(0,0);
+                            for (int n = 0; n < d_extend_correlation_ms; n++)
+                                {
+                                    d_correlator_outs_16sc[0] += d_E_history.at(n);
+                                    d_correlator_outs_16sc[1] += d_P_history.at(n);
+                                    d_correlator_outs_16sc[2] += d_L_history.at(n);
+                                }
+
+                            if (d_preamble_synchronized == false)
+                                {
+                                    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+                                    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+                                    d_preamble_synchronized = true;
+                                    std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                                              << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
+                                              << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
+                                }
+                            // UPDATE INTEGRATION TIME
+                            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD;
+                            enable_dll_pll = true;
+                        }
+                    else
+                        {
+                            if(d_preamble_synchronized == true)
+                                {
+                                    // continue extended coherent correlation
+                                    // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+                                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                                    int K_prn_samples = round(T_prn_samples);
+                                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
+                                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+                                    // code phase step (Code resampler phase increment per sample) [chips/sample]
+                                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                                    // remnant code phase [chips]
+                                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+                                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
+
+                                    // UPDATE ACCUMULATED CARRIER PHASE
+                                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+
+                                    // disable tracking loop and inform telemetry decoder
+                                    enable_dll_pll = false;
+                                }
+                            else
+                                {
+                                    //  perform basic (1ms) correlation
+                                    // UPDATE INTEGRATION TIME
+                                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                                    enable_dll_pll = true;
+                                }
+                        }
+                }
+            else
+                {
+                    // UPDATE INTEGRATION TIME
+                    CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
+                    enable_dll_pll = true;
+                }
+
+            if (enable_dll_pll == true)
+                {
+                    // ################## PLL ##########################################################
+                    // Update PLL discriminator [rads/Ti -> Secs/Ti]
+                    d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
+
+                    // Carrier discriminator filter
+                    // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
+                    // Input [s/Ti] -> output [Hz]
+                    d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+                    // PLL to DLL assistance [Secs/Ti]
+                    d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
+                    // code Doppler frequency update
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+
+                    // ################## DLL ##########################################################
+                    // DLL discriminator
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
+                    // Code discriminator filter
+                    d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
+                    d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
+                    code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
+
+                    // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+                    // keep alignment parameters for the next input buffer
+                    // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+                    double T_chip_seconds = 1.0 / d_code_freq_chips;
+                    double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
+                    double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+                    double K_prn_samples = round(T_prn_samples);
+                    double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
+
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
+                    d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
+                    d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
+                    d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
+
+                   //################### PLL COMMANDS #################################################
+                    //carrier phase step (NCO phase increment per sample) [rads/sample]
+                    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+                    d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
+                    // UPDATE ACCUMULATED CARRIER PHASE
+                    CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
+                    //remnant carrier phase [rad]
+                    d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
+
+                    //################### DLL COMMANDS #################################################
+                    //code phase step (Code resampler phase increment per sample) [chips/sample]
+                    d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+                    //remnant code phase [chips]
+                    d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
+                    // ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
+                    if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+                        {
+                            // fill buffer with prompt correlator output values
+                            d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag()) ); // prompt
+                            d_cn0_estimation_counter++;
+                        }
+                    else
+                        {
+                            d_cn0_estimation_counter = 0;
+                            // Code lock indicator
+                            d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
+                            // Carrier lock indicator
+                            d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+                            // Loss of lock detection
+                            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+                                {
+                                    d_carrier_lock_fail_counter++;
+                                }
+                            else
+                                {
+                                    if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+                                }
+                            if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+                                {
+                                    std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+                                    LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+                                    this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                                    d_carrier_lock_fail_counter = 0;
+                                    d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+                                }
+                        }
+                    // ########### Output the tracking data to navigation and PVT ##########
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
+                    // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                    current_synchro_data.Flag_valid_symbol_output = true;
+                    if (d_preamble_synchronized == true)
+                        {
+                            current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
+                        }
+                    else
+                        {
+                            current_synchro_data.correlation_length_ms = 1;
+                        }
+                }
+            else
+                {
+                    current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
+                    current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
+                    current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+                    current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
+                    current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
+                    current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
+                    current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+                }
+        }
+    else
+        {
+            for (int n = 0; n < d_n_correlator_taps; n++)
+                {
+                    d_correlator_outs_16sc[n] = lv_cmake(0,0);
+                }
+
+            current_synchro_data.System = {'R'};
+            current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
+        }
+    current_synchro_data.fs=d_fs_in;
+    *out[0] = current_synchro_data;
+    if(d_dump)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            float prompt_I;
+            float prompt_Q;
+            float tmp_E, tmp_P, tmp_L;
+            double tmp_double;
+            prompt_I = d_correlator_outs_16sc[1].real();
+            prompt_Q = d_correlator_outs_16sc[1].imag();
+            tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()));
+            tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag()));
+            tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag()));
+            try
+            {
+                    // EPR
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+                    // PROMPT I and Q (to analyze navigation symbols)
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+                    d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+                    // PRN start sample stamp
+                    //tmp_float=(float)d_sample_counter;
+                    d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+                    // accumulated carrier phase
+                    d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
+
+                    // carrier and code frequency
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+                    //PLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+
+                    //DLL commands
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
+
+                    // CN0 and carrier lock test
+                    d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+                    // AUX vars (for debug purposes)
+                    tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                    tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                    // PRN
+                    unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+                    d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+            }
+            catch (const std::ifstream::failure* e)
+            {
+                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+            }
+        }
+
+    consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
+    d_sample_counter += d_correlation_length_samples; //count for the processed samples
+
+    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Tracking Channel set to " << d_channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (const std::ifstream::failure* e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
new file mode 100644
index 000000000..dbc0a084a
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -0,0 +1,170 @@
+#ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
+#define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
+
+#include <fstream>
+#include <map>
+#include <string>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <gnuradio/block.h>
+#include <volk/volk.h>
+#include "glonass_l1_signal_processing.h"
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_FLL_PLL_filter.h"
+#include "cpu_multicorrelator_16sc.h"
+
+class glonass_l1_ca_dll_pll_c_aid_tracking_sc;
+
+typedef boost::shared_ptr<glonass_l1_ca_dll_pll_c_aid_tracking_sc>
+        glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr;
+
+glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
+                                   long fs_in, unsigned
+                                   int vector_length,
+                                   bool dump,
+                                   std::string dump_filename,
+                                   float pll_bw_hz,
+                                   float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
+                                   float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class glonass_l1_ca_dll_pll_c_aid_tracking_sc: public gr::block
+{
+public:
+    ~glonass_l1_ca_dll_pll_c_aid_tracking_sc();
+
+    void set_channel(unsigned int channel);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void start_tracking();
+
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+    friend glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
+    glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    glonass_l1_ca_dll_pll_c_aid_tracking_sc(long if_freq,
+            long fs_in, unsigned
+            int vector_length,
+            bool dump,
+            std::string dump_filename,
+            float pll_bw_hz,
+            float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
+            int extend_correlation_ms,
+            float early_late_space_chips);
+
+    // tracking configuration vars
+    unsigned int d_vector_length;
+    bool d_dump;
+
+    Gnss_Synchro* d_acquisition_gnss_synchro;
+    unsigned int d_channel;
+
+    long d_if_freq;
+    long d_fs_in;
+    long d_glonass_freq_ch;
+
+    double d_early_late_spc_chips;
+    int d_n_correlator_taps;
+
+    gr_complex* d_ca_code;
+    lv_16sc_t* d_ca_code_16sc;
+    float* d_local_code_shift_chips;
+    //gr_complex* d_correlator_outs;
+    lv_16sc_t* d_correlator_outs_16sc;
+    //cpu_multicorrelator multicorrelator_cpu;
+    cpu_multicorrelator_16sc multicorrelator_cpu_16sc;
+
+    // remaining code phase and carrier phase between tracking loops
+    double d_rem_code_phase_samples;
+    double d_rem_code_phase_chips;
+    double d_rem_carrier_phase_rad;
+    int d_rem_code_phase_integer_samples;
+
+    // PLL and DLL filter library
+    Tracking_2nd_DLL_filter d_code_loop_filter;
+    Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
+    // acquisition
+    double d_acq_code_phase_samples;
+    double d_acq_carrier_doppler_hz;
+
+    // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
+    double d_code_freq_chips;
+    double d_code_phase_step_chips;
+    double d_carrier_doppler_hz;
+    double d_carrier_phase_step_rad;
+    double d_acc_carrier_phase_cycles;
+    double d_code_phase_samples;
+    double d_pll_to_dll_assist_secs_Ti;
+    double d_carr_phase_error_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_preamble_timestamp_s;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
+    bool d_preamble_synchronized;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
+    void msg_handler_preamble_index(pmt::pmt_t msg);
+
+    // symbol history to detect bit transition
+    std::deque<lv_16sc_t> d_E_history;
+    std::deque<lv_16sc_t> d_P_history;
+    std::deque<lv_16sc_t> d_L_history;
+
+    //Integration period in samples
+    int d_correlation_length_samples;
+
+    //processing samples counters
+    unsigned long int d_sample_counter;
+    unsigned long int d_acq_sample_stamp;
+
+    // CN0 estimation and lock detector
+    int d_cn0_estimation_counter;
+    gr_complex* d_Prompt_buffer;
+    double d_carrier_lock_test;
+    double d_CN0_SNV_dB_Hz;
+    double d_carrier_lock_threshold;
+    int d_carrier_lock_fail_counter;
+
+    // control vars
+    bool d_enable_tracking;
+    bool d_pull_in;
+
+    // file dump
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    std::map<std::string, std::string> systemName;
+    std::string sys;
+};
+
+#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H

From a1343654f09a535fbc357ec55f543d1898a1c764 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 11:08:12 -0300
Subject: [PATCH 188/379] Add Glonass C Aid tracking block to the block factory

---
 src/core/receiver/gnss_block_factory.cc | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 9f0f6c28a..7cba2a649 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -87,6 +87,7 @@
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
 #include "glonass_l1_ca_dll_pll_tracking.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
@@ -1164,6 +1165,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // TELEMETRY DECODERS ----------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@@ -1422,6 +1429,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From 48a5fa969b86c83fd6419897b59d82d1a9b9d712 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:40:13 -0300
Subject: [PATCH 189/379] Add author tag

---
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc         | 2 +-
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.h          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 965e0142d..cce1b19a7 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -3,7 +3,7 @@
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
- *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  *
  *
  * Code DLL + carrier PLL according to the algorithms described in:
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index 192cb0853..46565b2e1 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -3,7 +3,7 @@
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
- *         Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  *
  *
  * Code DLL + carrier PLL according to the algorithms described in:

From c51a4ca17bbec3a34392b66bfd46daa07988ef52 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:45:43 -0300
Subject: [PATCH 190/379] Add glonass frequency channel variable as private
 member

---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc  | 8 +++-----
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h   | 1 +
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 3d2e73886..ad7b16cd6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -161,8 +161,8 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-    double radial_velocity = (glonass_freq_ch + d_acq_carrier_doppler_hz) / glonass_freq_ch;
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
     double T_prn_mod_seconds;
@@ -319,9 +319,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
         // New carrier Doppler frequency estimation
         d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
-        // New code Doppler frequency estimation
-        long glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / glonass_freq_ch);
+        d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
         // ################## DLL ##########################################################
         // DLL discriminator
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 092492876..0c40ef9fd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -73,6 +73,7 @@ private:
 
     long d_if_freq;
     long d_fs_in;
+    long d_glonass_freq_ch;
 
     double d_early_late_spc_chips;
 

From e82bc0c4d25fc0d3140c7118eece23983118aa01 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:48:16 -0300
Subject: [PATCH 191/379] Add new file for glonasstests

---
 src/tests/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index e1e8d41ce..1efed9015 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -268,12 +268,14 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 

From ed1e99b15b269c8ff98f0d4138c6b8d3fabbfa27 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:48:40 -0300
Subject: [PATCH 192/379] Add tracking glonass tests

---
 src/tests/test_main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 6839c41a8..b86bde939 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -129,6 +129,8 @@ DECLARE_string(log_dir);
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"
 #if MODERN_ARMADILLO
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"

From 4c83f59cfc537a562e6663d606a7afdfbfe85152 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:49:55 -0300
Subject: [PATCH 193/379] Add unit test for new tracking blocks

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 230 +++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 233 ++++++++++++++++++
 2 files changed, 463 insertions(+)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
new file mode 100644
index 000000000..5bb4fbdf8
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -0,0 +1,230 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+ * \brief  This class implements a tracking test for GLONASS_L1_CA_DLL_PLL_Tracking
+ *  implementation based on some input parameters.
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+// #include "signal_conditioner.h"
+#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaDllPllCAidTrackingTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr;
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+
+class GlonassL1CaDllPllCAidTrackingTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaDllPllCAidTrackingTest_msg_rx();
+
+public:
+    int rx_message;
+    ~GlonassL1CaDllPllCAidTrackingTest_msg_rx(); //!< Default destructor
+
+};
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr GlonassL1CaDllPllCAidTrackingTest_msg_rx_make()
+{
+    return GlonassL1CaDllPllCAidTrackingTest_msg_rx_sptr(new GlonassL1CaDllPllCAidTrackingTest_msg_rx());
+}
+
+void GlonassL1CaDllPllCAidTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx::GlonassL1CaDllPllCAidTrackingTest_msg_rx() :
+            gr::block("GlonassL1CaDllPllCAidTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaDllPllCAidTrackingTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaDllPllCAidTrackingTest_msg_rx::~GlonassL1CaDllPllCAidTrackingTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GlonassL1CaDllPllCAidTrackingTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaDllPllCAidTrackingTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaDllPllCAidTrackingTest()
+    {}
+
+    void init();
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaDllPllCAidTrackingTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 11;
+
+    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+
+
+    std::string path = std::string(TEST_PATH);
+    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
+    const char * file_name = file.c_str();
+
+    config->set_property("SignalSource.implementation","File_Signal_Source");
+    config->set_property("SignalSource.filename",file_name);
+    config->set_property("SignalSource.item_type","ibyte");
+    config->set_property("SignalSource.sampling_frequency","6625000");
+
+    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
+    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
+    config->set_property("InputFilter.implementation","Pass_Through");
+    config->set_property("InputFilter.item_type","gr_complex");
+    config->set_property("Resampler.implementation","Direct_Resampler");
+    config->set_property("Resampler.sample_freq_in","6625000");
+    config->set_property("Resampler.sample_freq_out","2000000");
+    config->set_property("Resampler.item_type","gr_complex");
+
+    config->set_property("Tracking_1G.item_type", "gr_complex");
+    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.if", "0.0");
+    config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
+    config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking");
+    config->set_property("Tracking_1G.early_late_space_chips", "0.5");
+    config->set_property("Tracking_1G.order", "2");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
+}
+
+TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    int fs_in = 6625000;
+    int nsamples = fs_in*4e-3*2;
+
+    init();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Tracking test");
+    std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
+    boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
+
+    gnss_synchro.Acq_delay_samples = 1343;
+    gnss_synchro.Acq_doppler_hz = -2750;
+    // gnss_synchro.Acq_doppler_hz = -2750;
+    gnss_synchro.Acq_samplestamp_samples = 0;
+
+    ASSERT_NO_THROW( {
+        tracking->set_channel(gnss_synchro.Channel_ID);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->connect(top_block);
+    }) << "Failure connecting tracking to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        std::string path = std::string(TEST_PATH);
+        std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+        top_block->connect(file_source, 0, valve, 0);
+        top_block->connect(valve, 0, tracking->get_left_block(), 0);
+        top_block->connect(tracking->get_right_block(), 0, sink, 0);
+        top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+    tracking->start_tracking();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    // TODO: Verify tracking results
+    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
new file mode 100644
index 000000000..9827a00ed
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -0,0 +1,233 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking_test.cc
+ * \brief  This class implements a tracking test for GLONASS_L1_CA_DLL_PLL_Tracking
+ *  implementation based on some input parameters.
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "array_signal_conditioner.h"
+#include "signal_conditioner.h"
+#include "ibyte_to_complex.h"
+#include "direct_resampler_conditioner.h"
+#include "glonass_l1_ca_dll_pll_tracking.h"
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER #########
+class GlonassL1CaDllPllTrackingTest_msg_rx;
+
+typedef boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> GlonassL1CaDllPllTrackingTest_msg_rx_sptr;
+
+GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make();
+
+class GlonassL1CaDllPllTrackingTest_msg_rx : public gr::block
+{
+private:
+    friend GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    GlonassL1CaDllPllTrackingTest_msg_rx();
+
+public:
+    int rx_message;
+    ~GlonassL1CaDllPllTrackingTest_msg_rx(); //!< Default destructor
+
+};
+
+GlonassL1CaDllPllTrackingTest_msg_rx_sptr GlonassL1CaDllPllTrackingTest_msg_rx_make()
+{
+    return GlonassL1CaDllPllTrackingTest_msg_rx_sptr(new GlonassL1CaDllPllTrackingTest_msg_rx());
+}
+
+void GlonassL1CaDllPllTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+    {
+            long int message = pmt::to_long(msg);
+            rx_message = message;
+    }
+    catch(boost::bad_any_cast& e)
+    {
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+            rx_message = 0;
+    }
+}
+
+GlonassL1CaDllPllTrackingTest_msg_rx::GlonassL1CaDllPllTrackingTest_msg_rx() :
+            gr::block("GlonassL1CaDllPllTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaDllPllTrackingTest_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+GlonassL1CaDllPllTrackingTest_msg_rx::~GlonassL1CaDllPllTrackingTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GlonassL1CaDllPllTrackingTest: public ::testing::Test
+{
+protected:
+    GlonassL1CaDllPllTrackingTest()
+    {
+        factory = std::make_shared<GNSSBlockFactory>();
+        config = std::make_shared<InMemoryConfiguration>();
+        item_size = sizeof(gr_complex);
+        gnss_synchro = Gnss_Synchro();
+    }
+
+    ~GlonassL1CaDllPllTrackingTest()
+    {}
+
+    void init();
+
+    gr::msg_queue::sptr queue;
+    gr::top_block_sptr top_block;
+    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<InMemoryConfiguration> config;
+    Gnss_Synchro gnss_synchro;
+    size_t item_size;
+};
+
+
+void GlonassL1CaDllPllTrackingTest::init()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'R';
+    std::string signal = "1G";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+    gnss_synchro.PRN = 11;
+
+    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+
+
+    std::string path = std::string(TEST_PATH);
+    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
+    const char * file_name = file.c_str();
+
+    config->set_property("SignalSource.implementation","File_Signal_Source");
+    config->set_property("SignalSource.filename",file_name);
+    config->set_property("SignalSource.item_type","ibyte");
+    config->set_property("SignalSource.sampling_frequency","6625000");
+
+    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
+    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
+    config->set_property("InputFilter.implementation","Pass_Through");
+    config->set_property("InputFilter.item_type","gr_complex");
+    config->set_property("Resampler.implementation","Direct_Resampler");
+    config->set_property("Resampler.sample_freq_in","6625000");
+    config->set_property("Resampler.sample_freq_out","2000000");
+    config->set_property("Resampler.item_type","gr_complex");
+
+    config->set_property("Tracking_1G.item_type", "gr_complex");
+    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.if", "0.0");
+    config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
+    config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
+    config->set_property("Tracking_1G.early_late_space_chips", "0.5");
+    config->set_property("Tracking_1G.order", "2");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
+}
+
+TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
+{
+    struct timeval tv;
+    long long int begin = 0;
+    long long int end = 0;
+    int fs_in = 6625000;
+    int nsamples = fs_in*4e-3*2;
+
+    init();
+    queue = gr::msg_queue::make(0);
+    top_block = gr::make_top_block("Tracking test");
+    std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
+    boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllTrackingTest_msg_rx_make();
+
+    gnss_synchro.Acq_delay_samples = 1343;
+    gnss_synchro.Acq_doppler_hz = -2750;
+    // gnss_synchro.Acq_doppler_hz = -2750;
+    gnss_synchro.Acq_samplestamp_samples = 0;
+
+    ASSERT_NO_THROW( {
+        tracking->set_channel(gnss_synchro.Channel_ID);
+    }) << "Failure setting channel." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->set_gnss_synchro(&gnss_synchro);
+    }) << "Failure setting gnss_synchro." << std::endl;
+
+    ASSERT_NO_THROW( {
+        tracking->connect(top_block);
+    }) << "Failure connecting tracking to the top_block." << std::endl;
+
+    ASSERT_NO_THROW( {
+        gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
+        std::string path = std::string(TEST_PATH);
+        std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin";
+        const char * file_name = file.c_str();
+        gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
+        boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+        gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+        top_block->connect(file_source, 0, valve, 0);
+        top_block->connect(valve, 0, tracking->get_left_block(), 0);
+        top_block->connect(tracking->get_right_block(), 0, sink, 0);
+        top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+    }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+    tracking->start_tracking();
+
+    EXPECT_NO_THROW( {
+        gettimeofday(&tv, NULL);
+        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        top_block->run(); // Start threads and wait
+        gettimeofday(&tv, NULL);
+        end = tv.tv_sec *1000000 + tv.tv_usec;
+    }) << "Failure running the top_block." << std::endl;
+
+    // TODO: Verify tracking results
+    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+}

From 2984b6c9769cda5eabc7a163fd58a815c0fa3796 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:03:55 -0300
Subject: [PATCH 194/379] Update test configuration

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 27 ++---------------
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 30 ++-----------------
 2 files changed, 6 insertions(+), 51 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
index 5bb4fbdf8..9a65a43a6 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -47,7 +47,6 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
-// #include "signal_conditioner.h"
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 
 
@@ -139,35 +138,15 @@ void GlonassL1CaDllPllCAidTrackingTest::init()
     gnss_synchro.PRN = 11;
 
     config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
-
-
-    std::string path = std::string(TEST_PATH);
-    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
-    const char * file_name = file.c_str();
-
-    config->set_property("SignalSource.implementation","File_Signal_Source");
-    config->set_property("SignalSource.filename",file_name);
-    config->set_property("SignalSource.item_type","ibyte");
-    config->set_property("SignalSource.sampling_frequency","6625000");
-
-    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation","Pass_Through");
-    config->set_property("InputFilter.item_type","gr_complex");
-    config->set_property("Resampler.implementation","Direct_Resampler");
-    config->set_property("Resampler.sample_freq_in","6625000");
-    config->set_property("Resampler.sample_freq_out","2000000");
-    config->set_property("Resampler.item_type","gr_complex");
-
     config->set_property("Tracking_1G.item_type", "gr_complex");
-    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
     config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 9827a00ed..0957b3b24 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -47,10 +47,6 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
-#include "array_signal_conditioner.h"
-#include "signal_conditioner.h"
-#include "ibyte_to_complex.h"
-#include "direct_resampler_conditioner.h"
 #include "glonass_l1_ca_dll_pll_tracking.h"
 
 
@@ -142,35 +138,15 @@ void GlonassL1CaDllPllTrackingTest::init()
     gnss_synchro.PRN = 11;
 
     config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
-
-
-    std::string path = std::string(TEST_PATH);
-    std::string file =  path + "signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_10s.bin";
-    const char * file_name = file.c_str();
-
-    config->set_property("SignalSource.implementation","File_Signal_Source");
-    config->set_property("SignalSource.filename",file_name);
-    config->set_property("SignalSource.item_type","ibyte");
-    config->set_property("SignalSource.sampling_frequency","6625000");
-
-    config->set_property("SignalConditioner.implementation","Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation","Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation","Pass_Through");
-    config->set_property("InputFilter.item_type","gr_complex");
-    config->set_property("Resampler.implementation","Direct_Resampler");
-    config->set_property("Resampler.sample_freq_in","6625000");
-    config->set_property("Resampler.sample_freq_out","2000000");
-    config->set_property("Resampler.item_type","gr_complex");
-
     config->set_property("Tracking_1G.item_type", "gr_complex");
-    config->set_property("Tracking_1G.dump", "true");
+    config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
     config->set_property("Tracking_1G.dump_filename", "./tracking_ch_");
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)

From e484c391e6e20cfbc9c5e023aa86607d9ad466fd Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:05:24 -0300
Subject: [PATCH 195/379] Add file with real signals for testing

---
 ..._GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin | Bin 0 -> 211996 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin

diff --git a/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin b/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin
new file mode 100644
index 0000000000000000000000000000000000000000..bba434e4ce2e40b207d0c725737082715495a41c
GIT binary patch
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y&V6>R=v~=?OuspK2mI`@cO%0&&gOSWH~!WN&rEaZ?HhRh;ibOMji+z@=l=no^9TR{

literal 0
HcmV?d00001


From 339aad9beb9b3d951536ac31ee69a485fedeb46b Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 196/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index b148a5948..16d0d3ae7 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -748,15 +748,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
-<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
-=======
-                            *available_gnss_prn_iter), std::string("5X")));
->>>>>>> Add glonass svn in signals list
-=======
-                            *available_gnss_prn_iter), std::string("1G")));
->>>>>>> fix glonass signal string
                 }
         }
     /*

From 41306ee044f2159c5620026ddef0129cf76c734b Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 197/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/glonass_l1_signal_processing.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.cc b/src/algorithms/libs/glonass_l1_signal_processing.cc
index 96b8cfa9b..3ee50707a 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@@ -78,7 +78,6 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest,/* signed int _pr
                 }
         }
 
-    /* TODO: Implement the chip shifting*/
     /* Set the delay */
     delay = _code_length;
     delay += _chip_shift;

From b8e7fc0cc962c2dfb180dbb39627aa2a7f01df50 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:41:57 -0300
Subject: [PATCH 198/379] Add Glonass_L1_CA.h with Glonass L1 CA parameters

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index bcdfd2b32..696610e7b 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -65,5 +65,4 @@ const std::map<unsigned int, int> GLONASS_PRN =
 
 
 const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
-
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From f9845ae3a2575af6906c4390d57884647f739c15 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 199/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 4bd5ab857..e1a5e7cdc 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -151,6 +151,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From fcea2486546c31012bf7fc69d0f8b18d225ca8a3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 200/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 16d0d3ae7..0750c9b85 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -764,7 +764,7 @@ void GNSSFlowgraph::set_signals_list()
             std::string gnss_system;
             if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
             if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
-            if((gnss_signal.compare("1G") == 0)/* or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
+            if((gnss_signal.compare("1G") == 0)/*or (gnss_signal.compare("") == 0)*/) gnss_system = "Glonass";
             unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
             LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
             if (sat == 0) // 0 = not PRN in configuration file

From eec6f07f1de5bf72b1c2f5cfd9c9e55c8cc4c79f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:21:21 -0300
Subject: [PATCH 201/379] Update glonass prn table

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 696610e7b..e97c88b6b 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -6,6 +6,7 @@
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 
+
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
 const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]

From 88a0976f962c85d1bbd3d957766969eecccd46a7 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 202/379] Add FDMA protocol to pcps algorithm

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc    | 19 +++++++++++++++++++
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  6 ------
 2 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index c7ac73f96..7ae618935 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -188,6 +188,21 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+bool pcps_acquisition_cc::is_fdma()
+{
+    // Dealing with FDMA system
+    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
+        {
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
 
 bool pcps_acquisition_cc::is_fdma()
 {
@@ -228,7 +243,10 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+}
 
+void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
+{
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
 
@@ -255,6 +273,7 @@ void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
 
 
 
+
 void pcps_acquisition_cc::set_state(int state)
 {
     gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index e1a5e7cdc..4bd5ab857 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -151,12 +151,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From acf2e04bef9937cd929de740cd40f9ecdc1f29da Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:29:33 -0300
Subject: [PATCH 203/379] fix another conflict

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index e97c88b6b..696610e7b 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -6,7 +6,6 @@
 #include "MATH_CONSTANTS.h"
 #include "gnss_frequencies.h"
 
-
 // Physical constants
 const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
 const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]

From 8f8bdb14ddf9e141d94807d7c0d217a2de9a4348 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 204/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 0750c9b85..4529a1fba 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -597,9 +597,6 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
-    /*
-     * Only 24 operational
-     */
     std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
                     11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
 

From 1864f78d9ad52589fce8a8586a96ec87988c0177 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:57:48 -0300
Subject: [PATCH 205/379] Change the if frequency to the FDMA channel to be
 searched

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 4bd5ab857..e1a5e7cdc 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -151,6 +151,12 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
+         // Dealing with FDMA system
+         if(d_gnss_synchro->System == 'R')
+          {
+            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
+            std::cout << "d_freq " << d_freq << std::endl;
+          }
      }
 
      /*!

From f918a00590667ab8a0bcb1980dcb5fcd5ff6f519 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 12:15:57 -0300
Subject: [PATCH 206/379] Add glonass svn in signals list

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 4529a1fba..ad01e76b1 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -745,7 +745,11 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
+=======
+                            *available_gnss_prn_iter), std::string("5X")));
+>>>>>>> Add glonass svn in signals list
                 }
         }
     /*

From 5d9742416d16d571be66d143da22971a780704b4 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 29 Mar 2017 15:09:19 -0300
Subject: [PATCH 207/379] fix glonass signal string

---
 src/core/receiver/gnss_flowgraph.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index ad01e76b1..26126e55f 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -745,11 +745,15 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
 <<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
 =======
                             *available_gnss_prn_iter), std::string("5X")));
 >>>>>>> Add glonass svn in signals list
+=======
+                            *available_gnss_prn_iter), std::string("1G")));
+>>>>>>> fix glonass signal string
                 }
         }
     /*

From fc40e1bdc7ca473a4c99ee2a01237604396b55da Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 30 Mar 2017 09:44:47 -0300
Subject: [PATCH 208/379] Add code for C/A signal generation for glonass

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 891febcb9..495925c3d 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,6 +36,7 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
+<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -45,3 +46,14 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
+=======
+void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
+
+//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
+
+//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
+void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
+
+#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
+>>>>>>> Add code for C/A signal generation for glonass

From b0a6483254278426f2758492ffe9e0b7ac470c8f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 1 Jun 2017 20:49:44 -0300
Subject: [PATCH 209/379] Add chip shift to glonass ca code

---
 src/algorithms/libs/glonass_l1_signal_processing.h | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index 495925c3d..891febcb9 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -36,7 +36,6 @@
 #include <complex>
 
 //!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
-<<<<<<< e90125451c7606088d1bc29055b4f87ab07a8457
 void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
 
 //! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
@@ -46,14 +45,3 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsign
 void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest,/* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
 
 #endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */
-=======
-void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest/*, signed int _prn, unsigned int _chip_shift*/);
-
-//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
-
-//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
-void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
-
-#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */
->>>>>>> Add code for C/A signal generation for glonass

From 72ff71450beb730d8bcf845b08d59f660210e475 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 5 Jun 2017 20:22:46 -0300
Subject: [PATCH 210/379] Add FDMA protocol to pcps algorithm

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.h       | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index e1a5e7cdc..4bd5ab857 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -151,12 +151,6 @@ public:
      {
          gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
          d_gnss_synchro = p_gnss_synchro;
-         // Dealing with FDMA system
-         if(d_gnss_synchro->System == 'R')
-          {
-            d_freq += 0.5625e6 * GLONASS_PRN[d_gnss_synchro->PRN+1];
-            std::cout << "d_freq " << d_freq << std::endl;
-          }
      }
 
      /*!

From 2c495ec014c8e7eb29e5065d48de6625e6750177 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:39:14 -0300
Subject: [PATCH 211/379] Fix wipeoff bug

---
 .../acquisition/gnuradio_blocks/pcps_acquisition_cc.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 7ae618935..c8f122258 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -243,6 +243,16 @@ void pcps_acquisition_cc::init()
     d_input_power = 0.0;
 
     d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
+
+    // Create the carrier Doppler wipeoff signals
+    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
+            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
+        }
 }
 
 void pcps_acquisition_cc::update_grid_doppler_wipeoffs()

From 88fa6025053d00678e6a4eed10b465464a931daf Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Mon, 10 Jul 2017 20:53:06 -0300
Subject: [PATCH 212/379] Add unit-test for glonass pcps acquisition

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc        | 15 ---------------
 src/core/receiver/gnss_flowgraph.cc               |  8 --------
 ...lonass_l1_ca_pcps_acquisition_gsoc2017_test.cc |  1 -
 3 files changed, 24 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index c8f122258..36e5d78cd 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -188,21 +188,6 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
-bool pcps_acquisition_cc::is_fdma()
-{
-    // Dealing with FDMA system
-    if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
-        {
-            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
-            return true;
-        }
-    else
-        {
-            return false;
-        }
-}
-
 
 bool pcps_acquisition_cc::is_fdma()
 {
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 26126e55f..4529a1fba 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -745,15 +745,7 @@ void GNSSFlowgraph::set_signals_list()
                     available_gnss_prn_iter++)
                 {
                     available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-<<<<<<< 3c93101c23e7e730777f47eeff6e7d538c9528e4
-<<<<<<< aadcdb80509f7a96b0558b8d33ecaed526bceae9
                             *available_gnss_prn_iter), std::string("1G")));
-=======
-                            *available_gnss_prn_iter), std::string("5X")));
->>>>>>> Add glonass svn in signals list
-=======
-                            *available_gnss_prn_iter), std::string("1G")));
->>>>>>> fix glonass signal string
                 }
         }
     /*
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index a346cf12f..a739204f9 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -615,4 +615,3 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 
     delete acquisition;
 }
-

From 239d15bfc78cabea87297f573a14602fc06da170 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 17:51:28 -0300
Subject: [PATCH 213/379] Add glonass signal acquisition

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc         | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 36e5d78cd..29506fbeb 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -240,18 +240,6 @@ void pcps_acquisition_cc::init()
         }
 }
 
-void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
-{
-    // Create the carrier Doppler wipeoff signals
-    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
-
-    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
-        {
-            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
-            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
-        }
-}
 
 void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
 {
@@ -267,8 +255,6 @@ void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
 }
 
 
-
-
 void pcps_acquisition_cc::set_state(int state)
 {
     gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler

From 32b9919fc5e07219f0d698987b4a990ae7a0e988 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:20:52 -0300
Subject: [PATCH 214/379] Add telemetry rate

---
 src/core/system_parameters/Glonass_L1_CA.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
index 696610e7b..bcdfd2b32 100644
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ b/src/core/system_parameters/Glonass_L1_CA.h
@@ -65,4 +65,5 @@ const std::map<unsigned int, int> GLONASS_PRN =
 
 
 const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From a178376ad149b213563c90eb2c7cb70f7b01cb39 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 18 Jul 2017 18:24:29 -0300
Subject: [PATCH 215/379] Update test

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 42 ++++++++++++++-----
 1 file changed, 32 insertions(+), 10 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index a739204f9..ea6c895e7 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -178,7 +178,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "1");
+    config->set_property("SignalSource.num_satellites", "4");
 
     config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
@@ -186,8 +186,26 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
+    config->set_property("SignalSource.system_1", "R");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_2", "R");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_3", "G");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
     config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.data_flag", "true");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -273,8 +291,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("SignalSource.doppler_Hz_3", "3000");
     config->set_property("SignalSource.delay_chips_3", "300");
 
-    config->set_property("SignalSource.noise_flag", "true");
-    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.noise_flag", "false");
+    config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -302,7 +320,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.1");
+    config->set_property("Acquisition.pfa", "0.0001");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -349,9 +367,12 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             // The value 511.0 must be a variable, chips/length
             double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
+            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
+            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -448,11 +469,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(500);
+        acquisition->set_doppler_step(250);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.5);
+        acquisition->set_threshold(0.05);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -462,14 +483,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    ASSERT_NO_THROW( {
+    //ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -566,7 +587,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)
@@ -615,3 +636,4 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 
     delete acquisition;
 }
+

From 0ebc8af42bfe6d792fa03710c486506a4af7ece1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 18:41:35 -0300
Subject: [PATCH 216/379] Update tests

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 45 +++++--------------
 1 file changed, 12 insertions(+), 33 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index ea6c895e7..2899b4844 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -178,7 +178,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config->set_property("SignalSource.item_type", "gr_complex");
 
-    config->set_property("SignalSource.num_satellites", "4");
+    config->set_property("SignalSource.num_satellites", "1");
 
     config->set_property("SignalSource.system_0", "R");
     config->set_property("SignalSource.PRN_0", "10");
@@ -186,26 +186,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.system_1", "R");
-    config->set_property("SignalSource.PRN_1", "15");
-    config->set_property("SignalSource.CN0_dB_1", "44");
-    config->set_property("SignalSource.doppler_Hz_1", "1000");
-    config->set_property("SignalSource.delay_chips_1", "100");
-
-    config->set_property("SignalSource.system_2", "R");
-    config->set_property("SignalSource.PRN_2", "21");
-    config->set_property("SignalSource.CN0_dB_2", "44");
-    config->set_property("SignalSource.doppler_Hz_2", "2000");
-    config->set_property("SignalSource.delay_chips_2", "200");
-
-    config->set_property("SignalSource.system_3", "G");
-    config->set_property("SignalSource.PRN_3", "22");
-    config->set_property("SignalSource.CN0_dB_3", "44");
-    config->set_property("SignalSource.doppler_Hz_3", "3000");
-    config->set_property("SignalSource.delay_chips_3", "300");
-
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -237,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "false");
+    config->set_property("Acquisition.dump", "true");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
@@ -291,8 +273,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("SignalSource.doppler_Hz_3", "3000");
     config->set_property("SignalSource.delay_chips_3", "300");
 
-    config->set_property("SignalSource.noise_flag", "false");
-    config->set_property("SignalSource.data_flag", "false");
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
     config->set_property("SignalSource.BW_BB", "0.97");
 
     config->set_property("InputFilter.implementation", "Fir_Filter");
@@ -320,7 +302,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
                          std::to_string(integration_time_ms));
     config->set_property("Acquisition.max_dwells", "1");
     config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.pfa", "0.0001");
+    config->set_property("Acquisition.pfa", "0.1");
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
@@ -367,12 +349,9 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
             // The value 511.0 must be a variable, chips/length
             double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
-            // std::cout << "doppler_error_hz = " << doppler_error_hz << std::endl;
 
             mse_delay += std::pow(delay_error_chips, 2);
-            // std::cout << "mse_delay = " << mse_delay << std::endl;
             mse_doppler += std::pow(doppler_error_hz, 2);
-            // std::cout << "mse_doppler = " << mse_doppler << std::endl;
 
             if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
                 {
@@ -469,11 +448,11 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     }) << "Failure setting doppler_max."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(250);
+        acquisition->set_doppler_step(500);
     }) << "Failure setting doppler_step."<< std::endl;
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.05);
+        acquisition->set_threshold(0.5);
     }) << "Failure setting threshold."<< std::endl;
 
     ASSERT_NO_THROW( {
@@ -483,14 +462,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     acquisition->init();
 
-    //ASSERT_NO_THROW( {
+    ASSERT_NO_THROW( {
         boost::shared_ptr<GenSignalSource> signal_source;
         SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
         FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1);
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    //}) << "Failure connecting the blocks of acquisition test." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -587,7 +566,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
-    std::cout << "Probability of false alarm (target) = " << 0.0001 << std::endl;
+    std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
 
     // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
     // i = 1 --> satellite in acquisition is not visible (prob of false detection)

From 26cf61b04577b0c10d388755583b6d63a5ea66b1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 20 Jul 2017 20:52:19 -0300
Subject: [PATCH 217/379] Set noise_flag and dump to false

---
 .../glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 2899b4844..a346cf12f 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -186,7 +186,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
     config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
 
-    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
 
@@ -219,7 +219,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.doppler_max", "10000");
     config->set_property("Acquisition.doppler_step", "250");
     config->set_property("Acquisition.bit_transition_flag", "false");
-    config->set_property("Acquisition.dump", "true");
+    config->set_property("Acquisition.dump", "false");
 }
 
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()

From d0809978d4ba605fd990ed7dfe8272713c1e2ceb Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 17 Aug 2017 10:23:44 -0300
Subject: [PATCH 218/379] Add header with authors and license

---
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc       | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index cce1b19a7..1a03f5c79 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -136,11 +136,7 @@ void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
 }
 
 
-gr::basic_block_sptr GlonassL1CaDllPllTracking::get_left_block()
 {
-    return tracking_;
-}
-
 
 gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
 {

From edc7ce8ccc2cfec1dfd5a07aa261e714c945dad7 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 19:49:55 -0300
Subject: [PATCH 219/379] Add unit test for new tracking blocks

---
 .../tracking/glonass_l1_ca_dll_pll_tracking_test.cc           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 0957b3b24..df4cfb30f 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -145,8 +145,8 @@ void GlonassL1CaDllPllTrackingTest::init()
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "2");
-    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
+    config->set_property("Tracking_1G.pll_bw_hz", "20");
+    config->set_property("Tracking_1G.dll_bw_hz", "4");
 }
 
 TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)

From 21dcf7216d6b1d6492b9c0c054bbf1674c6837bd Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 22 Aug 2017 20:03:55 -0300
Subject: [PATCH 220/379] Update test configuration

---
 .../tracking/glonass_l1_ca_dll_pll_tracking_test.cc           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index df4cfb30f..0957b3b24 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -145,8 +145,8 @@ void GlonassL1CaDllPllTrackingTest::init()
     config->set_property("Tracking_1G.implementation", "GLONASS_L1_CA_DLL_PLL_Tracking");
     config->set_property("Tracking_1G.early_late_space_chips", "0.5");
     config->set_property("Tracking_1G.order", "2");
-    config->set_property("Tracking_1G.pll_bw_hz", "20");
-    config->set_property("Tracking_1G.dll_bw_hz", "4");
+    config->set_property("Tracking_1G.pll_bw_hz", "2");
+    config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
 TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)

From bcaeec37b9c6cc58f78acbb0356d9eb878e8abcd Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 23 Aug 2017 13:58:12 -0300
Subject: [PATCH 221/379] Remove unexpected bracket

---
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc         | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index 1a03f5c79..feb6ebefb 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -136,8 +136,6 @@ void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
 }
 
 
-{
-
 gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
 {
     return tracking_;

From a4843403d794e8fd150e11dc1560ce889d2d4854 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 23 Aug 2017 14:09:09 -0300
Subject: [PATCH 222/379] Add required function

---
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc      | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index feb6ebefb..3b69f6bb2 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -136,6 +136,11 @@ void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
 }
 
 
+gr::basic_block_sptr GlonassL1CaDllPllTracking::get_left_block()
+{
+    return tracking_;
+}
+
 gr::basic_block_sptr GlonassL1CaDllPllTracking::get_right_block()
 {
     return tracking_;

From 45c2351223f352e870be5a8e9e2b7f99186b72a5 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 23 Aug 2017 14:13:19 -0300
Subject: [PATCH 223/379] Remove redefinition

---
 .../gnuradio_blocks/pcps_acquisition_cc.cc         | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 45dfe7e31..29506fbeb 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -240,20 +240,6 @@ void pcps_acquisition_cc::init()
         }
 }
 
-void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
-{
-    // Create the carrier Doppler wipeoff signals
-    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
-
-    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
-        {
-            d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
-            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
-        }
-}
-
-
 
 void pcps_acquisition_cc::update_grid_doppler_wipeoffs()
 {

From 2c71ebf47960d5e6377d7b7ab5858c38e615b8b0 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 23 Aug 2017 22:35:22 +0200
Subject: [PATCH 224/379] Merge Gabriel's glonass-sdr branch

---
 .../glonass_l1_ca_pcps_acquisition.cc         |  4 +--
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 33 ++++++++++---------
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    | 24 +++++++-------
 .../adapters/glonass_l1_ca_dll_pll_tracking.h | 20 +++++------
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |  4 +--
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |  4 +--
 6 files changed, 44 insertions(+), 45 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 2ef2828f1..5d81dc992 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -266,9 +266,9 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
     unsigned int ncells = vector_length_ * frequency_bins;
     double exponent = 1 / static_cast<double>(ncells);
     double val = pow(1.0 - pfa, exponent);
-    double lambda = double(vector_length_);
+    double lambda = static_cast<double>(vector_length_);
     boost::math::exponential_distribution<double> mydist (lambda);
-    float threshold = (float)quantile(mydist,val);
+    float threshold = static_cast<float>(quantile(mydist,val));
 
     return threshold;
 }
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
index 2cc43c90f..ff01d7364 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -29,7 +29,7 @@ public:
 
     virtual ~GlonassL1CaPcpsAcquisition();
 
-    std::string role()
+    inline std::string role() override
     {
         return role_;
     }
@@ -37,66 +37,67 @@ public:
     /*!
      * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
      */
-    std::string implementation()
+    inline std::string implementation() override
     {
         return "GLONASS_L1_CA_PCPS_Acquisition";
     }
-    size_t item_size()
+
+    inline size_t item_size() override
     {
         return item_size_;
     }
 
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
 
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and
      *  tracking blocks
      */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
 
     /*!
      * \brief Set acquisition channel unique ID
      */
-    void set_channel(unsigned int channel);
+    void set_channel(unsigned int channel) override;
 
     /*!
      * \brief Set statistics threshold of PCPS algorithm
      */
-    void set_threshold(float threshold);
+    void set_threshold(float threshold) override;
 
     /*!
      * \brief Set maximum Doppler off grid search
      */
-    void set_doppler_max(unsigned int doppler_max);
+    void set_doppler_max(unsigned int doppler_max) override;
 
     /*!
      * \brief Set Doppler steps for the grid search
      */
-    void set_doppler_step(unsigned int doppler_step);
+    void set_doppler_step(unsigned int doppler_step) override;
 
     /*!
      * \brief Initializes acquisition algorithm.
      */
-    void init();
+    void init() override;
 
     /*!
      * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
      */
-    void set_local_code();
+    void set_local_code() override;
 
     /*!
      * \brief Returns the maximum peak of grid search
      */
-    signed int mag();
+    signed int mag() override;
 
     /*!
      * \brief Restart acquisition algorithm
      */
-    void reset();
+    void reset() override;
 
     /*!
      * \brief If state = 1, it forces the block to start acquiring from the first sample
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
index 19a9502b5..3da85c58e 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -15,7 +15,6 @@ class ConfigurationInterface;
 class GlonassL1CaDllPllCAidTracking : public TrackingInterface
 {
 public:
-
   GlonassL1CaDllPllCAidTracking(ConfigurationInterface* configuration,
             std::string role,
             unsigned int in_streams,
@@ -23,40 +22,39 @@ public:
 
     virtual ~GlonassL1CaDllPllCAidTracking();
 
-    std::string role()
+    inline std::string role() override
     {
         return role_;
     }
 
     //! Returns "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking"
-    std::string implementation()
+    inline std::string implementation() override
     {
         return "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking";
     }
-    size_t item_size()
+
+    inline size_t item_size() override
     {
         return item_size_;
     }
 
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
-
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
 
     /*!
      * \brief Set tracking channel unique ID
      */
-    void set_channel(unsigned int channel);
+    void set_channel(unsigned int channel) override;
 
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and tracking blocks
      */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
 
-
-    void start_tracking();
+    void start_tracking() override;
 
 private:
     glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc;
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index 46565b2e1..ba476948a 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -59,39 +59,39 @@ public:
 
     virtual ~GlonassL1CaDllPllTracking();
 
-    std::string role()
+    inline std::string role() override
     {
         return role_;
     }
 
     //! Returns "GLONASS_L1_CA_DLL_PLL_Tracking"
-    std::string implementation()
+    inline std::string implementation() override
     {
         return "GLONASS_L1_CA_DLL_PLL_Tracking";
     }
 
-    size_t item_size()
+    inline size_t item_size() override
     {
         return item_size_;
     }
 
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
 
     /*!
      * \brief Set tracking channel unique ID
      */
-    void set_channel(unsigned int channel);
+    void set_channel(unsigned int channel) override;
 
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and tracking blocks
      */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
 
-    void start_tracking();
+    void start_tracking() override;
 
 private:
     glonass_l1_ca_dll_pll_tracking_cc_sptr tracking_;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 231058ec8..0972b3382 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -285,8 +285,8 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // Block input data and block output stream pointers
-    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); //PRN start block alignment
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index ad7b16cd6..82bf4ee47 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -269,8 +269,8 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
     double code_error_filt_chips = 0.0;
 
     // Block input data and block output stream pointers
-    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); // PRN start block alignment
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();

From 9761803d6aa45fe89d22d54b4d365f44d8db8006 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 23 Aug 2017 23:06:56 +0200
Subject: [PATCH 225/379] Replace C-style casts by C++ casts

---
 .../adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc        | 6 ++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc              | 2 +-
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc              | 4 ++--
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 6f9bf340a..4f73fa200 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -107,6 +107,7 @@ void GlonassL1CaDllPllCAidTracking::start_tracking()
         }
 }
 
+
 /*
  * Set tracking channel unique ID
  */
@@ -128,6 +129,7 @@ void GlonassL1CaDllPllCAidTracking::set_channel(unsigned int channel)
         }
 }
 
+
 void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
 {
     if (item_type_.compare("gr_complex") == 0)
@@ -144,18 +146,21 @@ void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchr
         }
 }
 
+
 void GlonassL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
 {
     if(top_block) { /* top_block is not null */};
     //nothing to connect, now the tracking uses gr_sync_decimator
 }
 
+
 void GlonassL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
 {
     if(top_block) { /* top_block is not null */};
     //nothing to disconnect, now the tracking uses gr_sync_decimator
 }
 
+
 gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
 {
     if (item_type_.compare("gr_complex") == 0)
@@ -173,6 +178,7 @@ gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
         }
 }
 
+
 gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_right_block()
 {
     if (item_type_.compare("gr_complex") == 0)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 0972b3382..fb48e295b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -285,7 +285,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // Block input data and block output stream pointers
-    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); //PRN start block alignment
+    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); // PRN start block alignment
     Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index f22bbc732..621df090d 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -289,8 +289,8 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // Block input data and block output stream pointers
-    const lv_16sc_t* in = (lv_16sc_t*) input_items[0]; //PRN start block alignment
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const lv_16sc_t* in = reinterpret_cast<const lv_16sc_t*>(input_items[0]); // PRN start block alignment
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();

From a3b81a884bd349c5f8f11e2f2e597cca1221706f Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 24 Aug 2017 18:03:23 +0200
Subject: [PATCH 226/379] Fix redefinition of variable

---
 ...ps_quicksync_ambiguous_acquisition_gsoc2014_test.cc | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
index f059c7a1b..37d6a8813 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
@@ -109,6 +109,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test_msg_rx::GalileoE1PcpsQuic
     rx_message = 0;
 }
 
+
 GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test_msg_rx::~GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test_msg_rx()
 {}
 
@@ -127,7 +128,6 @@ protected:
         gnss_synchro = Gnss_Synchro();
         init();
 }
-
     ~GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test()
     {
     }
@@ -201,6 +201,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::init()
     Pmd = 0;
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_1()
 {
     gnss_synchro.Channel_ID = 0;
@@ -273,6 +274,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_1()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_2()
 {
     gnss_synchro.Channel_ID = 0;
@@ -458,12 +460,14 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_3()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::start_queue()
 {
     stop = false;
     ch_thread = boost::thread(&GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message, this);
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message()
 {
     std::chrono::time_point<std::chrono::system_clock> begin, end;
@@ -478,7 +482,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message()
             channel_internal_queue.wait_and_pop(message);
 
             end = std::chrono::system_clock::now();
-            std::chrono::duration<double> elapsed_seconds = end - begin;
+            elapsed_seconds = end - begin;
 
             mean_acq_time_us += elapsed_seconds.count() * 1e6;
 
@@ -582,7 +586,7 @@ TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ConnectAndRun)
         begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
-        std::chrono::duration<double> elapsed_seconds = end - begin;
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block."<< std::endl;
 
     std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;

From 38858836a0ede1b299780821f7d176790685d30e Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 24 Aug 2017 18:09:04 +0200
Subject: [PATCH 227/379] Replace <ctime> library by <chrono>

and also replace C-style casts by C++ casts. Added/removed some blank
lines here and there to match coding style of other tests.
---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 76 +++++++++++--------
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 35 ++++-----
 2 files changed, 59 insertions(+), 52 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index a346cf12f..434e37d23 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -1,4 +1,4 @@
-#include <ctime>
+#include <chrono>
 #include <iostream>
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
@@ -72,6 +72,7 @@ GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC201
     rx_message = 0;
 }
 
+
 GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx()
 {}
 
@@ -138,6 +139,7 @@ protected:
     double Pfa_a;
 };
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
 {
     message = 0;
@@ -153,6 +155,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
     Pfa_a = 0;
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 {
     gnss_synchro.Channel_ID = 0;
@@ -222,6 +225,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
 {
     gnss_synchro.Channel_ID = 0;
@@ -309,12 +313,14 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
 {
     stop = false;
     ch_thread = boost::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
 {
     struct timeval tv;
@@ -339,6 +345,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
         }
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
 {
     if (message == 1)
@@ -347,7 +354,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
 
             // The term -5 is here to correct the additional delay introduced by the FIR filter
             // The value 511.0 must be a variable, chips/length
-            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
+            double delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - (static_cast<double>(gnss_synchro.Acq_delay_samples) - 5.0 ) * 511.0 / (static_cast<double>(fs_in) * 1e-3));
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
             mse_delay += std::pow(delay_error_chips, 2);
@@ -361,16 +368,16 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
 
     realization_counter++;
 
-    std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
+    std::cout << "Progress: " << round(static_cast<float>(realization_counter) / static_cast<float>(num_of_realizations) * 100.0) << "% \r" << std::flush;
 
     if (realization_counter == num_of_realizations)
         {
             mse_delay /= num_of_realizations;
             mse_doppler /= num_of_realizations;
 
-            Pd = (double)correct_estimation_counter / (double)num_of_realizations;
-            Pfa_a = (double)detection_counter / (double)num_of_realizations;
-            Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
+            Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
+            Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
+            Pfa_p = (static_cast<double>(detection_counter) - static_cast<double>( correct_estimation_counter)) / static_cast<double>(num_of_realizations);
 
             mean_acq_time_us /= num_of_realizations;
 
@@ -379,11 +386,13 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
         }
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
 {
     stop = true;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
 {
     config_1();
@@ -391,12 +400,12 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
     delete acquisition;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
 {
-    int nsamples = floor(fs_in*integration_time_ms*1e-3);
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    int nsamples = floor(fs_in * integration_time_ms * 1e-3);
+    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     queue = gr::msg_queue::make(0);
     top_block = gr::make_top_block("Acquisition test");
 
@@ -414,18 +423,18 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
     }) << "Failure connecting the blocks of acquisition test."<< std::endl;
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec *1e6 + tv.tv_usec;
+        begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec *1e6 + tv.tv_usec;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block."<< std::endl;
 
-    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 
     delete acquisition;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 {
     config_1();
@@ -495,18 +504,18 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
             }) << "Failure running the top_block."<< std::endl;
 
             if (i == 0)
-            {
-                EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
-                if (message == 1)
-                    {
-                        EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
-                    }
+                {
+                    EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+                    if (message == 1)
+                        {
+                            EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
+                        }
 
-            }
+                }
             else if (i == 1)
-            {
-                EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
-            }
+                {
+                    EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
+                }
 #ifdef OLD_BOOST
             ASSERT_NO_THROW( {
                 ch_thread.timed_join(boost::posix_time::seconds(1));
@@ -522,6 +531,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     delete acquisition;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 {
     config_2();
@@ -592,15 +602,15 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
             }) << "Failure running the top_block."<< std::endl;
 
             if (i == 0)
-            {
-                std::cout << "Estimated probability of detection = " << Pd << std::endl;
-                std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
-                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
+                {
+                    std::cout << "Estimated probability of detection = " << Pd << std::endl;
+                    std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
+                    std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
             else if (i == 1)
-            {
-                std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
-                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
-            }
+                {
+                    std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
+                    std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
+                }
 #ifdef OLD_BOOST
             ASSERT_NO_THROW( {
                 ch_thread.timed_join(boost::posix_time::seconds(1));
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 1a29bda80..902fcdf00 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -1,4 +1,4 @@
-#include <ctime>
+#include <chrono>
 #include <cstdlib>
 #include <iostream>
 #include <boost/chrono.hpp>
@@ -119,20 +119,19 @@ void GlonassL1CaPcpsAcquisitionTest::init()
 }
 
 
-
 TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 {
     init();
     boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
     int fs_in = 62314000;
     int nsamples = 62314;
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     gr::msg_queue::sptr queue = gr::msg_queue::make(0);
 
     top_block = gr::make_top_block("Acquisition test");
@@ -151,21 +150,20 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec * 1000000 + tv.tv_usec;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block." << std::endl;
 
-    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
 {
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     top_block = gr::make_top_block("Acquisition test");
 
     double expected_delay_samples = 31874;
@@ -213,21 +211,20 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     acquisition->init();
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec * 1000000 + tv.tv_usec;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block." << std::endl;
 
 
     unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
-    std::cout <<  "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 
     ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
 
     double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
-    float delay_error_chips = (float)(delay_error_samples * 511 / 62316);
+    float delay_error_chips = static_cast<float>(delay_error_samples) * 511.0 / 62316.0;
     double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
     EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";

From 0a8d5e4ffd067f4a49b9155e970cf74f4890c71f Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 31 Aug 2017 08:57:27 -0300
Subject: [PATCH 228/379] Solve issue glonass FDMA channel in tracking block

---
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc               | 5 +++--
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc               | 3 ++-
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc     | 5 +++--
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 231058ec8..f944d0c33 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -196,7 +196,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
@@ -224,7 +224,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
 
     d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index f22bbc732..2a7a6f3e7 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -225,7 +225,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
 
     d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index ad7b16cd6..3e008cb46 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -161,7 +161,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
@@ -189,7 +189,8 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
     d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
 
     // DLL/PLL filter initialization

From fa8cb9dd5c17e4e4aad72a95d52ea9831cbd818d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 23 Aug 2017 19:04:11 +0200
Subject: [PATCH 229/379] Fix building when compilers have a C++ standard below
 C++11

---
 CMakeLists.txt                                | 30 -------------------
 .../volk_gnsssdr/CMakeLists.txt               |  2 +-
 2 files changed, 1 insertion(+), 31 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dd63b0089..773af075a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -582,34 +582,6 @@ if(NOT VOLK_GNSSSDR_FOUND)
         endif(CMAKE_GENERATOR STREQUAL Xcode)
     endif(OS_IS_MACOSX)
 
-    set(C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
-    set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-
-    if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
-        if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
-            set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-        else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
-            set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-        endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
-    endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
-
-    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        if(OS_IS_LINUX)
-            if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
-                set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-            else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
-                set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-            endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
-        endif(OS_IS_LINUX)
-        if(OS_IS_MACOSX)
-            if(CLANG_VERSION VERSION_LESS "600")
-                set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-            else(CLANG_VERSION VERSION_LESS "600")
-                set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-            endif(CLANG_VERSION VERSION_LESS "600")
-        endif(OS_IS_MACOSX)
-    endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-
     if(CMAKE_CROSSCOMPILING)
         set(VOLK_GNSSSDR_COMPILER "")
     else(CMAKE_CROSSCOMPILING)
@@ -619,8 +591,6 @@ if(NOT VOLK_GNSSSDR_FOUND)
                                 -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install
                                 -DENABLE_STATIC_LIBS=ON
                                 -DENABLE_PROFILING=${ENABLE_PROFILING}
-                                -DCMAKE_CXX_FLAGS=${CXX_FLAGS}
-                                -DCMAKE_C_FLAGS=${C_FLAGS}
                                 -DCMAKE_INCLUDE_PATH=${Boost_INCLUDE_DIR}
                                 -DENABLE_ORC=OFF
                                 ${STRIP_VOLK_GNSSSDR_PROFILE}
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
index d6e69819b..8178609a2 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
@@ -27,7 +27,7 @@ enable_language(CXX)
 enable_language(C)
 enable_testing()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
 add_definitions(-D_GLIBCXX_USE_CXX11_ABI=1)
 

From ed021f043fab534af8829430d36231873c4d1897 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 23 Aug 2017 22:35:22 +0200
Subject: [PATCH 230/379] Merge Gabriel's glonass-sdr branch

---
 .../glonass_l1_ca_pcps_acquisition.cc         |  4 +--
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 33 ++++++++++---------
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    | 24 +++++++-------
 .../adapters/glonass_l1_ca_dll_pll_tracking.h | 20 +++++------
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |  4 +--
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |  4 +--
 6 files changed, 44 insertions(+), 45 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 2ef2828f1..5d81dc992 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -266,9 +266,9 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
     unsigned int ncells = vector_length_ * frequency_bins;
     double exponent = 1 / static_cast<double>(ncells);
     double val = pow(1.0 - pfa, exponent);
-    double lambda = double(vector_length_);
+    double lambda = static_cast<double>(vector_length_);
     boost::math::exponential_distribution<double> mydist (lambda);
-    float threshold = (float)quantile(mydist,val);
+    float threshold = static_cast<float>(quantile(mydist,val));
 
     return threshold;
 }
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
index 2cc43c90f..ff01d7364 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -29,7 +29,7 @@ public:
 
     virtual ~GlonassL1CaPcpsAcquisition();
 
-    std::string role()
+    inline std::string role() override
     {
         return role_;
     }
@@ -37,66 +37,67 @@ public:
     /*!
      * \brief Returns "GLONASS_L1_CA_PCPS_Acquisition"
      */
-    std::string implementation()
+    inline std::string implementation() override
     {
         return "GLONASS_L1_CA_PCPS_Acquisition";
     }
-    size_t item_size()
+
+    inline size_t item_size() override
     {
         return item_size_;
     }
 
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
 
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and
      *  tracking blocks
      */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
 
     /*!
      * \brief Set acquisition channel unique ID
      */
-    void set_channel(unsigned int channel);
+    void set_channel(unsigned int channel) override;
 
     /*!
      * \brief Set statistics threshold of PCPS algorithm
      */
-    void set_threshold(float threshold);
+    void set_threshold(float threshold) override;
 
     /*!
      * \brief Set maximum Doppler off grid search
      */
-    void set_doppler_max(unsigned int doppler_max);
+    void set_doppler_max(unsigned int doppler_max) override;
 
     /*!
      * \brief Set Doppler steps for the grid search
      */
-    void set_doppler_step(unsigned int doppler_step);
+    void set_doppler_step(unsigned int doppler_step) override;
 
     /*!
      * \brief Initializes acquisition algorithm.
      */
-    void init();
+    void init() override;
 
     /*!
      * \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
      */
-    void set_local_code();
+    void set_local_code() override;
 
     /*!
      * \brief Returns the maximum peak of grid search
      */
-    signed int mag();
+    signed int mag() override;
 
     /*!
      * \brief Restart acquisition algorithm
      */
-    void reset();
+    void reset() override;
 
     /*!
      * \brief If state = 1, it forces the block to start acquiring from the first sample
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
index 19a9502b5..3da85c58e 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -15,7 +15,6 @@ class ConfigurationInterface;
 class GlonassL1CaDllPllCAidTracking : public TrackingInterface
 {
 public:
-
   GlonassL1CaDllPllCAidTracking(ConfigurationInterface* configuration,
             std::string role,
             unsigned int in_streams,
@@ -23,40 +22,39 @@ public:
 
     virtual ~GlonassL1CaDllPllCAidTracking();
 
-    std::string role()
+    inline std::string role() override
     {
         return role_;
     }
 
     //! Returns "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking"
-    std::string implementation()
+    inline std::string implementation() override
     {
         return "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking";
     }
-    size_t item_size()
+
+    inline size_t item_size() override
     {
         return item_size_;
     }
 
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
-
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
 
     /*!
      * \brief Set tracking channel unique ID
      */
-    void set_channel(unsigned int channel);
+    void set_channel(unsigned int channel) override;
 
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and tracking blocks
      */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
 
-
-    void start_tracking();
+    void start_tracking() override;
 
 private:
     glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc;
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
index 46565b2e1..ba476948a 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
@@ -59,39 +59,39 @@ public:
 
     virtual ~GlonassL1CaDllPllTracking();
 
-    std::string role()
+    inline std::string role() override
     {
         return role_;
     }
 
     //! Returns "GLONASS_L1_CA_DLL_PLL_Tracking"
-    std::string implementation()
+    inline std::string implementation() override
     {
         return "GLONASS_L1_CA_DLL_PLL_Tracking";
     }
 
-    size_t item_size()
+    inline size_t item_size() override
     {
         return item_size_;
     }
 
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
 
     /*!
      * \brief Set tracking channel unique ID
      */
-    void set_channel(unsigned int channel);
+    void set_channel(unsigned int channel) override;
 
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and tracking blocks
      */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
 
-    void start_tracking();
+    void start_tracking() override;
 
 private:
     glonass_l1_ca_dll_pll_tracking_cc_sptr tracking_;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index f944d0c33..527b0f14e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -286,8 +286,8 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // Block input data and block output stream pointers
-    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); //PRN start block alignment
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 3e008cb46..65e756c2e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -270,8 +270,8 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
     double code_error_filt_chips = 0.0;
 
     // Block input data and block output stream pointers
-    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); // PRN start block alignment
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();

From d4a1dbaf08bf56852897d2a766e1eaac92f831b9 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 23 Aug 2017 23:06:56 +0200
Subject: [PATCH 231/379] Replace C-style casts by C++ casts

---
 .../adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc        | 6 ++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc              | 2 +-
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc              | 4 ++--
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 6f9bf340a..4f73fa200 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -107,6 +107,7 @@ void GlonassL1CaDllPllCAidTracking::start_tracking()
         }
 }
 
+
 /*
  * Set tracking channel unique ID
  */
@@ -128,6 +129,7 @@ void GlonassL1CaDllPllCAidTracking::set_channel(unsigned int channel)
         }
 }
 
+
 void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
 {
     if (item_type_.compare("gr_complex") == 0)
@@ -144,18 +146,21 @@ void GlonassL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchr
         }
 }
 
+
 void GlonassL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
 {
     if(top_block) { /* top_block is not null */};
     //nothing to connect, now the tracking uses gr_sync_decimator
 }
 
+
 void GlonassL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
 {
     if(top_block) { /* top_block is not null */};
     //nothing to disconnect, now the tracking uses gr_sync_decimator
 }
 
+
 gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
 {
     if (item_type_.compare("gr_complex") == 0)
@@ -173,6 +178,7 @@ gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
         }
 }
 
+
 gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_right_block()
 {
     if (item_type_.compare("gr_complex") == 0)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 527b0f14e..f08edc5a3 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -286,7 +286,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // Block input data and block output stream pointers
-    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); //PRN start block alignment
+    const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); // PRN start block alignment
     Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 2a7a6f3e7..e13c48108 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -290,8 +290,8 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // Block input data and block output stream pointers
-    const lv_16sc_t* in = (lv_16sc_t*) input_items[0]; //PRN start block alignment
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const lv_16sc_t* in = reinterpret_cast<const lv_16sc_t*>(input_items[0]); // PRN start block alignment
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
 
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
     Gnss_Synchro current_synchro_data = Gnss_Synchro();

From 1e59501cb5cea430558fb03f73d8f96cb4530788 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 24 Aug 2017 18:03:23 +0200
Subject: [PATCH 232/379] Fix redefinition of variable

---
 ...ps_quicksync_ambiguous_acquisition_gsoc2014_test.cc | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
index f059c7a1b..37d6a8813 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
@@ -109,6 +109,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test_msg_rx::GalileoE1PcpsQuic
     rx_message = 0;
 }
 
+
 GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test_msg_rx::~GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test_msg_rx()
 {}
 
@@ -127,7 +128,6 @@ protected:
         gnss_synchro = Gnss_Synchro();
         init();
 }
-
     ~GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test()
     {
     }
@@ -201,6 +201,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::init()
     Pmd = 0;
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_1()
 {
     gnss_synchro.Channel_ID = 0;
@@ -273,6 +274,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_1()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_2()
 {
     gnss_synchro.Channel_ID = 0;
@@ -458,12 +460,14 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_3()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::start_queue()
 {
     stop = false;
     ch_thread = boost::thread(&GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message, this);
 }
 
+
 void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message()
 {
     std::chrono::time_point<std::chrono::system_clock> begin, end;
@@ -478,7 +482,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message()
             channel_internal_queue.wait_and_pop(message);
 
             end = std::chrono::system_clock::now();
-            std::chrono::duration<double> elapsed_seconds = end - begin;
+            elapsed_seconds = end - begin;
 
             mean_acq_time_us += elapsed_seconds.count() * 1e6;
 
@@ -582,7 +586,7 @@ TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ConnectAndRun)
         begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
-        std::chrono::duration<double> elapsed_seconds = end - begin;
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block."<< std::endl;
 
     std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;

From 8bbe4edc6429bf2150e883d025d30a54c34a309b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 24 Aug 2017 18:09:04 +0200
Subject: [PATCH 233/379] Replace <ctime> library by <chrono>

and also replace C-style casts by C++ casts. Added/removed some blank
lines here and there to match coding style of other tests.
---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 76 +++++++++++--------
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 35 ++++-----
 2 files changed, 59 insertions(+), 52 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index a346cf12f..434e37d23 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -1,4 +1,4 @@
-#include <ctime>
+#include <chrono>
 #include <iostream>
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
@@ -72,6 +72,7 @@ GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC201
     rx_message = 0;
 }
 
+
 GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx()
 {}
 
@@ -138,6 +139,7 @@ protected:
     double Pfa_a;
 };
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
 {
     message = 0;
@@ -153,6 +155,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
     Pfa_a = 0;
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 {
     gnss_synchro.Channel_ID = 0;
@@ -222,6 +225,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
 {
     gnss_synchro.Channel_ID = 0;
@@ -309,12 +313,14 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
     config->set_property("Acquisition.dump", "false");
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
 {
     stop = false;
     ch_thread = boost::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
 {
     struct timeval tv;
@@ -339,6 +345,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
         }
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
 {
     if (message == 1)
@@ -347,7 +354,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
 
             // The term -5 is here to correct the additional delay introduced by the FIR filter
             // The value 511.0 must be a variable, chips/length
-            double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*511.0/((double)fs_in*1e-3));
+            double delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - (static_cast<double>(gnss_synchro.Acq_delay_samples) - 5.0 ) * 511.0 / (static_cast<double>(fs_in) * 1e-3));
             double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
             mse_delay += std::pow(delay_error_chips, 2);
@@ -361,16 +368,16 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
 
     realization_counter++;
 
-    std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
+    std::cout << "Progress: " << round(static_cast<float>(realization_counter) / static_cast<float>(num_of_realizations) * 100.0) << "% \r" << std::flush;
 
     if (realization_counter == num_of_realizations)
         {
             mse_delay /= num_of_realizations;
             mse_doppler /= num_of_realizations;
 
-            Pd = (double)correct_estimation_counter / (double)num_of_realizations;
-            Pfa_a = (double)detection_counter / (double)num_of_realizations;
-            Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
+            Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
+            Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
+            Pfa_p = (static_cast<double>(detection_counter) - static_cast<double>( correct_estimation_counter)) / static_cast<double>(num_of_realizations);
 
             mean_acq_time_us /= num_of_realizations;
 
@@ -379,11 +386,13 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
         }
 }
 
+
 void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
 {
     stop = true;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
 {
     config_1();
@@ -391,12 +400,12 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
     delete acquisition;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
 {
-    int nsamples = floor(fs_in*integration_time_ms*1e-3);
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    int nsamples = floor(fs_in * integration_time_ms * 1e-3);
+    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     queue = gr::msg_queue::make(0);
     top_block = gr::make_top_block("Acquisition test");
 
@@ -414,18 +423,18 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
     }) << "Failure connecting the blocks of acquisition test."<< std::endl;
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec *1e6 + tv.tv_usec;
+        begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec *1e6 + tv.tv_usec;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block."<< std::endl;
 
-    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 
     delete acquisition;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 {
     config_1();
@@ -495,18 +504,18 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
             }) << "Failure running the top_block."<< std::endl;
 
             if (i == 0)
-            {
-                EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
-                if (message == 1)
-                    {
-                        EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
-                    }
+                {
+                    EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+                    if (message == 1)
+                        {
+                            EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
+                        }
 
-            }
+                }
             else if (i == 1)
-            {
-                EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
-            }
+                {
+                    EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
+                }
 #ifdef OLD_BOOST
             ASSERT_NO_THROW( {
                 ch_thread.timed_join(boost::posix_time::seconds(1));
@@ -522,6 +531,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
     delete acquisition;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
 {
     config_2();
@@ -592,15 +602,15 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
             }) << "Failure running the top_block."<< std::endl;
 
             if (i == 0)
-            {
-                std::cout << "Estimated probability of detection = " << Pd << std::endl;
-                std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
-                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
+                {
+                    std::cout << "Estimated probability of detection = " << Pd << std::endl;
+                    std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
+                    std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;           }
             else if (i == 1)
-            {
-                std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
-                std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
-            }
+                {
+                    std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
+                    std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
+                }
 #ifdef OLD_BOOST
             ASSERT_NO_THROW( {
                 ch_thread.timed_join(boost::posix_time::seconds(1));
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 1a29bda80..902fcdf00 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -1,4 +1,4 @@
-#include <ctime>
+#include <chrono>
 #include <cstdlib>
 #include <iostream>
 #include <boost/chrono.hpp>
@@ -119,20 +119,19 @@ void GlonassL1CaPcpsAcquisitionTest::init()
 }
 
 
-
 TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 {
     init();
     boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 {
     int fs_in = 62314000;
     int nsamples = 62314;
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     gr::msg_queue::sptr queue = gr::msg_queue::make(0);
 
     top_block = gr::make_top_block("Acquisition test");
@@ -151,21 +150,20 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
     }) << "Failure connecting the blocks of acquisition test." << std::endl;
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec * 1000000 + tv.tv_usec;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block." << std::endl;
 
-    std::cout <<  "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }
 
+
 TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
 {
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     top_block = gr::make_top_block("Acquisition test");
 
     double expected_delay_samples = 31874;
@@ -213,21 +211,20 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     acquisition->init();
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec * 1000000 + tv.tv_usec;
+        begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec * 1000000 + tv.tv_usec;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - begin;
     }) << "Failure running the top_block." << std::endl;
 
 
     unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
-    std::cout <<  "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 
     ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
 
     double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
-    float delay_error_chips = (float)(delay_error_samples * 511 / 62316);
+    float delay_error_chips = static_cast<float>(delay_error_samples) * 511.0 / 62316.0;
     double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
 
     EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";

From 5530352e8af040819b40414131acbfb6e4cfde10 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 11:42:02 +0200
Subject: [PATCH 234/379] Fix bug in NMEA messages. Fixes #45

Add a new test for the NMEA printer
---
 src/algorithms/PVT/libs/nmea_printer.cc       |  14 ++-
 src/algorithms/PVT/libs/pvt_solution.cc       |   3 +
 src/algorithms/PVT/libs/pvt_solution.h        |  20 +--
 src/tests/test_main.cc                        |   1 +
 .../pvt/nmea_printer_test.cc                  | 115 ++++++++++++++++++
 5 files changed, 137 insertions(+), 16 deletions(-)
 create mode 100644 src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc

diff --git a/src/algorithms/PVT/libs/nmea_printer.cc b/src/algorithms/PVT/libs/nmea_printer.cc
index bb49a1c3a..97ab793a7 100644
--- a/src/algorithms/PVT/libs/nmea_printer.cc
+++ b/src/algorithms/PVT/libs/nmea_printer.cc
@@ -236,9 +236,10 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
     out_string.fill('0');
     out_string.width(2);
     out_string << deg;
-    out_string.width(6);
-    out_string.precision(4);
-    out_string << mins;
+    out_string.width(2);
+    out_string << static_cast<int>(mins) << ".";
+    out_string.width(4);
+    out_string << static_cast<int>((mins - static_cast<double>(static_cast<int>(mins))) * 1e4);
 
     if (north == true)
         {
@@ -273,9 +274,10 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
     out_string.width(3);
     out_string.fill('0');
     out_string << deg;
-    out_string.width(6);
-    out_string.precision(4);
-    out_string << mins;
+    out_string.width(2);
+    out_string << static_cast<int>(mins) << ".";
+    out_string.width(4);
+    out_string << static_cast<int>((mins - static_cast<double>(static_cast<int>(mins))) * 1e4);
 
     if (east == true)
         {
diff --git a/src/algorithms/PVT/libs/pvt_solution.cc b/src/algorithms/PVT/libs/pvt_solution.cc
index 25ddea211..8b9842411 100644
--- a/src/algorithms/PVT/libs/pvt_solution.cc
+++ b/src/algorithms/PVT/libs/pvt_solution.cc
@@ -619,6 +619,9 @@ void Pvt_Solution::set_valid_position(bool is_valid)
 void Pvt_Solution::set_rx_pos(const arma::vec & pos)
 {
     d_rx_pos = pos;
+    d_latitude_d = d_rx_pos(0);
+    d_longitude_d = d_rx_pos(1);
+    d_height_m = d_rx_pos(2);
 }
 
 
diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h
index bf503c024..0a7cc451d 100644
--- a/src/algorithms/PVT/libs/pvt_solution.h
+++ b/src/algorithms/PVT/libs/pvt_solution.h
@@ -77,7 +77,7 @@ private:
     double d_VDOP;
     double d_TDOP;
 
-    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};        // Array with the IDs of the valid satellites
+    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};         // Array with the IDs of the valid satellites
     double d_visible_satellites_El[PVT_MAX_CHANNELS] = {};       // Array with the LOS Elevation of the valid satellites
     double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {};       // Array with the LOS Azimuth of the valid satellites
     double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
@@ -86,18 +86,18 @@ private:
 public:
     Pvt_Solution();
 
-    double get_time_offset_s() const;      //!< Get RX time offset [s]
-    void set_time_offset_s(double offset); //!< Set RX time offset [s]
+    double get_time_offset_s() const;       //!< Get RX time offset [s]
+    void set_time_offset_s(double offset);  //!< Set RX time offset [s]
 
-    double get_latitude() const;           //!< Get RX position Latitude WGS84 [deg]
-    double get_longitude() const;          //!< Get RX position Longitude WGS84 [deg]
-    double get_height() const;             //!< Get RX position height WGS84 [m]
+    double get_latitude() const;            //!< Get RX position Latitude WGS84 [deg]
+    double get_longitude() const;           //!< Get RX position Longitude WGS84 [deg]
+    double get_height() const;              //!< Get RX position height WGS84 [m]
 
-    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]
+    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]
 
-    void set_rx_pos(const arma::vec & pos);
+    void set_rx_pos(const arma::vec & pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
     arma::vec get_rx_pos() const;
 
     bool is_valid_position() const;
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index b86bde939..60b33a4d0 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -125,6 +125,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
+#include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
 
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
new file mode 100644
index 000000000..328b4c998
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
@@ -0,0 +1,115 @@
+/*!
+ * \file nma_printer_test.cc
+ * \brief Implements Unit Tests for the Nmea_Printer class.
+ * \author Carles Fernandez-Prades, 2017. cfernandez(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2016  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <cstdio>
+#include <iostream>
+#include <fstream>
+#include <string>
+#include "nmea_printer.h"
+
+
+TEST(NmeaPrinterTest, PrintLine)
+{
+    std::string filename("nmea_test.nmea");
+
+    std::shared_ptr<Pvt_Solution> pvt_solution = std::make_shared<Pvt_Solution>();
+
+    boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
+            boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); // example from http://aprs.gids.nl/nmea/#rmc
+    pvt_solution->set_position_UTC_time(pt);
+
+    arma::vec pos = {49.27416667, -123.18533333, 0};
+    pvt_solution->set_rx_pos(pos);
+
+    pvt_solution->set_valid_position(true);
+
+    ASSERT_NO_THROW( {
+        std::shared_ptr<Nmea_Printer> nmea_printer = std::make_shared<Nmea_Printer>(filename, false, "");
+        nmea_printer->Print_Nmea_Line(pvt_solution, false);
+    } ) << "Failure printing NMEA messages.";
+
+    std::ifstream test_file(filename);
+    std::string line;
+    std::string GPRMC("$GPRMC");
+    if(test_file.is_open())
+        {
+            while(getline (test_file,line))
+                {
+                    std::size_t found = line.find(GPRMC);
+                    if (found != std::string::npos)
+                        {
+                            EXPECT_EQ(line, "$GPRMC,225446.000,A,4916.4500,N,12311.1199,W,0.00,0.00,191194,,*1c\r");
+                        }
+                }
+            test_file.close();
+        }
+    EXPECT_EQ(0, remove(filename.c_str())) << "Failure deleting a temporary file.";
+}
+
+
+
+TEST(NmeaPrinterTest, PrintLineLessthan10min)
+{
+    std::string filename("nmea_test.nmea");
+
+    std::shared_ptr<Pvt_Solution> pvt_solution = std::make_shared<Pvt_Solution>();
+
+    boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
+            boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); // example from http://aprs.gids.nl/nmea/#rmc
+    pvt_solution->set_position_UTC_time(pt);
+
+    arma::vec pos = {49.07416667, -123.02527778, 0};
+    pvt_solution->set_rx_pos(pos);
+
+    pvt_solution->set_valid_position(true);
+
+    ASSERT_NO_THROW( {
+        std::shared_ptr<Nmea_Printer> nmea_printer = std::make_shared<Nmea_Printer>(filename, false, "");
+        nmea_printer->Print_Nmea_Line(pvt_solution, false);
+    } ) << "Failure printing NMEA messages.";
+
+    std::ifstream test_file(filename);
+    std::string line;
+    std::string GPRMC("$GPRMC");
+    if(test_file.is_open())
+        {
+            while(getline (test_file,line))
+                {
+                    std::size_t found = line.find(GPRMC);
+                    if (found != std::string::npos)
+                        {
+                            EXPECT_EQ(line, "$GPRMC,225446.000,A,4904.4500,N,12301.5166,W,0.00,0.00,191194,,*1a\r");
+                        }
+                }
+            test_file.close();
+        }
+    EXPECT_EQ(0, remove(filename.c_str())) << "Failure deleting a temporary file.";
+}

From bf2e796c1046608c9c062a6f0931b9348d38dd83 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 12:36:00 +0200
Subject: [PATCH 235/379] Fix examples with old configuration notation. Fixes
 #64"

---
 conf/gnss-sdr_GPS_L1_USRP_realtime.conf      | 125 ++++++-------------
 conf/gnss-sdr_multisource_Hybrid_ishort.conf |  94 +++++++-------
 2 files changed, 82 insertions(+), 137 deletions(-)

diff --git a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
index 22584d4e4..5c610f999 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
@@ -177,71 +177,19 @@ Resampler.sample_freq_out=2000000
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
-Channels_GPS.count=6
+Channels_1C.count=6
 ;#count: Number of available Galileo satellite channels.
-Channels_Galileo.count=0
+Channels_1B.count=0
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
-;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
-;#if the option is disabled by default is assigned GPS
-Channel.system=GPS
+
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "1P" GPS L1 P
-;# "1W" GPS L1 Z-tracking and similar (AS on)
-;# "1Y" GPS L1 Y
-;# "1M" GPS L1 M
-;# "1N" GPS L1 codeless
-;# "2C" GPS L2 C/A
-;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
 ;# "2S" GPS L2 L2C (M)
-;# "2L" GPS L2 L2C (L)
-;# "2X" GPS L2 L2C (M+L)
-;# "2P" GPS L2 P
-;# "2W" GPS L2 Z-tracking and similar (AS on)
-;# "2Y" GPS L2 Y
-;# "2M" GPS GPS L2 M
-;# "2N" GPS L2 codeless
-;# "5I" GPS L5 I
-;# "5Q" GPS L5 Q
-;# "5X" GPS L5 I+Q
-;# "1C" GLONASS G1 C/A
-;# "1P" GLONASS G1 P
-;# "2C" GLONASS G2 C/A  (Glonass M)
-;# "2P" GLONASS G2 P
-;# "1A" GALILEO E1 A (PRS)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
-;# "1C" GALILEO E1 C (no data)
-;# "1X" GALILEO E1 B+C
-;# "1Z" GALILEO E1 A+B+C
-;# "5I" GALILEO E5a I (F/NAV OS)
-;# "5Q" GALILEO E5a Q  (no data)
 ;# "5X" GALILEO E5a I+Q
-;# "7I" GALILEO E5b I
-;# "7Q" GALILEO E5b Q
-;# "7X" GALILEO E5b I+Q
-;# "8I" GALILEO E5 I
-;# "8Q" GALILEO E5 Q
-;# "8X" GALILEO E5 I+Q
-;# "6A" GALILEO E6 A
-;# "6B" GALILEO E6 B
-;# "6C" GALILEO E6 C
-;# "6X" GALILEO E6 B+C
-;# "6Z" GALILEO E6 A+B+C
-;# "1C" SBAS L1 C/A
-;# "5I" SBAS L5 I
-;# "5Q" SBAS L5 Q
-;# "5X" SBAS L5 I+Q
-;# "2I" COMPASS E2 I
-;# "2Q" COMPASS E2 Q
-;# "2X" COMPASS E2 IQ
-;# "7I" COMPASS E5b I
-;# "7Q" COMPASS E5b Q
-;# "7X" COMPASS E5b IQ
-;# "6I" COMPASS E6 I
-;# "6Q" COMPASS E6 Q
-;# "6X" COMPASS E6 IQ
+
 ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
 Channel.signal=1C
 
@@ -250,46 +198,45 @@ Channel.signal=1C
 
 ;######### CHANNEL 0 CONFIG ############
 
-Channel0.system=GPS
-Channel0.signal=1C
+;Channel0.system=GPS
+;Channel0.signal=1C
 
 ;#satellite: Satellite PRN ID for this channel. Disable this option to random search
-Channel0.satellite=11
+;Channel0.satellite=11
 
 ;######### CHANNEL 1 CONFIG ############
 
-Channel1.system=GPS
-Channel1.signal=1C
-Channel1.satellite=18
+;Channel1.system=GPS
+;Channel1.signal=1C
+;Channel1.satellite=18
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 
 ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_GPS.dump=false
+Acquisition_1C.dump=false
 ;#filename: Log path and filename
-Acquisition_GPS.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Acquisition_GPS.item_type=gr_complex
+Acquisition_1C.dump_filename=./acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples.
+Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
-Acquisition_GPS.if=0
+Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
-Acquisition_GPS.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.coherent_integration_time_ms=1
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
-Acquisition_GPS.threshold=0.01
+Acquisition_1C.threshold=0.01
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-;Acquisition_GPS.pfa=0.0001
+;Acquisition_1C.pfa=0.0001
 ;#doppler_max: Maximum expected Doppler shift [Hz]
-Acquisition_GPS.doppler_max=10000
+Acquisition_1C.doppler_max=10000
 ;#doppler_max: Doppler step in the grid search [Hz]
-Acquisition_GPS.doppler_step=500
+Acquisition_1C.doppler_step=500
 ;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
 maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
-Acquisition_GPS.bit_transition_flag=false
+Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
-Acquisition_GPS.max_dwells=1
+Acquisition_1C.max_dwells=1
 
 
 ;######### ACQUISITION CHANNELS CONFIG ######
@@ -299,37 +246,37 @@ Acquisition_GPS.max_dwells=1
 ;######### TRACKING GLOBAL CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
-Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
-Tracking_GPS.item_type=gr_complex
+Tracking_1C.item_type=gr_complex
 
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
-Tracking_GPS.if=0
+Tracking_1C.if=0
 
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_GPS.dump=false
+Tracking_1C.dump=false
 
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_GPS.dump_filename=./tracking_ch_
+Tracking_1C.dump_filename=./tracking_ch_
 
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_GPS.pll_bw_hz=50.0;
+Tracking_1C.pll_bw_hz=30.0;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_GPS.dll_bw_hz=2.0;
+Tracking_1C.dll_bw_hz=4.0;
 
 ;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_GPS.order=3;
+Tracking_1C.order=3;
 
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_GPS.early_late_space_chips=0.5;
+;#early_late_space_chips: correlator early-late space [chips]
+Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
-TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder
-TelemetryDecoder_GPS.dump=false
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
 ;#decimation factor
-TelemetryDecoder_GPS.decimation_factor=1;
+TelemetryDecoder_1C.decimation_factor=1;
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
diff --git a/conf/gnss-sdr_multisource_Hybrid_ishort.conf b/conf/gnss-sdr_multisource_Hybrid_ishort.conf
index 31f777693..87300194b 100644
--- a/conf/gnss-sdr_multisource_Hybrid_ishort.conf
+++ b/conf/gnss-sdr_multisource_Hybrid_ishort.conf
@@ -283,14 +283,12 @@ Resampler1.sample_freq_out=4000000
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
-Channels_GPS.count=2
+Channels_1C.count=2
 ;#count: Number of available Galileo satellite channels.
-Channels_Galileo.count=2
+Channels_1B.count=2
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
-;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
-;#if the option is disabled by default is assigned GPS
-Channel.system=GPS, Galileo
+
 
 ;# CHANNEL CONNECTION
 Channel0.RF_channel_ID=0
@@ -305,118 +303,118 @@ Channel.signal=1B
 ;######### GPS ACQUISITION CONFIG ############
 
 ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_GPS.dump=false
+Acquisition_1C.dump=false
 ;#filename: Log path and filename
-Acquisition_GPS.dump_filename=./acq_dump.dat
+Acquisition_1C.dump_filename=./acq_dump.dat
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Acquisition_GPS.item_type=gr_complex
+Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
-Acquisition_GPS.if=0
+Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
-Acquisition_GPS.sampled_ms=1
+Acquisition_1C.sampled_ms=1
 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold
-Acquisition_GPS.threshold=0.0075
+Acquisition_1C.threshold=0.0075
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-;Acquisition_GPS.pfa=0.01
+;Acquisition_1C.pfa=0.01
 ;#doppler_max: Maximum expected Doppler shift [Hz]
-Acquisition_GPS.doppler_max=10000
+Acquisition_1C.doppler_max=10000
 ;#doppler_max: Doppler step in the grid search [Hz]
-Acquisition_GPS.doppler_step=500
+Acquisition_1C.doppler_step=500
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
 
 ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_Galileo.dump=false
+Acquisition_1B.dump=false
 ;#filename: Log path and filename
-Acquisition_Galileo.dump_filename=./acq_dump.dat
+Acquisition_1B.dump_filename=./acq_dump.dat
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Acquisition_Galileo.item_type=gr_complex
+Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
-Acquisition_Galileo.if=0
+Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
-Acquisition_Galileo.sampled_ms=4
+Acquisition_1B.sampled_ms=4
 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
-;Acquisition_Galileo.threshold=0
+;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_Galileo.pfa=0.0000008
+Acquisition_1B.pfa=0.0000008
 ;#doppler_max: Maximum expected Doppler shift [Hz]
-Acquisition_Galileo.doppler_max=15000
+Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
-Acquisition_Galileo.doppler_step=125
+Acquisition_1B.doppler_step=125
 
 ;######### TRACKING GPS CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
-Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
-Tracking_GPS.item_type=gr_complex
+Tracking_1C.item_type=gr_complex
 
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
-Tracking_GPS.if=0
+Tracking_1C.if=0
 
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_GPS.dump=false
+Tracking_1C.dump=false
 
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_GPS.dump_filename=../data/epl_tracking_ch_
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_GPS.pll_bw_hz=45.0;
+Tracking_1C.pll_bw_hz=45.0;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_GPS.dll_bw_hz=4.0;
+Tracking_1C.dll_bw_hz=4.0;
 
 ;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_GPS.order=3;
+Tracking_1C.order=3;
 
 ;######### TRACKING GALILEO CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [Galileo_E1_DLL_PLL_VEML_Tracking]
-Tracking_Galileo.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
+Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
-Tracking_Galileo.item_type=gr_complex
+Tracking_1B.item_type=gr_complex
 
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
-Tracking_Galileo.if=0
+Tracking_1B.if=0
 
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_Galileo.dump=false
+Tracking_1B.dump=false
 
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_Galileo.dump_filename=../data/veml_tracking_ch_
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_Galileo.pll_bw_hz=15.0;
+Tracking_1B.pll_bw_hz=15.0;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_Galileo.dll_bw_hz=2.0;
+Tracking_1B.dll_bw_hz=2.0;
 
 ;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_Galileo.order=3;
+Tracking_1B.order=3;
 
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
-Tracking_Galileo.early_late_space_chips=0.15;
+Tracking_1B.early_late_space_chips=0.15;
 
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
-Tracking_Galileo.very_early_late_space_chips=0.6;
+Tracking_1B.very_early_late_space_chips=0.6;
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
-TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder
-TelemetryDecoder_GPS.dump=false
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
 ;#decimation factor
-TelemetryDecoder_GPS.decimation_factor=4;
+TelemetryDecoder_1C.decimation_factor=4;
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
-TelemetryDecoder_Galileo.implementation=Galileo_E1B_Telemetry_Decoder
-TelemetryDecoder_Galileo.dump=false
+TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
+TelemetryDecoder_1B.dump=false
 
 
 ;######### OBSERVABLES CONFIG ############

From 12aaa25d5035bb8b1dad6ccc7c94552eb0bded06 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 19:17:12 +0200
Subject: [PATCH 236/379] Do not use LOG(FATAL) since the glog library could
 have been stripped off

---
 .../gps_l1_ca_pcps_acquisition_fpga.cc        | 25 ++++++--------
 .../adapters/osmosdr_signal_source.cc         | 32 ++++++++++-------
 .../adapters/osmosdr_signal_source.h          |  2 ++
 .../adapters/rtl_tcp_signal_source.cc         | 27 +++++++++------
 .../adapters/rtl_tcp_signal_source.h          |  2 ++
 src/main/main.cc                              | 34 +++++++++++++++++--
 ...8ms_ambiguous_acquisition_gsoc2013_test.cc |  2 +-
 7 files changed, 82 insertions(+), 42 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
index a16344c3a..a596a7219 100644
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
@@ -32,6 +32,7 @@
  */
 
 #include "gps_l1_ca_pcps_acquisition_fpga.h"
+#include <stdexcept>
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 #include "GPS_L1_CA.h"
@@ -63,29 +64,24 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
 
     DLOG(INFO) << "role " << role;
 
-    item_type_ = configuration_->property(role + ".item_type",
-            default_item_type);
+    item_type_ = configuration_->property(role + ".item_type", default_item_type);
 
     fs_in = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     ifreq = configuration_->property(role + ".if", 0);
     dump = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    sampled_ms = configuration_->property(
-            role + ".coherent_integration_time_ms", 1);
+    sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
 
     // note : the FPGA is implemented according to bit transition flag = 0. Setting bit transition flag to 1 has no effect.
-    bit_transition_flag = configuration_->property(
-            role + ".bit_transition_flag", false);
+    bit_transition_flag = configuration_->property(role + ".bit_transition_flag", false);
 
     // note : the FPGA is implemented according to use_CFAR_algorithm = 0. Setting use_CFAR_algorithm to 1 has no effect.
-    use_CFAR_algorithm_flag = configuration_->property(
-            role + ".use_CFAR_algorithm", false);
+    use_CFAR_algorithm_flag = configuration_->property(role + ".use_CFAR_algorithm", false);
 
     // note : the FPGA does not use the max_dwells variable.
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
 
-    dump_filename = configuration_->property(role + ".dump_filename",
-            default_dump_filename);
+    dump_filename = configuration_->property(role + ".dump_filename", default_dump_filename);
 
     //--- Find number of samples per spreading code -------------------------
     code_length = round(
@@ -104,12 +100,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     //            vector_length_ *= 2;
     //        }
 
-    select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga",
-            0);
+    select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
 
     std::string default_device_name = "/dev/uio0";
-    device_name = configuration_->property(role + ".devicename",
-            default_device_name);
+    device_name = configuration_->property(role + ".devicename", default_device_name);
 
     if (item_type_.compare("cshort") == 0)
         {
@@ -124,7 +118,8 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
         }
     else
         {
-            LOG(FATAL) << item_type_ << " FPGA only accepts chsort";
+            LOG(WARNING) << "item_type configured to " << item_type_ << "but FPGA implementation only accepts cshort";
+            throw std::invalid_argument( "Wrong input_type configuration. Should be cshort" );
         }
 
     channel_ = 0;
diff --git a/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc b/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
index e9d8f1e61..ea8adef3d 100644
--- a/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
@@ -75,19 +75,7 @@ OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
         {
             item_size_ = sizeof(gr_complex);
             // 1. Make the driver instance
-            try
-            {
-                    if (!osmosdr_args_.empty())
-                        {
-                            std::cout << "OsmoSdr arguments: " << osmosdr_args_ << std::endl;
-                            LOG(INFO) << "OsmoSdr arguments: " << osmosdr_args_;
-                        }
-                    osmosdr_source_ = osmosdr::source::make(osmosdr_args_);
-            }
-            catch( const boost::exception & e )
-            {
-                    DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
-            }
+            OsmosdrSignalSource::driver_instance();
 
             // 2 set sampling rate
             osmosdr_source_->set_sample_rate(sample_rate_);
@@ -147,6 +135,24 @@ OsmosdrSignalSource::~OsmosdrSignalSource()
 {}
 
 
+void OsmosdrSignalSource::driver_instance()
+{
+    try
+    {
+            if (!osmosdr_args_.empty())
+                {
+                    std::cout << "OsmoSdr arguments: " << osmosdr_args_ << std::endl;
+                    LOG(INFO) << "OsmoSdr arguments: " << osmosdr_args_;
+                }
+            osmosdr_source_ = osmosdr::source::make(osmosdr_args_);
+    }
+    catch( const boost::exception & e )
+    {
+            LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
+            throw std::invalid_argument( "Wrong OsmoSdr arguments" );
+    }
+}
+
 
 void OsmosdrSignalSource::connect(gr::top_block_sptr top_block)
 {
diff --git a/src/algorithms/signal_source/adapters/osmosdr_signal_source.h b/src/algorithms/signal_source/adapters/osmosdr_signal_source.h
index 6687754b5..e60834d01 100644
--- a/src/algorithms/signal_source/adapters/osmosdr_signal_source.h
+++ b/src/algorithms/signal_source/adapters/osmosdr_signal_source.h
@@ -33,6 +33,7 @@
 #ifndef GNSS_SDR_OSMOSDR_SIGNAL_SOURCE_H_
 #define GNSS_SDR_OSMOSDR_SIGNAL_SOURCE_H_
 
+#include <stdexcept>
 #include <string>
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/msg_queue.h>
@@ -80,6 +81,7 @@ public:
     gr::basic_block_sptr get_right_block() override;
 
 private:
+    void driver_instance();
     std::string role_;
 
     // Front-end settings
diff --git a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
index 0fbf80700..38da90196 100644
--- a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
@@ -78,16 +78,7 @@ RtlTcpSignalSource::RtlTcpSignalSource(ConfigurationInterface* configuration,
         {
             item_size_ = sizeof(gr_complex);
             // 1. Make the gr block
-            try
-            {
-                    std::cout << "Connecting to " << address_ << ":" << port_ << std::endl;
-                    LOG (INFO) << "Connecting to " << address_ << ":" << port_;
-                    signal_source_ = rtl_tcp_make_signal_source_c (address_, port_, flip_iq_);
-            }
-            catch( const boost::exception & e )
-            {
-                    DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
-            }
+            MakeBlock();
 
             // 2 set sampling rate
             signal_source_->set_sample_rate(sample_rate_);
@@ -145,6 +136,22 @@ RtlTcpSignalSource::~RtlTcpSignalSource()
 {}
 
 
+void RtlTcpSignalSource::MakeBlock()
+{
+    try
+    {
+            std::cout << "Connecting to " << address_ << ":" << port_ << std::endl;
+            LOG (INFO) << "Connecting to " << address_ << ":" << port_;
+            signal_source_ = rtl_tcp_make_signal_source_c (address_, port_, flip_iq_);
+    }
+    catch( const boost::exception & e )
+    {
+            LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
+            throw std::runtime_error( "Failure connecting to the device" );
+    }
+}
+
+
 void RtlTcpSignalSource::connect(gr::top_block_sptr top_block)
 {
     if ( samples_ )
diff --git a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h
index 4a2bf88df..283f84ae9 100644
--- a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h
+++ b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h
@@ -32,6 +32,7 @@
 #ifndef GNSS_SDR_RTL_TCP_SIGNAL_SOURCE_H
 #define GNSS_SDR_RTL_TCP_SIGNAL_SOURCE_H
 
+#include <stdexcept>
 #include <string>
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/msg_queue.h>
@@ -81,6 +82,7 @@ public:
     gr::basic_block_sptr get_right_block() override;
 
 private:
+    void MakeBlock();
     std::string role_;
 
     // rtl_tcp settings
diff --git a/src/main/main.cc b/src/main/main.cc
index a641ae92f..ede009fb9 100644
--- a/src/main/main.cc
+++ b/src/main/main.cc
@@ -39,6 +39,7 @@
 #endif
 
 #include <chrono>
+#include <iostream>
 #include <memory>
 #include <boost/exception/diagnostic_information.hpp>
 #include <boost/exception_ptr.hpp>
@@ -140,15 +141,42 @@ int main(int argc, char** argv)
     }
     catch(const boost::exception & e)
     {
-            LOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
+            if(GOOGLE_STRIP_LOG == 0)
+                {
+                    LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
+                }
+            else
+                {
+                    std::cerr << "Boost exception: " << boost::diagnostic_information(e) << std::endl;
+                }
+            google::ShutDownCommandLineFlags();
+            return 1;
     }
     catch(const std::exception & ex)
     {
-            LOG(FATAL) << "STD exception: " << ex.what();
+            if(GOOGLE_STRIP_LOG == 0)
+                {
+                    LOG(WARNING) << "C++ Standard Library exception: " << ex.what();
+                }
+            else
+                {
+                    std::cerr << "C++ Standard Library exception: " << ex.what() << std::endl;
+                }
+            google::ShutDownCommandLineFlags();
+            return 1;
     }
     catch(...)
     {
-            LOG(INFO) << "Unexpected catch";
+            if(GOOGLE_STRIP_LOG == 0)
+                {
+                    LOG(WARNING) << "Unexpected catch. This should not happen.";
+                }
+            else
+                {
+                    std::cerr << "Unexpected catch. This should not happen." << std::endl;
+                }
+            google::ShutDownCommandLineFlags();
+            return 1;
     }
 
     // report the elapsed time
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
index 25ed62ee3..8ccc7586a 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
@@ -359,7 +359,7 @@ void GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test::wait_message()
             }
             catch( const boost::exception & e )
             {
-                    DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
+                    LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
             }
 
             end = std::chrono::system_clock::now();

From fe336fef20c4efec8ee331844cd0a109af036cef Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 22:16:06 +0200
Subject: [PATCH 237/379] Update per_support files

---
 src/core/libs/supl/asn-rrlp/per_support.c | 678 ++++++++++++----------
 src/core/libs/supl/asn-rrlp/per_support.h |  74 ++-
 2 files changed, 426 insertions(+), 326 deletions(-)

diff --git a/src/core/libs/supl/asn-rrlp/per_support.c b/src/core/libs/supl/asn-rrlp/per_support.c
index e8299c730..02dd02094 100644
--- a/src/core/libs/supl/asn-rrlp/per_support.c
+++ b/src/core/libs/supl/asn-rrlp/per_support.c
@@ -9,26 +9,26 @@
 
 char *
 per_data_string(asn_per_data_t *pd) {
-	static char buf[2][32];
-	static int n;
-	n = (n+1) % 2;
-	snprintf(buf[n], sizeof(buf),
-		"{m=%d span %+d[%d..%d] (%d)}",
-		pd->moved,
-		(((int)pd->buffer) & 0xf),
-		pd->nboff, pd->nbits,
-		pd->nbits - pd->nboff);
-	return buf[n];
+        static char buf[2][32];
+        static int n;
+        n = (n+1) % 2;
+        snprintf(buf[n], sizeof(buf[n]),
+                "{m=%ld span %+ld[%d..%d] (%d)}",
+                (long)pd->moved,
+                (((long)pd->buffer) & 0xf),
+                (int)pd->nboff, (int)pd->nbits,
+                (int)(pd->nbits - pd->nboff));
+        return buf[n];
 }
 
 void
 per_get_undo(asn_per_data_t *pd, int nbits) {
-	if((ssize_t)pd->nboff < nbits) {
-		assert((ssize_t)pd->nboff < nbits);
-	} else {
-		pd->nboff -= nbits;
-		pd->moved -= nbits;
-	}
+        if((ssize_t)pd->nboff < nbits) {
+                assert((ssize_t)pd->nboff < nbits);
+        } else {
+                pd->nboff -= nbits;
+                pd->moved -= nbits;
+        }
 }
 
 /*
@@ -36,83 +36,84 @@ per_get_undo(asn_per_data_t *pd, int nbits) {
  */
 int32_t
 per_get_few_bits(asn_per_data_t *pd, int nbits) {
-	size_t off;	/* Next after last bit offset */
-	ssize_t nleft;	/* Number of bits left in this stream */
-	uint32_t accum;
-	const uint8_t *buf;
+        size_t off;     /* Next after last bit offset */
+        ssize_t nleft;  /* Number of bits left in this stream */
+        uint32_t accum;
+        const uint8_t *buf;
 
-	if(nbits < 0)
-		return -1;
+        if(nbits < 0)
+                return -1;
 
-	nleft = pd->nbits - pd->nboff;
-	if(nbits > nleft) {
-		int32_t tailv, vhead;
-		if(!pd->refill || nbits > 31) return -1;
-		/* Accumulate unused bytes before refill */
-		ASN_DEBUG("Obtain the rest %d bits (want %d)", nleft, nbits);
-		tailv = per_get_few_bits(pd, nleft);
-		if(tailv < 0) return -1;
-		/* Refill (replace pd contents with new data) */
-		if(pd->refill(pd))
-			return -1;
-		nbits -= nleft;
-		vhead = per_get_few_bits(pd, nbits);
-		/* Combine the rest of previous pd with the head of new one */
-		tailv = (tailv << nbits) | vhead;  /* Could == -1 */
-		return tailv;
-	}
+        nleft = pd->nbits - pd->nboff;
+        if(nbits > nleft) {
+                int32_t tailv, vhead;
+                if(!pd->refill || nbits > 31) return -1;
+                /* Accumulate unused bytes before refill */
+                ASN_DEBUG("Obtain the rest %d bits (want %d)",
+                        (int)nleft, (int)nbits);
+                tailv = per_get_few_bits(pd, nleft);
+                if(tailv < 0) return -1;
+                /* Refill (replace pd contents with new data) */
+                if(pd->refill(pd))
+                        return -1;
+                nbits -= nleft;
+                vhead = per_get_few_bits(pd, nbits);
+                /* Combine the rest of previous pd with the head of new one */
+                tailv = (tailv << nbits) | vhead;  /* Could == -1 */
+                return tailv;
+        }
 
-	/*
-	 * Normalize position indicator.
-	 */
-	if(pd->nboff >= 8) {
-		pd->buffer += (pd->nboff >> 3);
-		pd->nbits  -= (pd->nboff & ~0x07);
-		pd->nboff  &= 0x07;
-	}
-	pd->moved += nbits;
-	pd->nboff += nbits;
-	off = pd->nboff;
-	buf = pd->buffer;
+        /*
+         * Normalize position indicator.
+         */
+        if(pd->nboff >= 8) {
+                pd->buffer += (pd->nboff >> 3);
+                pd->nbits  -= (pd->nboff & ~0x07);
+                pd->nboff  &= 0x07;
+        }
+        pd->moved += nbits;
+        pd->nboff += nbits;
+        off = pd->nboff;
+        buf = pd->buffer;
 
-	/*
-	 * Extract specified number of bits.
-	 */
-	if(off <= 8)
-		accum = nbits ? (buf[0]) >> (8 - off) : 0;
-	else if(off <= 16)
-		accum = ((buf[0] << 8) + buf[1]) >> (16 - off);
-	else if(off <= 24)
-		accum = ((buf[0] << 16) + (buf[1] << 8) + buf[2]) >> (24 - off);
-	else if(off <= 31)
-		accum = ((buf[0] << 24) + (buf[1] << 16)
-			+ (buf[2] << 8) + (buf[3])) >> (32 - off);
-	else if(nbits <= 31) {
-		asn_per_data_t tpd = *pd;
-		/* Here are we with our 31-bits limit plus 1..7 bits offset. */
-		per_get_undo(&tpd, nbits);
-		/* The number of available bits in the stream allow
-		 * for the following operations to take place without
-		 * invoking the ->refill() function */
-		accum  = per_get_few_bits(&tpd, nbits - 24) << 24;
-		accum |= per_get_few_bits(&tpd, 24);
-	} else {
-		per_get_undo(pd, nbits);
-		return -1;
-	}
+        /*
+         * Extract specified number of bits.
+         */
+        if(off <= 8)
+                accum = nbits ? (buf[0]) >> (8 - off) : 0;
+        else if(off <= 16)
+                accum = ((buf[0] << 8) + buf[1]) >> (16 - off);
+        else if(off <= 24)
+                accum = ((buf[0] << 16) + (buf[1] << 8) + buf[2]) >> (24 - off);
+        else if(off <= 31)
+                accum = ((buf[0] << 24) + (buf[1] << 16)
+                        + (buf[2] << 8) + (buf[3])) >> (32 - off);
+        else if(nbits <= 31) {
+                asn_per_data_t tpd = *pd;
+                /* Here are we with our 31-bits limit plus 1..7 bits offset. */
+                per_get_undo(&tpd, nbits);
+                /* The number of available bits in the stream allow
+                 * for the following operations to take place without
+                 * invoking the ->refill() function */
+                accum  = per_get_few_bits(&tpd, nbits - 24) << 24;
+                accum |= per_get_few_bits(&tpd, 24);
+        } else {
+                per_get_undo(pd, nbits);
+                return -1;
+        }
 
-	accum &= (((uint32_t)1 << nbits) - 1);
+        accum &= (((uint32_t)1 << nbits) - 1);
 
-	ASN_DEBUG("  [PER got %2d<=%2d bits => span %d %+d[%d..%d]:%02x (%d) => 0x%x]",
-		nbits, nleft,
-		pd->moved,
-		(((int)pd->buffer) & 0xf),
-		pd->nboff, pd->nbits,
-		pd->buffer[0],
-		pd->nbits - pd->nboff,
-		(int)accum);
+        ASN_DEBUG("  [PER got %2d<=%2d bits => span %d %+ld[%d..%d]:%02x (%d) => 0x%x]",
+                (int)nbits, (int)nleft,
+                (int)pd->moved,
+                (((long)pd->buffer) & 0xf),
+                (int)pd->nboff, (int)pd->nbits,
+                ((pd->buffer != NULL)?pd->buffer[0]:0),
+                (int)(pd->nbits - pd->nboff),
+                (int)accum);
 
-	return accum;
+        return accum;
 }
 
 /*
@@ -120,70 +121,76 @@ per_get_few_bits(asn_per_data_t *pd, int nbits) {
  */
 int
 per_get_many_bits(asn_per_data_t *pd, uint8_t *dst, int alright, int nbits) {
-	int32_t value;
+        int32_t value;
 
-	if(alright && (nbits & 7)) {
-		/* Perform right alignment of a first few bits */
-		value = per_get_few_bits(pd, nbits & 0x07);
-		if(value < 0) return -1;
-		*dst++ = value;	/* value is already right-aligned */
-		nbits &= ~7;
-	}
+        if(alright && (nbits & 7)) {
+                /* Perform right alignment of a first few bits */
+                value = per_get_few_bits(pd, nbits & 0x07);
+                if(value < 0) return -1;
+                *dst++ = value; /* value is already right-aligned */
+                nbits &= ~7;
+        }
 
-	while(nbits) {
-		if(nbits >= 24) {
-			value = per_get_few_bits(pd, 24);
-			if(value < 0) return -1;
-			*(dst++) = value >> 16;
-			*(dst++) = value >> 8;
-			*(dst++) = value;
-			nbits -= 24;
-		} else {
-			value = per_get_few_bits(pd, nbits);
-			if(value < 0) return -1;
-			if(nbits & 7) {	/* implies left alignment */
-				value <<= 8 - (nbits & 7),
-				nbits += 8 - (nbits & 7);
-				if(nbits > 24)
-					*dst++ = value >> 24;
-			}
-			if(nbits > 16)
-				*dst++ = value >> 16;
-			if(nbits > 8)
-				*dst++ = value >> 8;
-			*dst++ = value;
-			break;
-		}
-	}
+        while(nbits) {
+                if(nbits >= 24) {
+                        value = per_get_few_bits(pd, 24);
+                        if(value < 0) return -1;
+                        *(dst++) = value >> 16;
+                        *(dst++) = value >> 8;
+                        *(dst++) = value;
+                        nbits -= 24;
+                } else {
+                        value = per_get_few_bits(pd, nbits);
+                        if(value < 0) return -1;
+                        if(nbits & 7) { /* implies left alignment */
+                                value <<= 8 - (nbits & 7),
+                                nbits += 8 - (nbits & 7);
+                                if(nbits > 24)
+                                        *dst++ = value >> 24;
+                        }
+                        if(nbits > 16)
+                                *dst++ = value >> 16;
+                        if(nbits > 8)
+                                *dst++ = value >> 8;
+                        *dst++ = value;
+                        break;
+                }
+        }
 
-	return 0;
+        return 0;
 }
 
 /*
- * Get the length "n" from the stream.
+ * X.691-201508 #10.9 General rules for encoding a length determinant.
+ * Get the optionally constrained length "n" from the stream.
  */
 ssize_t
 uper_get_length(asn_per_data_t *pd, int ebits, int *repeat) {
-	ssize_t value;
+    ssize_t value;
 
-	*repeat = 0;
+    *repeat = 0;
 
-	if(ebits >= 0) return per_get_few_bits(pd, ebits);
+    /* #11.9.4.1 Encoding if constrained (according to effective bits) */
+    if(ebits >= 0 && ebits <= 16) {
+        return per_get_few_bits(pd, ebits);
+    }
 
-	value = per_get_few_bits(pd, 8);
-	if(value < 0) return -1;
-	if((value & 128) == 0)	/* #10.9.3.6 */
-		return (value & 0x7F);
-	if((value & 64) == 0) {	/* #10.9.3.7 */
-		value = ((value & 63) << 8) | per_get_few_bits(pd, 8);
-		if(value < 0) return -1;
-		return value;
-	}
-	value &= 63;	/* this is "m" from X.691, #10.9.3.8 */
-	if(value < 1 || value > 4)
-		return -1;
-	*repeat = 1;
-	return (16384 * value);
+        value = per_get_few_bits(pd, 8);
+    if((value & 0x80) == 0) { /* #11.9.3.6 */
+        return (value & 0x7F);
+    } else if((value & 0x40) == 0) { /* #11.9.3.7 */
+        /* bit 8 ... set to 1 and bit 7 ... set to zero */
+        value = ((value & 0x3f) << 8) | per_get_few_bits(pd, 8);
+        return value; /* potential -1 from per_get_few_bits passes through. */
+    } else if(value < 0) {
+        return -1;
+    }
+    value &= 0x3f; /* this is "m" from X.691, #11.9.3.8 */
+    if(value < 1 || value > 4) {
+        return -1; /* Prohibited by #11.9.3.8 */
+    }
+    *repeat = 1;
+    return (16384 * value);
 }
 
 /*
@@ -193,21 +200,21 @@ uper_get_length(asn_per_data_t *pd, int ebits, int *repeat) {
  */
 ssize_t
 uper_get_nslength(asn_per_data_t *pd) {
-	ssize_t length;
+        ssize_t length;
 
-	ASN_DEBUG("Getting normally small length");
+        ASN_DEBUG("Getting normally small length");
 
-	if(per_get_few_bits(pd, 1) == 0) {
-		length = per_get_few_bits(pd, 6) + 1;
-		if(length <= 0) return -1;
-		ASN_DEBUG("l=%d", length);
-		return length;
-	} else {
-		int repeat;
-		length = uper_get_length(pd, -1, &repeat);
-		if(length >= 0 && !repeat) return length;
-		return -1; /* Error, or do not support >16K extensions */
-	}
+        if(per_get_few_bits(pd, 1) == 0) {
+                length = per_get_few_bits(pd, 6) + 1;
+                if(length <= 0) return -1;
+                ASN_DEBUG("l=%d", (int)length);
+                return length;
+        } else {
+                int repeat;
+                length = uper_get_length(pd, -1, &repeat);
+                if(length >= 0 && !repeat) return length;
+                return -1; /* Error, or do not support >16K extensions */
+        }
 }
 
 /*
@@ -216,135 +223,215 @@ uper_get_nslength(asn_per_data_t *pd) {
  */
 ssize_t
 uper_get_nsnnwn(asn_per_data_t *pd) {
-	ssize_t value;
+        ssize_t value;
 
-	value = per_get_few_bits(pd, 7);
-	if(value & 64) {	/* implicit (value < 0) */
-		value &= 63;
-		value <<= 2;
-		value |= per_get_few_bits(pd, 2);
-		if(value & 128)	/* implicit (value < 0) */
-			return -1;
-		if(value == 0)
-			return 0;
-		if(value >= 3)
-			return -1;
-		value = per_get_few_bits(pd, 8 * value);
-		return value;
-	}
+        value = per_get_few_bits(pd, 7);
+        if(value & 64) {        /* implicit (value < 0) */
+                value &= 63;
+                value <<= 2;
+                value |= per_get_few_bits(pd, 2);
+                if(value & 128) /* implicit (value < 0) */
+                        return -1;
+                if(value == 0)
+                        return 0;
+                if(value >= 3)
+                        return -1;
+                value = per_get_few_bits(pd, 8 * value);
+                return value;
+        }
 
-	return value;
+        return value;
 }
 
 /*
- * Put the normally small non-negative whole number.
- * X.691, #10.6
+ * X.691-11/2008, #11.6
+ * Encoding of a normally small non-negative whole number
  */
 int
 uper_put_nsnnwn(asn_per_outp_t *po, int n) {
-	int bytes;
+        int bytes;
 
-	if(n <= 63) {
-		if(n < 0) return -1;
-		return per_put_few_bits(po, n, 7);
-	}
-	if(n < 256)
-		bytes = 1;
-	else if(n < 65536)
-		bytes = 2;
-	else if(n < 256 * 65536)
-		bytes = 3;
-	else
-		return -1;	/* This is not a "normally small" value */
-	if(per_put_few_bits(po, bytes, 8))
-		return -1;
+        if(n <= 63) {
+                if(n < 0) return -1;
+                return per_put_few_bits(po, n, 7);
+        }
+        if(n < 256)
+                bytes = 1;
+        else if(n < 65536)
+                bytes = 2;
+        else if(n < 256 * 65536)
+                bytes = 3;
+        else
+                return -1;      /* This is not a "normally small" value */
+        if(per_put_few_bits(po, bytes, 8))
+                return -1;
 
-	return per_put_few_bits(po, n, 8 * bytes);
+        return per_put_few_bits(po, n, 8 * bytes);
 }
 
 
+/* X.691-2008/11, #11.5.6 -> #11.3 */
+int uper_get_constrained_whole_number(asn_per_data_t *pd, unsigned long *out_value, int nbits) {
+        unsigned long lhalf;    /* Lower half of the number*/
+        long half;
+
+        if(nbits <= 31) {
+                half = per_get_few_bits(pd, nbits);
+                if(half < 0) return -1;
+                *out_value = half;
+                return 0;
+        }
+
+        if((size_t)nbits > 8 * sizeof(*out_value))
+                return -1;  /* RANGE */
+
+        half = per_get_few_bits(pd, 31);
+        if(half < 0) return -1;
+
+        if(uper_get_constrained_whole_number(pd, &lhalf, nbits - 31))
+                return -1;
+
+        *out_value = ((unsigned long)half << (nbits - 31)) | lhalf;
+        return 0;
+}
+
+
+/* X.691-2008/11, #11.5.6 -> #11.3 */
+int uper_put_constrained_whole_number_s(asn_per_outp_t *po, long v, int nbits) {
+        /*
+         * Assume signed number can be safely coerced into
+         * unsigned of the same range.
+         * The following testing code will likely be optimized out
+         * by compiler if it is true.
+         */
+        unsigned long uvalue1 = ULONG_MAX;
+                 long svalue  = uvalue1;
+        unsigned long uvalue2 = svalue;
+        assert(uvalue1 == uvalue2);
+        return uper_put_constrained_whole_number_u(po, v, nbits);
+}
+
+int uper_put_constrained_whole_number_u(asn_per_outp_t *po, unsigned long v, int nbits) {
+        if(nbits <= 31) {
+                return per_put_few_bits(po, v, nbits);
+        } else {
+                /* Put higher portion first, followed by lower 31-bit */
+                if(uper_put_constrained_whole_number_u(po, v >> 31, nbits - 31))
+                        return -1;
+                return per_put_few_bits(po, v, 31);
+        }
+}
+
+int
+per_put_aligned_flush(asn_per_outp_t *po) {
+    uint32_t unused_bits = (0x7 & (8 - (po->nboff & 0x07)));
+    size_t complete_bytes =
+        (po->buffer ? po->buffer - po->tmpspace : 0) + ((po->nboff + 7) >> 3);
+
+    if(unused_bits) {
+        po->buffer[po->nboff >> 3] &= ~0 << unused_bits;
+    }
+
+    if(po->outper(po->tmpspace, complete_bytes, po->op_key) < 0) {
+        return -1;
+    } else {
+        po->buffer = po->tmpspace;
+        po->nboff = 0;
+        po->nbits = 8 * sizeof(po->tmpspace);
+        po->flushed_bytes += complete_bytes;
+        return 0;
+    }
+}
+
 /*
  * Put a small number of bits (<= 31).
  */
 int
 per_put_few_bits(asn_per_outp_t *po, uint32_t bits, int obits) {
-	size_t off;	/* Next after last bit offset */
-	size_t omsk;	/* Existing last byte meaningful bits mask */
-	uint8_t *buf;
+        size_t off;     /* Next after last bit offset */
+        size_t omsk;    /* Existing last byte meaningful bits mask */
+        uint8_t *buf;
 
-	if(obits <= 0 || obits >= 32) return obits ? -1 : 0;
+        if(obits <= 0 || obits >= 32) return obits ? -1 : 0;
 
-	ASN_DEBUG("[PER put %d bits %x to %p+%d bits]",
-			obits, (int)bits, po->buffer, po->nboff);
+        ASN_DEBUG("[PER put %d bits %x to %p+%d bits]",
+                        obits, (int)bits, po->buffer, (int)po->nboff);
 
-	/*
-	 * Normalize position indicator.
-	 */
-	if(po->nboff >= 8) {
-		po->buffer += (po->nboff >> 3);
-		po->nbits  -= (po->nboff & ~0x07);
-		po->nboff  &= 0x07;
-	}
+        /*
+         * Normalize position indicator.
+         */
+        if(po->nboff >= 8) {
+                po->buffer += (po->nboff >> 3);
+                po->nbits  -= (po->nboff & ~0x07);
+                po->nboff  &= 0x07;
+        }
 
-	/*
-	 * Flush whole-bytes output, if necessary.
-	 */
-	if(po->nboff + obits > po->nbits) {
-		int complete_bytes = (po->buffer - po->tmpspace);
-		ASN_DEBUG("[PER output %d complete + %d]",
-			complete_bytes, po->flushed_bytes);
-		if(po->outper(po->tmpspace, complete_bytes, po->op_key) < 0)
-			return -1;
-		if(po->nboff)
-			po->tmpspace[0] = po->buffer[0];
-		po->buffer = po->tmpspace;
-		po->nbits = 8 * sizeof(po->tmpspace);
-		po->flushed_bytes += complete_bytes;
-	}
+        /*
+         * Flush whole-bytes output, if necessary.
+         */
+        if(po->nboff + obits > po->nbits) {
+                size_t complete_bytes;
+                if(!po->buffer) po->buffer = po->tmpspace;
+                complete_bytes = (po->buffer - po->tmpspace);
+                ASN_DEBUG("[PER output %ld complete + %ld]",
+                        (long)complete_bytes, (long)po->flushed_bytes);
+                if(po->outper(po->tmpspace, complete_bytes, po->op_key) < 0)
+                        return -1;
+                if(po->nboff)
+                        po->tmpspace[0] = po->buffer[0];
+                po->buffer = po->tmpspace;
+                po->nbits = 8 * sizeof(po->tmpspace);
+                po->flushed_bytes += complete_bytes;
+        }
 
-	/*
-	 * Now, due to sizeof(tmpspace), we are guaranteed large enough space.
-	 */
-	buf = po->buffer;
-	omsk = ~((1 << (8 - po->nboff)) - 1);
-	off = (po->nboff += obits);
+        /*
+         * Now, due to sizeof(tmpspace), we are guaranteed large enough space.
+         */
+        buf = po->buffer;
+        omsk = ~((1 << (8 - po->nboff)) - 1);
+        off = (po->nboff + obits);
 
-	/* Clear data of debris before meaningful bits */
-	bits &= (((uint32_t)1 << obits) - 1);
+        /* Clear data of debris before meaningful bits */
+        bits &= (((uint32_t)1 << obits) - 1);
 
-	ASN_DEBUG("[PER out %d %u/%x (t=%d,o=%d) %x&%x=%x]", obits,
-		(int)bits, (int)bits,
-		po->nboff - obits, off, buf[0], omsk&0xff, buf[0] & omsk);
+        ASN_DEBUG("[PER out %d %u/%x (t=%d,o=%d) %x&%x=%x]", obits,
+                (int)bits, (int)bits,
+                (int)po->nboff, (int)off,
+                buf[0], (int)(omsk&0xff),
+                (int)(buf[0] & omsk));
 
-	if(off <= 8)	/* Completely within 1 byte */
-		bits <<= (8 - off),
-		buf[0] = (buf[0] & omsk) | bits;
-	else if(off <= 16)
-		bits <<= (16 - off),
-		buf[0] = (buf[0] & omsk) | (bits >> 8),
-		buf[1] = bits;
-	else if(off <= 24)
-		bits <<= (24 - off),
-		buf[0] = (buf[0] & omsk) | (bits >> 16),
-		buf[1] = bits >> 8,
-		buf[2] = bits;
-	else if(off <= 31)
-		bits <<= (32 - off),
-		buf[0] = (buf[0] & omsk) | (bits >> 24),
-		buf[1] = bits >> 16,
-		buf[2] = bits >> 8,
-		buf[3] = bits;
-	else {
-		ASN_DEBUG("->[PER out split %d]", obits);
-		per_put_few_bits(po, bits >> 8, 24);
-		per_put_few_bits(po, bits, obits - 24);
-		ASN_DEBUG("<-[PER out split %d]", obits);
-	}
+        if(off <= 8)    /* Completely within 1 byte */
+                po->nboff = off,
+                bits <<= (8 - off),
+                buf[0] = (buf[0] & omsk) | bits;
+        else if(off <= 16)
+                po->nboff = off,
+                bits <<= (16 - off),
+                buf[0] = (buf[0] & omsk) | (bits >> 8),
+                buf[1] = bits;
+        else if(off <= 24)
+                po->nboff = off,
+                bits <<= (24 - off),
+                buf[0] = (buf[0] & omsk) | (bits >> 16),
+                buf[1] = bits >> 8,
+                buf[2] = bits;
+        else if(off <= 31)
+                po->nboff = off,
+                bits <<= (32 - off),
+                buf[0] = (buf[0] & omsk) | (bits >> 24),
+                buf[1] = bits >> 16,
+                buf[2] = bits >> 8,
+                buf[3] = bits;
+        else {
+                if(per_put_few_bits(po, bits >> (obits - 24), 24)) return -1;
+                if(per_put_few_bits(po, bits, obits - 24)) return -1;
+        }
 
-	ASN_DEBUG("[PER out %u/%x => %02x buf+%d]",
-		(int)bits, (int)bits, buf[0], po->buffer - po->tmpspace);
+        ASN_DEBUG("[PER out %u/%x => %02x buf+%ld]",
+                (int)bits, (int)bits, buf[0],
+                (long)(po->buffer - po->tmpspace));
 
-	return 0;
+        return 0;
 }
 
 
@@ -354,30 +441,30 @@ per_put_few_bits(asn_per_outp_t *po, uint32_t bits, int obits) {
 int
 per_put_many_bits(asn_per_outp_t *po, const uint8_t *src, int nbits) {
 
-	while(nbits) {
-		uint32_t value;
+        while(nbits) {
+                uint32_t value;
 
-		if(nbits >= 24) {
-			value = (src[0] << 16) | (src[1] << 8) | src[2];
-			src += 3;
-			nbits -= 24;
-			if(per_put_few_bits(po, value, 24))
-				return -1;
-		} else {
-			value = src[0];
-			if(nbits > 8)
-				value = (value << 8) | src[1];
-			if(nbits > 16)
-				value = (value << 8) | src[2];
-			if(nbits & 0x07)
-				value >>= (8 - (nbits & 0x07));
-			if(per_put_few_bits(po, value, nbits))
-				return -1;
-			break;
-		}
-	}
+                if(nbits >= 24) {
+                        value = (src[0] << 16) | (src[1] << 8) | src[2];
+                        src += 3;
+                        nbits -= 24;
+                        if(per_put_few_bits(po, value, 24))
+                                return -1;
+                } else {
+                        value = src[0];
+                        if(nbits > 8)
+                                value = (value << 8) | src[1];
+                        if(nbits > 16)
+                                value = (value << 8) | src[2];
+                        if(nbits & 0x07)
+                                value >>= (8 - (nbits & 0x07));
+                        if(per_put_few_bits(po, value, nbits))
+                                return -1;
+                        break;
+                }
+        }
 
-	return 0;
+        return 0;
 }
 
 /*
@@ -386,18 +473,18 @@ per_put_many_bits(asn_per_outp_t *po, const uint8_t *src, int nbits) {
 ssize_t
 uper_put_length(asn_per_outp_t *po, size_t length) {
 
-	if(length <= 127)	/* #10.9.3.6 */
-		return per_put_few_bits(po, length, 8)
-			? -1 : (ssize_t)length;
-	else if(length < 16384)	/* #10.9.3.7 */
-		return per_put_few_bits(po, length|0x8000, 16)
-			? -1 : (ssize_t)length;
+        if(length <= 127)       /* #10.9.3.6 */
+                return per_put_few_bits(po, length, 8)
+                        ? -1 : (ssize_t)length;
+        else if(length < 16384) /* #10.9.3.7 */
+                return per_put_few_bits(po, length|0x8000, 16)
+                        ? -1 : (ssize_t)length;
 
-	length >>= 14;
-	if(length > 4) length = 4;
+        length >>= 14;
+        if(length > 4) length = 4;
 
-	return per_put_few_bits(po, 0xC0 | length, 8)
-			? -1 : (ssize_t)(length << 14);
+        return per_put_few_bits(po, 0xC0 | length, 8)
+                        ? -1 : (ssize_t)(length << 14);
 }
 
 
@@ -409,17 +496,16 @@ uper_put_length(asn_per_outp_t *po, size_t length) {
 int
 uper_put_nslength(asn_per_outp_t *po, size_t length) {
 
-	if(length <= 64) {
-		/* #10.9.3.4 */
-		if(length == 0) return -1;
-		return per_put_few_bits(po, length-1, 7) ? -1 : 0;
-	} else {
-		if(uper_put_length(po, length) != (ssize_t)length) {
-			/* This might happen in case of >16K extensions */
-			return -1;
-		}
-	}
+        if(length <= 64) {
+                /* #10.9.3.4 */
+                if(length == 0) return -1;
+                return per_put_few_bits(po, length-1, 7) ? -1 : 0;
+        } else {
+                if(uper_put_length(po, length) != (ssize_t)length) {
+                        /* This might happen in case of >16K extensions */
+                        return -1;
+                }
+        }
 
-	return 0;
+        return 0;
 }
-
diff --git a/src/core/libs/supl/asn-rrlp/per_support.h b/src/core/libs/supl/asn-rrlp/per_support.h
index 7cb1a0ca3..c3e7794de 100644
--- a/src/core/libs/supl/asn-rrlp/per_support.h
+++ b/src/core/libs/supl/asn-rrlp/per_support.h
@@ -3,10 +3,10 @@
  * All rights reserved.
  * Redistribution and modifications are permitted subject to BSD license.
  */
-#ifndef	_PER_SUPPORT_H_
-#define	_PER_SUPPORT_H_
+#ifndef _PER_SUPPORT_H_
+#define _PER_SUPPORT_H_
 
-#include <asn_system.h>		/* Platform-specific types */
+#include <asn_system.h>         /* Platform-specific types */
 
 #ifdef __cplusplus
 extern "C" {
@@ -15,23 +15,23 @@ extern "C" {
 /*
  * Pre-computed PER constraints.
  */
-typedef struct asn_per_constraint_s {
-	enum asn_per_constraint_flags {
-		APC_UNCONSTRAINED	= 0x0,	/* No PER visible constraints */
-		APC_SEMI_CONSTRAINED	= 0x1,	/* Constrained at "lb" */
-		APC_CONSTRAINED		= 0x2,	/* Fully constrained */
-		APC_EXTENSIBLE		= 0x4	/* May have extension */
-	} flags;
-	int  range_bits;		/* Full number of bits in the range */
-	int  effective_bits;		/* Effective bits */
-	long lower_bound;		/* "lb" value */
-	long upper_bound;		/* "ub" value */
+typedef const struct asn_per_constraint_s {
+        enum asn_per_constraint_flags {
+                APC_UNCONSTRAINED       = 0x0,  /* No PER visible constraints */
+                APC_SEMI_CONSTRAINED    = 0x1,  /* Constrained at "lb" */
+                APC_CONSTRAINED         = 0x2,  /* Fully constrained */
+                APC_EXTENSIBLE          = 0x4   /* May have extension */
+        } flags;
+        int  range_bits;                /* Full number of bits in the range */
+        int  effective_bits;            /* Effective bits */
+        long lower_bound;               /* "lb" value */
+        long upper_bound;               /* "ub" value */
 } asn_per_constraint_t;
-typedef struct asn_per_constraints_s {
-	asn_per_constraint_t value;
-	asn_per_constraint_t size;
-	int (*value2code)(unsigned int value);
-	int (*code2value)(unsigned int code);
+typedef const struct asn_per_constraints_s {
+        struct asn_per_constraint_s value;
+        struct asn_per_constraint_s size;
+        int (*value2code)(unsigned int value);
+        int (*code2value)(unsigned int code);
 } asn_per_constraints_t;
 
 /*
@@ -62,14 +62,14 @@ void per_get_undo(asn_per_data_t *per_data, int get_nbits);
  * extracted due to EOD or other conditions.
  */
 int per_get_many_bits(asn_per_data_t *pd, uint8_t *dst, int right_align,
-			int get_nbits);
+                        int get_nbits);
 
 /*
  * Get the length "n" from the Unaligned PER stream.
  */
 ssize_t uper_get_length(asn_per_data_t *pd,
-			int effective_bound_bits,
-			int *repeat);
+                        int effective_bound_bits,
+                        int *repeat);
 
 /*
  * Get the normally small length "n".
@@ -81,6 +81,9 @@ ssize_t uper_get_nslength(asn_per_data_t *pd);
  */
 ssize_t uper_get_nsnnwn(asn_per_data_t *pd);
 
+/* X.691-2008/11, #11.5.6 */
+int uper_get_constrained_whole_number(asn_per_data_t *pd, unsigned long *v, int nbits);
+
 /* Non-thread-safe debugging function, don't use it */
 char *per_data_string(asn_per_data_t *pd);
 
@@ -88,13 +91,13 @@ char *per_data_string(asn_per_data_t *pd);
  * This structure supports forming PER output.
  */
 typedef struct asn_per_outp_s {
-	uint8_t *buffer;	/* Pointer into the (tmpspace) */
-	size_t nboff;		/* Bit offset to the meaningful bit */
-	size_t nbits;		/* Number of bits left in (tmpspace) */
-	uint8_t tmpspace[32];	/* Preliminary storage to hold data */
-	int (*outper)(const void *data, size_t size, void *op_key);
-	void *op_key;		/* Key for (outper) data callback */
-	size_t flushed_bytes;	/* Bytes already flushed through (outper) */
+        uint8_t *buffer;        /* Pointer into the (tmpspace) */
+        size_t nboff;           /* Bit offset to the meaningful bit */
+        size_t nbits;           /* Number of bits left in (tmpspace) */
+        uint8_t tmpspace[32];   /* Preliminary storage to hold data */
+        int (*outper)(const void *data, size_t size, void *op_key);
+        void *op_key;           /* Key for (outper) data callback */
+        size_t flushed_bytes;   /* Bytes already flushed through (outper) */
 } asn_per_outp_t;
 
 /* Output a small number of bits (<= 31) */
@@ -103,6 +106,17 @@ int per_put_few_bits(asn_per_outp_t *per_data, uint32_t bits, int obits);
 /* Output a large number of bits */
 int per_put_many_bits(asn_per_outp_t *po, const uint8_t *src, int put_nbits);
 
+/*
+ * Flush whole bytes (0 or more) through (outper) member.
+ * The least significant bits which are not used are guaranteed to be set to 0.
+ * Returns -1 if callback returns -1. Otherwise, 0.
+ */
+int per_put_aligned_flush(asn_per_outp_t *po);
+
+/* X.691-2008/11, #11.5 */
+int uper_put_constrained_whole_number_s(asn_per_outp_t *po, long v, int nbits);
+int uper_put_constrained_whole_number_u(asn_per_outp_t *po, unsigned long v, int nbits);
+
 /*
  * Put the length "n" to the Unaligned PER stream.
  * This function returns the number of units which may be flushed
@@ -125,4 +139,4 @@ int uper_put_nsnnwn(asn_per_outp_t *po, int n);
 }
 #endif
 
-#endif	/* _PER_SUPPORT_H_ */
+#endif  /* _PER_SUPPORT_H_ */

From ddee13cfa61fde863a1036e744e8ff161cfee36e Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 22:44:49 +0200
Subject: [PATCH 238/379] Update per_support files

---
 src/core/libs/supl/asn-supl/per_support.c | 678 ++++++++++++----------
 src/core/libs/supl/asn-supl/per_support.h |  74 ++-
 2 files changed, 426 insertions(+), 326 deletions(-)

diff --git a/src/core/libs/supl/asn-supl/per_support.c b/src/core/libs/supl/asn-supl/per_support.c
index e8299c730..02dd02094 100644
--- a/src/core/libs/supl/asn-supl/per_support.c
+++ b/src/core/libs/supl/asn-supl/per_support.c
@@ -9,26 +9,26 @@
 
 char *
 per_data_string(asn_per_data_t *pd) {
-	static char buf[2][32];
-	static int n;
-	n = (n+1) % 2;
-	snprintf(buf[n], sizeof(buf),
-		"{m=%d span %+d[%d..%d] (%d)}",
-		pd->moved,
-		(((int)pd->buffer) & 0xf),
-		pd->nboff, pd->nbits,
-		pd->nbits - pd->nboff);
-	return buf[n];
+        static char buf[2][32];
+        static int n;
+        n = (n+1) % 2;
+        snprintf(buf[n], sizeof(buf[n]),
+                "{m=%ld span %+ld[%d..%d] (%d)}",
+                (long)pd->moved,
+                (((long)pd->buffer) & 0xf),
+                (int)pd->nboff, (int)pd->nbits,
+                (int)(pd->nbits - pd->nboff));
+        return buf[n];
 }
 
 void
 per_get_undo(asn_per_data_t *pd, int nbits) {
-	if((ssize_t)pd->nboff < nbits) {
-		assert((ssize_t)pd->nboff < nbits);
-	} else {
-		pd->nboff -= nbits;
-		pd->moved -= nbits;
-	}
+        if((ssize_t)pd->nboff < nbits) {
+                assert((ssize_t)pd->nboff < nbits);
+        } else {
+                pd->nboff -= nbits;
+                pd->moved -= nbits;
+        }
 }
 
 /*
@@ -36,83 +36,84 @@ per_get_undo(asn_per_data_t *pd, int nbits) {
  */
 int32_t
 per_get_few_bits(asn_per_data_t *pd, int nbits) {
-	size_t off;	/* Next after last bit offset */
-	ssize_t nleft;	/* Number of bits left in this stream */
-	uint32_t accum;
-	const uint8_t *buf;
+        size_t off;     /* Next after last bit offset */
+        ssize_t nleft;  /* Number of bits left in this stream */
+        uint32_t accum;
+        const uint8_t *buf;
 
-	if(nbits < 0)
-		return -1;
+        if(nbits < 0)
+                return -1;
 
-	nleft = pd->nbits - pd->nboff;
-	if(nbits > nleft) {
-		int32_t tailv, vhead;
-		if(!pd->refill || nbits > 31) return -1;
-		/* Accumulate unused bytes before refill */
-		ASN_DEBUG("Obtain the rest %d bits (want %d)", nleft, nbits);
-		tailv = per_get_few_bits(pd, nleft);
-		if(tailv < 0) return -1;
-		/* Refill (replace pd contents with new data) */
-		if(pd->refill(pd))
-			return -1;
-		nbits -= nleft;
-		vhead = per_get_few_bits(pd, nbits);
-		/* Combine the rest of previous pd with the head of new one */
-		tailv = (tailv << nbits) | vhead;  /* Could == -1 */
-		return tailv;
-	}
+        nleft = pd->nbits - pd->nboff;
+        if(nbits > nleft) {
+                int32_t tailv, vhead;
+                if(!pd->refill || nbits > 31) return -1;
+                /* Accumulate unused bytes before refill */
+                ASN_DEBUG("Obtain the rest %d bits (want %d)",
+                        (int)nleft, (int)nbits);
+                tailv = per_get_few_bits(pd, nleft);
+                if(tailv < 0) return -1;
+                /* Refill (replace pd contents with new data) */
+                if(pd->refill(pd))
+                        return -1;
+                nbits -= nleft;
+                vhead = per_get_few_bits(pd, nbits);
+                /* Combine the rest of previous pd with the head of new one */
+                tailv = (tailv << nbits) | vhead;  /* Could == -1 */
+                return tailv;
+        }
 
-	/*
-	 * Normalize position indicator.
-	 */
-	if(pd->nboff >= 8) {
-		pd->buffer += (pd->nboff >> 3);
-		pd->nbits  -= (pd->nboff & ~0x07);
-		pd->nboff  &= 0x07;
-	}
-	pd->moved += nbits;
-	pd->nboff += nbits;
-	off = pd->nboff;
-	buf = pd->buffer;
+        /*
+         * Normalize position indicator.
+         */
+        if(pd->nboff >= 8) {
+                pd->buffer += (pd->nboff >> 3);
+                pd->nbits  -= (pd->nboff & ~0x07);
+                pd->nboff  &= 0x07;
+        }
+        pd->moved += nbits;
+        pd->nboff += nbits;
+        off = pd->nboff;
+        buf = pd->buffer;
 
-	/*
-	 * Extract specified number of bits.
-	 */
-	if(off <= 8)
-		accum = nbits ? (buf[0]) >> (8 - off) : 0;
-	else if(off <= 16)
-		accum = ((buf[0] << 8) + buf[1]) >> (16 - off);
-	else if(off <= 24)
-		accum = ((buf[0] << 16) + (buf[1] << 8) + buf[2]) >> (24 - off);
-	else if(off <= 31)
-		accum = ((buf[0] << 24) + (buf[1] << 16)
-			+ (buf[2] << 8) + (buf[3])) >> (32 - off);
-	else if(nbits <= 31) {
-		asn_per_data_t tpd = *pd;
-		/* Here are we with our 31-bits limit plus 1..7 bits offset. */
-		per_get_undo(&tpd, nbits);
-		/* The number of available bits in the stream allow
-		 * for the following operations to take place without
-		 * invoking the ->refill() function */
-		accum  = per_get_few_bits(&tpd, nbits - 24) << 24;
-		accum |= per_get_few_bits(&tpd, 24);
-	} else {
-		per_get_undo(pd, nbits);
-		return -1;
-	}
+        /*
+         * Extract specified number of bits.
+         */
+        if(off <= 8)
+                accum = nbits ? (buf[0]) >> (8 - off) : 0;
+        else if(off <= 16)
+                accum = ((buf[0] << 8) + buf[1]) >> (16 - off);
+        else if(off <= 24)
+                accum = ((buf[0] << 16) + (buf[1] << 8) + buf[2]) >> (24 - off);
+        else if(off <= 31)
+                accum = ((buf[0] << 24) + (buf[1] << 16)
+                        + (buf[2] << 8) + (buf[3])) >> (32 - off);
+        else if(nbits <= 31) {
+                asn_per_data_t tpd = *pd;
+                /* Here are we with our 31-bits limit plus 1..7 bits offset. */
+                per_get_undo(&tpd, nbits);
+                /* The number of available bits in the stream allow
+                 * for the following operations to take place without
+                 * invoking the ->refill() function */
+                accum  = per_get_few_bits(&tpd, nbits - 24) << 24;
+                accum |= per_get_few_bits(&tpd, 24);
+        } else {
+                per_get_undo(pd, nbits);
+                return -1;
+        }
 
-	accum &= (((uint32_t)1 << nbits) - 1);
+        accum &= (((uint32_t)1 << nbits) - 1);
 
-	ASN_DEBUG("  [PER got %2d<=%2d bits => span %d %+d[%d..%d]:%02x (%d) => 0x%x]",
-		nbits, nleft,
-		pd->moved,
-		(((int)pd->buffer) & 0xf),
-		pd->nboff, pd->nbits,
-		pd->buffer[0],
-		pd->nbits - pd->nboff,
-		(int)accum);
+        ASN_DEBUG("  [PER got %2d<=%2d bits => span %d %+ld[%d..%d]:%02x (%d) => 0x%x]",
+                (int)nbits, (int)nleft,
+                (int)pd->moved,
+                (((long)pd->buffer) & 0xf),
+                (int)pd->nboff, (int)pd->nbits,
+                ((pd->buffer != NULL)?pd->buffer[0]:0),
+                (int)(pd->nbits - pd->nboff),
+                (int)accum);
 
-	return accum;
+        return accum;
 }
 
 /*
@@ -120,70 +121,76 @@ per_get_few_bits(asn_per_data_t *pd, int nbits) {
  */
 int
 per_get_many_bits(asn_per_data_t *pd, uint8_t *dst, int alright, int nbits) {
-	int32_t value;
+        int32_t value;
 
-	if(alright && (nbits & 7)) {
-		/* Perform right alignment of a first few bits */
-		value = per_get_few_bits(pd, nbits & 0x07);
-		if(value < 0) return -1;
-		*dst++ = value;	/* value is already right-aligned */
-		nbits &= ~7;
-	}
+        if(alright && (nbits & 7)) {
+                /* Perform right alignment of a first few bits */
+                value = per_get_few_bits(pd, nbits & 0x07);
+                if(value < 0) return -1;
+                *dst++ = value; /* value is already right-aligned */
+                nbits &= ~7;
+        }
 
-	while(nbits) {
-		if(nbits >= 24) {
-			value = per_get_few_bits(pd, 24);
-			if(value < 0) return -1;
-			*(dst++) = value >> 16;
-			*(dst++) = value >> 8;
-			*(dst++) = value;
-			nbits -= 24;
-		} else {
-			value = per_get_few_bits(pd, nbits);
-			if(value < 0) return -1;
-			if(nbits & 7) {	/* implies left alignment */
-				value <<= 8 - (nbits & 7),
-				nbits += 8 - (nbits & 7);
-				if(nbits > 24)
-					*dst++ = value >> 24;
-			}
-			if(nbits > 16)
-				*dst++ = value >> 16;
-			if(nbits > 8)
-				*dst++ = value >> 8;
-			*dst++ = value;
-			break;
-		}
-	}
+        while(nbits) {
+                if(nbits >= 24) {
+                        value = per_get_few_bits(pd, 24);
+                        if(value < 0) return -1;
+                        *(dst++) = value >> 16;
+                        *(dst++) = value >> 8;
+                        *(dst++) = value;
+                        nbits -= 24;
+                } else {
+                        value = per_get_few_bits(pd, nbits);
+                        if(value < 0) return -1;
+                        if(nbits & 7) { /* implies left alignment */
+                                value <<= 8 - (nbits & 7),
+                                nbits += 8 - (nbits & 7);
+                                if(nbits > 24)
+                                        *dst++ = value >> 24;
+                        }
+                        if(nbits > 16)
+                                *dst++ = value >> 16;
+                        if(nbits > 8)
+                                *dst++ = value >> 8;
+                        *dst++ = value;
+                        break;
+                }
+        }
 
-	return 0;
+        return 0;
 }
 
 /*
- * Get the length "n" from the stream.
+ * X.691-201508 #10.9 General rules for encoding a length determinant.
+ * Get the optionally constrained length "n" from the stream.
  */
 ssize_t
 uper_get_length(asn_per_data_t *pd, int ebits, int *repeat) {
-	ssize_t value;
+    ssize_t value;
 
-	*repeat = 0;
+    *repeat = 0;
 
-	if(ebits >= 0) return per_get_few_bits(pd, ebits);
+    /* #11.9.4.1 Encoding if constrained (according to effective bits) */
+    if(ebits >= 0 && ebits <= 16) {
+        return per_get_few_bits(pd, ebits);
+    }
 
-	value = per_get_few_bits(pd, 8);
-	if(value < 0) return -1;
-	if((value & 128) == 0)	/* #10.9.3.6 */
-		return (value & 0x7F);
-	if((value & 64) == 0) {	/* #10.9.3.7 */
-		value = ((value & 63) << 8) | per_get_few_bits(pd, 8);
-		if(value < 0) return -1;
-		return value;
-	}
-	value &= 63;	/* this is "m" from X.691, #10.9.3.8 */
-	if(value < 1 || value > 4)
-		return -1;
-	*repeat = 1;
-	return (16384 * value);
+        value = per_get_few_bits(pd, 8);
+    if((value & 0x80) == 0) { /* #11.9.3.6 */
+        return (value & 0x7F);
+    } else if((value & 0x40) == 0) { /* #11.9.3.7 */
+        /* bit 8 ... set to 1 and bit 7 ... set to zero */
+        value = ((value & 0x3f) << 8) | per_get_few_bits(pd, 8);
+        return value; /* potential -1 from per_get_few_bits passes through. */
+    } else if(value < 0) {
+        return -1;
+    }
+    value &= 0x3f; /* this is "m" from X.691, #11.9.3.8 */
+    if(value < 1 || value > 4) {
+        return -1; /* Prohibited by #11.9.3.8 */
+    }
+    *repeat = 1;
+    return (16384 * value);
 }
 
 /*
@@ -193,21 +200,21 @@ uper_get_length(asn_per_data_t *pd, int ebits, int *repeat) {
  */
 ssize_t
 uper_get_nslength(asn_per_data_t *pd) {
-	ssize_t length;
+        ssize_t length;
 
-	ASN_DEBUG("Getting normally small length");
+        ASN_DEBUG("Getting normally small length");
 
-	if(per_get_few_bits(pd, 1) == 0) {
-		length = per_get_few_bits(pd, 6) + 1;
-		if(length <= 0) return -1;
-		ASN_DEBUG("l=%d", length);
-		return length;
-	} else {
-		int repeat;
-		length = uper_get_length(pd, -1, &repeat);
-		if(length >= 0 && !repeat) return length;
-		return -1; /* Error, or do not support >16K extensions */
-	}
+        if(per_get_few_bits(pd, 1) == 0) {
+                length = per_get_few_bits(pd, 6) + 1;
+                if(length <= 0) return -1;
+                ASN_DEBUG("l=%d", (int)length);
+                return length;
+        } else {
+                int repeat;
+                length = uper_get_length(pd, -1, &repeat);
+                if(length >= 0 && !repeat) return length;
+                return -1; /* Error, or do not support >16K extensions */
+        }
 }
 
 /*
@@ -216,135 +223,215 @@ uper_get_nslength(asn_per_data_t *pd) {
  */
 ssize_t
 uper_get_nsnnwn(asn_per_data_t *pd) {
-	ssize_t value;
+        ssize_t value;
 
-	value = per_get_few_bits(pd, 7);
-	if(value & 64) {	/* implicit (value < 0) */
-		value &= 63;
-		value <<= 2;
-		value |= per_get_few_bits(pd, 2);
-		if(value & 128)	/* implicit (value < 0) */
-			return -1;
-		if(value == 0)
-			return 0;
-		if(value >= 3)
-			return -1;
-		value = per_get_few_bits(pd, 8 * value);
-		return value;
-	}
+        value = per_get_few_bits(pd, 7);
+        if(value & 64) {        /* implicit (value < 0) */
+                value &= 63;
+                value <<= 2;
+                value |= per_get_few_bits(pd, 2);
+                if(value & 128) /* implicit (value < 0) */
+                        return -1;
+                if(value == 0)
+                        return 0;
+                if(value >= 3)
+                        return -1;
+                value = per_get_few_bits(pd, 8 * value);
+                return value;
+        }
 
-	return value;
+        return value;
 }
 
 /*
- * Put the normally small non-negative whole number.
- * X.691, #10.6
+ * X.691-11/2008, #11.6
+ * Encoding of a normally small non-negative whole number
  */
 int
 uper_put_nsnnwn(asn_per_outp_t *po, int n) {
-	int bytes;
+        int bytes;
 
-	if(n <= 63) {
-		if(n < 0) return -1;
-		return per_put_few_bits(po, n, 7);
-	}
-	if(n < 256)
-		bytes = 1;
-	else if(n < 65536)
-		bytes = 2;
-	else if(n < 256 * 65536)
-		bytes = 3;
-	else
-		return -1;	/* This is not a "normally small" value */
-	if(per_put_few_bits(po, bytes, 8))
-		return -1;
+        if(n <= 63) {
+                if(n < 0) return -1;
+                return per_put_few_bits(po, n, 7);
+        }
+        if(n < 256)
+                bytes = 1;
+        else if(n < 65536)
+                bytes = 2;
+        else if(n < 256 * 65536)
+                bytes = 3;
+        else
+                return -1;      /* This is not a "normally small" value */
+        if(per_put_few_bits(po, bytes, 8))
+                return -1;
 
-	return per_put_few_bits(po, n, 8 * bytes);
+        return per_put_few_bits(po, n, 8 * bytes);
 }
 
 
+/* X.691-2008/11, #11.5.6 -> #11.3 */
+int uper_get_constrained_whole_number(asn_per_data_t *pd, unsigned long *out_value, int nbits) {
+        unsigned long lhalf;    /* Lower half of the number*/
+        long half;
+
+        if(nbits <= 31) {
+                half = per_get_few_bits(pd, nbits);
+                if(half < 0) return -1;
+                *out_value = half;
+                return 0;
+        }
+
+        if((size_t)nbits > 8 * sizeof(*out_value))
+                return -1;  /* RANGE */
+
+        half = per_get_few_bits(pd, 31);
+        if(half < 0) return -1;
+
+        if(uper_get_constrained_whole_number(pd, &lhalf, nbits - 31))
+                return -1;
+
+        *out_value = ((unsigned long)half << (nbits - 31)) | lhalf;
+        return 0;
+}
+
+
+/* X.691-2008/11, #11.5.6 -> #11.3 */
+int uper_put_constrained_whole_number_s(asn_per_outp_t *po, long v, int nbits) {
+        /*
+         * Assume signed number can be safely coerced into
+         * unsigned of the same range.
+         * The following testing code will likely be optimized out
+         * by compiler if it is true.
+         */
+        unsigned long uvalue1 = ULONG_MAX;
+                 long svalue  = uvalue1;
+        unsigned long uvalue2 = svalue;
+        assert(uvalue1 == uvalue2);
+        return uper_put_constrained_whole_number_u(po, v, nbits);
+}
+
+int uper_put_constrained_whole_number_u(asn_per_outp_t *po, unsigned long v, int nbits) {
+        if(nbits <= 31) {
+                return per_put_few_bits(po, v, nbits);
+        } else {
+                /* Put higher portion first, followed by lower 31-bit */
+                if(uper_put_constrained_whole_number_u(po, v >> 31, nbits - 31))
+                        return -1;
+                return per_put_few_bits(po, v, 31);
+        }
+}
+
+int
+per_put_aligned_flush(asn_per_outp_t *po) {
+    uint32_t unused_bits = (0x7 & (8 - (po->nboff & 0x07)));
+    size_t complete_bytes =
+        (po->buffer ? po->buffer - po->tmpspace : 0) + ((po->nboff + 7) >> 3);
+
+    if(unused_bits) {
+        po->buffer[po->nboff >> 3] &= ~0 << unused_bits;
+    }
+
+    if(po->outper(po->tmpspace, complete_bytes, po->op_key) < 0) {
+        return -1;
+    } else {
+        po->buffer = po->tmpspace;
+        po->nboff = 0;
+        po->nbits = 8 * sizeof(po->tmpspace);
+        po->flushed_bytes += complete_bytes;
+        return 0;
+    }
+}
+
 /*
  * Put a small number of bits (<= 31).
  */
 int
 per_put_few_bits(asn_per_outp_t *po, uint32_t bits, int obits) {
-	size_t off;	/* Next after last bit offset */
-	size_t omsk;	/* Existing last byte meaningful bits mask */
-	uint8_t *buf;
+        size_t off;     /* Next after last bit offset */
+        size_t omsk;    /* Existing last byte meaningful bits mask */
+        uint8_t *buf;
 
-	if(obits <= 0 || obits >= 32) return obits ? -1 : 0;
+        if(obits <= 0 || obits >= 32) return obits ? -1 : 0;
 
-	ASN_DEBUG("[PER put %d bits %x to %p+%d bits]",
-			obits, (int)bits, po->buffer, po->nboff);
+        ASN_DEBUG("[PER put %d bits %x to %p+%d bits]",
+                        obits, (int)bits, po->buffer, (int)po->nboff);
 
-	/*
-	 * Normalize position indicator.
-	 */
-	if(po->nboff >= 8) {
-		po->buffer += (po->nboff >> 3);
-		po->nbits  -= (po->nboff & ~0x07);
-		po->nboff  &= 0x07;
-	}
+        /*
+         * Normalize position indicator.
+         */
+        if(po->nboff >= 8) {
+                po->buffer += (po->nboff >> 3);
+                po->nbits  -= (po->nboff & ~0x07);
+                po->nboff  &= 0x07;
+        }
 
-	/*
-	 * Flush whole-bytes output, if necessary.
-	 */
-	if(po->nboff + obits > po->nbits) {
-		int complete_bytes = (po->buffer - po->tmpspace);
-		ASN_DEBUG("[PER output %d complete + %d]",
-			complete_bytes, po->flushed_bytes);
-		if(po->outper(po->tmpspace, complete_bytes, po->op_key) < 0)
-			return -1;
-		if(po->nboff)
-			po->tmpspace[0] = po->buffer[0];
-		po->buffer = po->tmpspace;
-		po->nbits = 8 * sizeof(po->tmpspace);
-		po->flushed_bytes += complete_bytes;
-	}
+        /*
+         * Flush whole-bytes output, if necessary.
+         */
+        if(po->nboff + obits > po->nbits) {
+                size_t complete_bytes;
+                if(!po->buffer) po->buffer = po->tmpspace;
+                complete_bytes = (po->buffer - po->tmpspace);
+                ASN_DEBUG("[PER output %ld complete + %ld]",
+                        (long)complete_bytes, (long)po->flushed_bytes);
+                if(po->outper(po->tmpspace, complete_bytes, po->op_key) < 0)
+                        return -1;
+                if(po->nboff)
+                        po->tmpspace[0] = po->buffer[0];
+                po->buffer = po->tmpspace;
+                po->nbits = 8 * sizeof(po->tmpspace);
+                po->flushed_bytes += complete_bytes;
+        }
 
-	/*
-	 * Now, due to sizeof(tmpspace), we are guaranteed large enough space.
-	 */
-	buf = po->buffer;
-	omsk = ~((1 << (8 - po->nboff)) - 1);
-	off = (po->nboff += obits);
+        /*
+         * Now, due to sizeof(tmpspace), we are guaranteed large enough space.
+         */
+        buf = po->buffer;
+        omsk = ~((1 << (8 - po->nboff)) - 1);
+        off = (po->nboff + obits);
 
-	/* Clear data of debris before meaningful bits */
-	bits &= (((uint32_t)1 << obits) - 1);
+        /* Clear data of debris before meaningful bits */
+        bits &= (((uint32_t)1 << obits) - 1);
 
-	ASN_DEBUG("[PER out %d %u/%x (t=%d,o=%d) %x&%x=%x]", obits,
-		(int)bits, (int)bits,
-		po->nboff - obits, off, buf[0], omsk&0xff, buf[0] & omsk);
+        ASN_DEBUG("[PER out %d %u/%x (t=%d,o=%d) %x&%x=%x]", obits,
+                (int)bits, (int)bits,
+                (int)po->nboff, (int)off,
+                buf[0], (int)(omsk&0xff),
+                (int)(buf[0] & omsk));
 
-	if(off <= 8)	/* Completely within 1 byte */
-		bits <<= (8 - off),
-		buf[0] = (buf[0] & omsk) | bits;
-	else if(off <= 16)
-		bits <<= (16 - off),
-		buf[0] = (buf[0] & omsk) | (bits >> 8),
-		buf[1] = bits;
-	else if(off <= 24)
-		bits <<= (24 - off),
-		buf[0] = (buf[0] & omsk) | (bits >> 16),
-		buf[1] = bits >> 8,
-		buf[2] = bits;
-	else if(off <= 31)
-		bits <<= (32 - off),
-		buf[0] = (buf[0] & omsk) | (bits >> 24),
-		buf[1] = bits >> 16,
-		buf[2] = bits >> 8,
-		buf[3] = bits;
-	else {
-		ASN_DEBUG("->[PER out split %d]", obits);
-		per_put_few_bits(po, bits >> 8, 24);
-		per_put_few_bits(po, bits, obits - 24);
-		ASN_DEBUG("<-[PER out split %d]", obits);
-	}
+        if(off <= 8)    /* Completely within 1 byte */
+                po->nboff = off,
+                bits <<= (8 - off),
+                buf[0] = (buf[0] & omsk) | bits;
+        else if(off <= 16)
+                po->nboff = off,
+                bits <<= (16 - off),
+                buf[0] = (buf[0] & omsk) | (bits >> 8),
+                buf[1] = bits;
+        else if(off <= 24)
+                po->nboff = off,
+                bits <<= (24 - off),
+                buf[0] = (buf[0] & omsk) | (bits >> 16),
+                buf[1] = bits >> 8,
+                buf[2] = bits;
+        else if(off <= 31)
+                po->nboff = off,
+                bits <<= (32 - off),
+                buf[0] = (buf[0] & omsk) | (bits >> 24),
+                buf[1] = bits >> 16,
+                buf[2] = bits >> 8,
+                buf[3] = bits;
+        else {
+                if(per_put_few_bits(po, bits >> (obits - 24), 24)) return -1;
+                if(per_put_few_bits(po, bits, obits - 24)) return -1;
+        }
 
-	ASN_DEBUG("[PER out %u/%x => %02x buf+%d]",
-		(int)bits, (int)bits, buf[0], po->buffer - po->tmpspace);
+        ASN_DEBUG("[PER out %u/%x => %02x buf+%ld]",
+                (int)bits, (int)bits, buf[0],
+                (long)(po->buffer - po->tmpspace));
 
-	return 0;
+        return 0;
 }
 
 
@@ -354,30 +441,30 @@ per_put_few_bits(asn_per_outp_t *po, uint32_t bits, int obits) {
 int
 per_put_many_bits(asn_per_outp_t *po, const uint8_t *src, int nbits) {
 
-	while(nbits) {
-		uint32_t value;
+        while(nbits) {
+                uint32_t value;
 
-		if(nbits >= 24) {
-			value = (src[0] << 16) | (src[1] << 8) | src[2];
-			src += 3;
-			nbits -= 24;
-			if(per_put_few_bits(po, value, 24))
-				return -1;
-		} else {
-			value = src[0];
-			if(nbits > 8)
-				value = (value << 8) | src[1];
-			if(nbits > 16)
-				value = (value << 8) | src[2];
-			if(nbits & 0x07)
-				value >>= (8 - (nbits & 0x07));
-			if(per_put_few_bits(po, value, nbits))
-				return -1;
-			break;
-		}
-	}
+                if(nbits >= 24) {
+                        value = (src[0] << 16) | (src[1] << 8) | src[2];
+                        src += 3;
+                        nbits -= 24;
+                        if(per_put_few_bits(po, value, 24))
+                                return -1;
+                } else {
+                        value = src[0];
+                        if(nbits > 8)
+                                value = (value << 8) | src[1];
+                        if(nbits > 16)
+                                value = (value << 8) | src[2];
+                        if(nbits & 0x07)
+                                value >>= (8 - (nbits & 0x07));
+                        if(per_put_few_bits(po, value, nbits))
+                                return -1;
+                        break;
+                }
+        }
 
-	return 0;
+        return 0;
 }
 
 /*
@@ -386,18 +473,18 @@ per_put_many_bits(asn_per_outp_t *po, const uint8_t *src, int nbits) {
 ssize_t
 uper_put_length(asn_per_outp_t *po, size_t length) {
 
-	if(length <= 127)	/* #10.9.3.6 */
-		return per_put_few_bits(po, length, 8)
-			? -1 : (ssize_t)length;
-	else if(length < 16384)	/* #10.9.3.7 */
-		return per_put_few_bits(po, length|0x8000, 16)
-			? -1 : (ssize_t)length;
+        if(length <= 127)       /* #10.9.3.6 */
+                return per_put_few_bits(po, length, 8)
+                        ? -1 : (ssize_t)length;
+        else if(length < 16384) /* #10.9.3.7 */
+                return per_put_few_bits(po, length|0x8000, 16)
+                        ? -1 : (ssize_t)length;
 
-	length >>= 14;
-	if(length > 4) length = 4;
+        length >>= 14;
+        if(length > 4) length = 4;
 
-	return per_put_few_bits(po, 0xC0 | length, 8)
-			? -1 : (ssize_t)(length << 14);
+        return per_put_few_bits(po, 0xC0 | length, 8)
+                        ? -1 : (ssize_t)(length << 14);
 }
 
 
@@ -409,17 +496,16 @@ uper_put_length(asn_per_outp_t *po, size_t length) {
 int
 uper_put_nslength(asn_per_outp_t *po, size_t length) {
 
-	if(length <= 64) {
-		/* #10.9.3.4 */
-		if(length == 0) return -1;
-		return per_put_few_bits(po, length-1, 7) ? -1 : 0;
-	} else {
-		if(uper_put_length(po, length) != (ssize_t)length) {
-			/* This might happen in case of >16K extensions */
-			return -1;
-		}
-	}
+        if(length <= 64) {
+                /* #10.9.3.4 */
+                if(length == 0) return -1;
+                return per_put_few_bits(po, length-1, 7) ? -1 : 0;
+        } else {
+                if(uper_put_length(po, length) != (ssize_t)length) {
+                        /* This might happen in case of >16K extensions */
+                        return -1;
+                }
+        }
 
-	return 0;
+        return 0;
 }
-
diff --git a/src/core/libs/supl/asn-supl/per_support.h b/src/core/libs/supl/asn-supl/per_support.h
index 7cb1a0ca3..c3e7794de 100644
--- a/src/core/libs/supl/asn-supl/per_support.h
+++ b/src/core/libs/supl/asn-supl/per_support.h
@@ -3,10 +3,10 @@
  * All rights reserved.
  * Redistribution and modifications are permitted subject to BSD license.
  */
-#ifndef	_PER_SUPPORT_H_
-#define	_PER_SUPPORT_H_
+#ifndef _PER_SUPPORT_H_
+#define _PER_SUPPORT_H_
 
-#include <asn_system.h>		/* Platform-specific types */
+#include <asn_system.h>         /* Platform-specific types */
 
 #ifdef __cplusplus
 extern "C" {
@@ -15,23 +15,23 @@ extern "C" {
 /*
  * Pre-computed PER constraints.
  */
-typedef struct asn_per_constraint_s {
-	enum asn_per_constraint_flags {
-		APC_UNCONSTRAINED	= 0x0,	/* No PER visible constraints */
-		APC_SEMI_CONSTRAINED	= 0x1,	/* Constrained at "lb" */
-		APC_CONSTRAINED		= 0x2,	/* Fully constrained */
-		APC_EXTENSIBLE		= 0x4	/* May have extension */
-	} flags;
-	int  range_bits;		/* Full number of bits in the range */
-	int  effective_bits;		/* Effective bits */
-	long lower_bound;		/* "lb" value */
-	long upper_bound;		/* "ub" value */
+typedef const struct asn_per_constraint_s {
+        enum asn_per_constraint_flags {
+                APC_UNCONSTRAINED       = 0x0,  /* No PER visible constraints */
+                APC_SEMI_CONSTRAINED    = 0x1,  /* Constrained at "lb" */
+                APC_CONSTRAINED         = 0x2,  /* Fully constrained */
+                APC_EXTENSIBLE          = 0x4   /* May have extension */
+        } flags;
+        int  range_bits;                /* Full number of bits in the range */
+        int  effective_bits;            /* Effective bits */
+        long lower_bound;               /* "lb" value */
+        long upper_bound;               /* "ub" value */
 } asn_per_constraint_t;
-typedef struct asn_per_constraints_s {
-	asn_per_constraint_t value;
-	asn_per_constraint_t size;
-	int (*value2code)(unsigned int value);
-	int (*code2value)(unsigned int code);
+typedef const struct asn_per_constraints_s {
+        struct asn_per_constraint_s value;
+        struct asn_per_constraint_s size;
+        int (*value2code)(unsigned int value);
+        int (*code2value)(unsigned int code);
 } asn_per_constraints_t;
 
 /*
@@ -62,14 +62,14 @@ void per_get_undo(asn_per_data_t *per_data, int get_nbits);
  * extracted due to EOD or other conditions.
  */
 int per_get_many_bits(asn_per_data_t *pd, uint8_t *dst, int right_align,
-			int get_nbits);
+                        int get_nbits);
 
 /*
  * Get the length "n" from the Unaligned PER stream.
  */
 ssize_t uper_get_length(asn_per_data_t *pd,
-			int effective_bound_bits,
-			int *repeat);
+                        int effective_bound_bits,
+                        int *repeat);
 
 /*
  * Get the normally small length "n".
@@ -81,6 +81,9 @@ ssize_t uper_get_nslength(asn_per_data_t *pd);
  */
 ssize_t uper_get_nsnnwn(asn_per_data_t *pd);
 
+/* X.691-2008/11, #11.5.6 */
+int uper_get_constrained_whole_number(asn_per_data_t *pd, unsigned long *v, int nbits);
+
 /* Non-thread-safe debugging function, don't use it */
 char *per_data_string(asn_per_data_t *pd);
 
@@ -88,13 +91,13 @@ char *per_data_string(asn_per_data_t *pd);
  * This structure supports forming PER output.
  */
 typedef struct asn_per_outp_s {
-	uint8_t *buffer;	/* Pointer into the (tmpspace) */
-	size_t nboff;		/* Bit offset to the meaningful bit */
-	size_t nbits;		/* Number of bits left in (tmpspace) */
-	uint8_t tmpspace[32];	/* Preliminary storage to hold data */
-	int (*outper)(const void *data, size_t size, void *op_key);
-	void *op_key;		/* Key for (outper) data callback */
-	size_t flushed_bytes;	/* Bytes already flushed through (outper) */
+        uint8_t *buffer;        /* Pointer into the (tmpspace) */
+        size_t nboff;           /* Bit offset to the meaningful bit */
+        size_t nbits;           /* Number of bits left in (tmpspace) */
+        uint8_t tmpspace[32];   /* Preliminary storage to hold data */
+        int (*outper)(const void *data, size_t size, void *op_key);
+        void *op_key;           /* Key for (outper) data callback */
+        size_t flushed_bytes;   /* Bytes already flushed through (outper) */
 } asn_per_outp_t;
 
 /* Output a small number of bits (<= 31) */
@@ -103,6 +106,17 @@ int per_put_few_bits(asn_per_outp_t *per_data, uint32_t bits, int obits);
 /* Output a large number of bits */
 int per_put_many_bits(asn_per_outp_t *po, const uint8_t *src, int put_nbits);
 
+/*
+ * Flush whole bytes (0 or more) through (outper) member.
+ * The least significant bits which are not used are guaranteed to be set to 0.
+ * Returns -1 if callback returns -1. Otherwise, 0.
+ */
+int per_put_aligned_flush(asn_per_outp_t *po);
+
+/* X.691-2008/11, #11.5 */
+int uper_put_constrained_whole_number_s(asn_per_outp_t *po, long v, int nbits);
+int uper_put_constrained_whole_number_u(asn_per_outp_t *po, unsigned long v, int nbits);
+
 /*
  * Put the length "n" to the Unaligned PER stream.
  * This function returns the number of units which may be flushed
@@ -125,4 +139,4 @@ int uper_put_nsnnwn(asn_per_outp_t *po, int n);
 }
 #endif
 
-#endif	/* _PER_SUPPORT_H_ */
+#endif  /* _PER_SUPPORT_H_ */

From 108ffc7537819a5e34fe27074482dd263584d83c Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 23:38:44 +0200
Subject: [PATCH 239/379] Remove warning

---
 src/core/libs/supl/asn-rrlp/converter-sample.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/libs/supl/asn-rrlp/converter-sample.c b/src/core/libs/supl/asn-rrlp/converter-sample.c
index 0a682a275..13baad2e7 100644
--- a/src/core/libs/supl/asn-rrlp/converter-sample.c
+++ b/src/core/libs/supl/asn-rrlp/converter-sample.c
@@ -384,7 +384,7 @@ buffer_dump() {
 			(long)DynamicBuffer.length - 1,
 			(long)8 - DynamicBuffer.unbits);
 	} else {
-		fprintf(stderr, " %d\n", DynamicBuffer.length);
+		fprintf(stderr, " %ld\n", DynamicBuffer.length);
 	}
 }
 

From 6a4a2db4bfbc00d847a94ec39af0ce9617bb528a Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 23:42:36 +0200
Subject: [PATCH 240/379] Remove warning

---
 src/core/libs/supl/supl.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/core/libs/supl/supl.c b/src/core/libs/supl/supl.c
index 1ab843ead..6a06bb252 100644
--- a/src/core/libs/supl/supl.c
+++ b/src/core/libs/supl/supl.c
@@ -217,7 +217,7 @@ int EXPORT supl_decode_rrlp(supl_ulp_t *ulp_pdu, PDU_t **ret_rrlp) {
   
 int EXPORT supl_server_connect(supl_ctx_t *ctx, char *server) {
   int err;
-  const SSL_METHOD *meth;
+  SSL_METHOD *meth;
 
   SSLeay_add_ssl_algorithms();
   // meth = TLSv1_client_method();

From b9b0bf1ef87dd8182a72b7b0c8aaa5fec31ac403 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 25 Aug 2017 23:51:11 +0200
Subject: [PATCH 241/379] Remove warning

---
 src/core/libs/supl/asn-rrlp/constr_SET_OF.c | 2 +-
 src/core/libs/supl/asn-supl/constr_SET_OF.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/core/libs/supl/asn-rrlp/constr_SET_OF.c b/src/core/libs/supl/asn-rrlp/constr_SET_OF.c
index 11eac57a2..0bc891abf 100644
--- a/src/core/libs/supl/asn-rrlp/constr_SET_OF.c
+++ b/src/core/libs/supl/asn-rrlp/constr_SET_OF.c
@@ -915,7 +915,7 @@ SET_OF_decode_uper(asn_codec_ctx_t *opt_codec_ctx, asn_TYPE_descriptor_t *td,
 			nelems = uper_get_length(pd,
 				ct ? ct->effective_bits : -1, &repeat);
 			ASN_DEBUG("Got to decode %d elements (eff %d)",
-				(int)nelems, (int)ct ? ct->effective_bits : -1);
+				(int)nelems, (long)ct ? ct->effective_bits : -1);
 			if(nelems < 0) _ASN_DECODE_STARVED;
 		}
 
diff --git a/src/core/libs/supl/asn-supl/constr_SET_OF.c b/src/core/libs/supl/asn-supl/constr_SET_OF.c
index 11eac57a2..0bc891abf 100644
--- a/src/core/libs/supl/asn-supl/constr_SET_OF.c
+++ b/src/core/libs/supl/asn-supl/constr_SET_OF.c
@@ -915,7 +915,7 @@ SET_OF_decode_uper(asn_codec_ctx_t *opt_codec_ctx, asn_TYPE_descriptor_t *td,
 			nelems = uper_get_length(pd,
 				ct ? ct->effective_bits : -1, &repeat);
 			ASN_DEBUG("Got to decode %d elements (eff %d)",
-				(int)nelems, (int)ct ? ct->effective_bits : -1);
+				(int)nelems, (long)ct ? ct->effective_bits : -1);
 			if(nelems < 0) _ASN_DECODE_STARVED;
 		}
 

From 8bb188a8df9dfd90f140201e5bec56ca056c99cf Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 26 Aug 2017 00:06:18 +0200
Subject: [PATCH 242/379] Remove warning

---
 src/core/libs/supl/asn-rrlp/NativeInteger.c | 6 +++---
 src/core/libs/supl/asn-supl/NativeInteger.c | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/core/libs/supl/asn-rrlp/NativeInteger.c b/src/core/libs/supl/asn-rrlp/NativeInteger.c
index abdb71a8c..bf3939e88 100644
--- a/src/core/libs/supl/asn-rrlp/NativeInteger.c
+++ b/src/core/libs/supl/asn-rrlp/NativeInteger.c
@@ -107,7 +107,7 @@ NativeInteger_decode_ber(asn_codec_ctx_t *opt_codec_ctx,
 		tmp.size = length;
 
 		if((specs&&specs->field_unsigned)
-			? asn_INTEGER2ulong(&tmp, &l)
+			? asn_INTEGER2ulong(&tmp, (unsigned long*)&l)
 			: asn_INTEGER2long(&tmp, &l)) {
 			rval.code = RC_FAIL;
 			rval.consumed = 0;
@@ -187,7 +187,7 @@ NativeInteger_decode_xer(asn_codec_ctx_t *opt_codec_ctx,
 	if(rval.code == RC_OK) {
 		long l;
 		if((specs&&specs->field_unsigned)
-			? asn_INTEGER2ulong(&st, &l)
+			? asn_INTEGER2ulong(&st, (unsigned long*)&l)
 			: asn_INTEGER2long(&st, &l)) {
 			rval.code = RC_FAIL;
 			rval.consumed = 0;
@@ -255,7 +255,7 @@ NativeInteger_decode_uper(asn_codec_ctx_t *opt_codec_ctx,
 				   &tmpintptr, pd);
 	if(rval.code == RC_OK) {
 		if((specs&&specs->field_unsigned)
-			? asn_INTEGER2ulong(&tmpint, native)
+			? asn_INTEGER2ulong(&tmpint, (unsigned long*)native)
 			: asn_INTEGER2long(&tmpint, native))
 			rval.code = RC_FAIL;
 		else
diff --git a/src/core/libs/supl/asn-supl/NativeInteger.c b/src/core/libs/supl/asn-supl/NativeInteger.c
index abdb71a8c..76140a22e 100644
--- a/src/core/libs/supl/asn-supl/NativeInteger.c
+++ b/src/core/libs/supl/asn-supl/NativeInteger.c
@@ -107,7 +107,7 @@ NativeInteger_decode_ber(asn_codec_ctx_t *opt_codec_ctx,
 		tmp.size = length;
 
 		if((specs&&specs->field_unsigned)
-			? asn_INTEGER2ulong(&tmp, &l)
+			? asn_INTEGER2ulong(&tmp, (unsigned long *)&l)
 			: asn_INTEGER2long(&tmp, &l)) {
 			rval.code = RC_FAIL;
 			rval.consumed = 0;
@@ -187,7 +187,7 @@ NativeInteger_decode_xer(asn_codec_ctx_t *opt_codec_ctx,
 	if(rval.code == RC_OK) {
 		long l;
 		if((specs&&specs->field_unsigned)
-			? asn_INTEGER2ulong(&st, &l)
+			? asn_INTEGER2ulong(&st, (unsigned long *)&l)
 			: asn_INTEGER2long(&st, &l)) {
 			rval.code = RC_FAIL;
 			rval.consumed = 0;
@@ -255,7 +255,7 @@ NativeInteger_decode_uper(asn_codec_ctx_t *opt_codec_ctx,
 				   &tmpintptr, pd);
 	if(rval.code == RC_OK) {
 		if((specs&&specs->field_unsigned)
-			? asn_INTEGER2ulong(&tmpint, native)
+			? asn_INTEGER2ulong(&tmpint, (unsigned long *)native)
 			: asn_INTEGER2long(&tmpint, native))
 			rval.code = RC_FAIL;
 		else

From e60a59160b3b086d6986edb958c9ad7f9b2109ec Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 26 Aug 2017 00:22:12 +0200
Subject: [PATCH 243/379] Remove annoying warning in macOS
 (deprecated-declarations)

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 773af075a..265e79ec5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1452,6 +1452,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
         else(CLANG_VERSION VERSION_LESS "600")
             set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
         endif(CLANG_VERSION VERSION_LESS "600")
+        set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wno-deprecated-declarations")
     endif(OS_IS_MACOSX)
 
     if(CMAKE_BUILD_TYPE MATCHES "Release")

From 7ae4a794f6c3eb156babdbff911f0063142ed5db Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 26 Aug 2017 10:07:18 +0200
Subject: [PATCH 244/379] Avoid signed overflow

---
 src/algorithms/libs/rtklib/rtklib_rtkpos.cc | 65 ++++++++++-----------
 1 file changed, 31 insertions(+), 34 deletions(-)

diff --git a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
index 850fa37ae..6af5e200d 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
@@ -1544,49 +1544,46 @@ int ddmat(rtk_t *rtk, double *D)
 
             for (f = 0, k = na;f<nf;f++, k+=MAXSAT)
                 {
-                    for (i = k;i<k+MAXSAT;i++)
+                    if(i < k + MAXSAT)
                         {
-#if 0
-                            if (rtk->x[i] == 0.0||!test_sys(rtk->ssat[i-k].sys,m)||
-                                    !rtk->ssat[i-k].vsat[f])
+                            for (i = k;i<k+MAXSAT;i++)
                                 {
-#else
-                            if (rtk->x[i] == 0.0 || !test_sys(rtk->ssat[i-k].sys, m) ||
+                                    if (rtk->x[i] == 0.0 || !test_sys(rtk->ssat[i-k].sys, m) ||
                                             !rtk->ssat[i-k].vsat[f] || !rtk->ssat[i-k].half[f])
-                                {
-#endif
-                                    continue;
+                                        {
+                                            continue;
+                                        }
+                                    if (rtk->ssat[i-k].lock[f]>0 && !(rtk->ssat[i-k].slip[f]&2) &&
+                                            rtk->ssat[i-k].azel[1] >= rtk->opt.elmaskar && !nofix)
+                                        {
+                                            rtk->ssat[i-k].fix[f] = 2; /* fix */
+                                            break;
+                                        }
+                                    else rtk->ssat[i-k].fix[f] = 1;
                                 }
-                            if (rtk->ssat[i-k].lock[f]>0 && !(rtk->ssat[i-k].slip[f]&2) &&
-                                    rtk->ssat[i-k].azel[1] >= rtk->opt.elmaskar && !nofix)
+                            for (j = k;j<k+MAXSAT;j++)
                                 {
-                                    rtk->ssat[i-k].fix[f] = 2; /* fix */
-                                    break;
+                                    if (i == j || rtk->x[j] == 0.0 || !test_sys(rtk->ssat[j-k].sys, m) ||
+                                            !rtk->ssat[j-k].vsat[f])
+                                        {
+                                            continue;
+                                        }
+                                    if (rtk->ssat[j-k].lock[f]>0 && !(rtk->ssat[j-k].slip[f]&2) &&
+                                            rtk->ssat[i-k].vsat[f] &&
+                                            rtk->ssat[j-k].azel[1] >= rtk->opt.elmaskar && !nofix)
+                                        {
+                                            D[i+(na+nb)*nx] =  1.0;
+                                            D[j+(na+nb)*nx] = -1.0;
+                                            nb++;
+                                            rtk->ssat[j-k].fix[f] = 2; /* fix */
+                                        }
+                                    else rtk->ssat[j-k].fix[f] = 1;
                                 }
-                            else rtk->ssat[i-k].fix[f] = 1;
-                       }
-                   for (j = k;j<k+MAXSAT;j++)
-                        {
-                            if (i == j || rtk->x[j] == 0.0 || !test_sys(rtk->ssat[j-k].sys, m) ||
-                                    !rtk->ssat[j-k].vsat[f])
-                                {
-                                    continue;
-                                }
-                            if (rtk->ssat[j-k].lock[f]>0 && !(rtk->ssat[j-k].slip[f]&2) &&
-                                        rtk->ssat[i-k].vsat[f] &&
-                                        rtk->ssat[j-k].azel[1] >= rtk->opt.elmaskar && !nofix)
-                                {
-                                    D[i+(na+nb)*nx] =  1.0;
-                                    D[j+(na+nb)*nx] = -1.0;
-                                    nb++;
-                                    rtk->ssat[j-k].fix[f] = 2; /* fix */
-                                }
-                                else rtk->ssat[j-k].fix[f] = 1;
                         }
                 }
         }
-     trace(5, "D=\n"); tracemat(5, D, nx, na+nb, 2, 0);
-     return nb;
+    trace(5, "D=\n"); tracemat(5, D, nx, na+nb, 2, 0);
+    return nb;
 }
 
 

From 3d5a55276b2d6d5aa077614c4ae7cf272527facc Mon Sep 17 00:00:00 2001
From: Damian Miralles <damian.miralles@colorado.edu>
Date: Thu, 25 May 2017 22:15:59 -0600
Subject: [PATCH 245/379] Adding configuration file for GLONASS processing

---
 conf/gnss-sdr_GLONASS_L1_ibyte.conf | 103 ++++++++++++++++++++++++++++
 1 file changed, 103 insertions(+)
 create mode 100644 conf/gnss-sdr_GLONASS_L1_ibyte.conf

diff --git a/conf/gnss-sdr_GLONASS_L1_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_ibyte.conf
new file mode 100644
index 000000000..0b16fa3d8
--- /dev/null
+++ b/conf/gnss-sdr_GLONASS_L1_ibyte.conf
@@ -0,0 +1,103 @@
+; You can define your own receiver and invoke it by doing
+; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
+GNSS-SDR.internal_fs_hz=6625000
+
+;######### CONTROL_THREAD CONFIG ############
+ControlThread.wait_for_flowgraph=false
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/home/dmiralles/Documents/GSOC/GSOC2017/gnss-sdr/data/dmirallesNT1065_L2_20160831_fs6625e6_60e3_schar_1H.bin
+SignalSource.item_type=ibyte
+SignalSource.sampling_frequency=6625000
+SignalSource.freq=1602000000
+SignalSource.samples=0
+SignalSource.repeat=false
+SignalSource.sample_type=iq
+SignalSource.seconds_to_skip=0
+SignalSource.dump=false
+SignalSource.dump_filename=../data/signal_source.dat
+SignalSource.enable_throttle_control=false
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+
+;DataTypeAdapter.implementation=Ishort_To_Complex
+DataTypeAdapter.implementation=Ibyte_To_Complex
+InputFilter.implementation=Pass_Through
+;InputFilter.input_item_type=gr_complex
+;InputFilter.output_item_type=gr_complex
+InputFilter.item_type=gr_complex
+;Resampler.implementation=Pass_Through
+;Resampler.item_type=gr_complex
+Resampler.implementation=Pass_Through
+;Resampler.sample_freq_in=4000000
+;Resampler.sample_freq_out=2000000
+;Resampler.item_type=gr_complex
+Resampler.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels_1R.count=8 ;Assuming here that identifier `1r=R` defines GLONASS SP signals
+Channels.in_acquisition=1
+Channel.signal=1R
+;Channel.item_type=cshort
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1R.dump=false
+Acquisition_1R.dump_filename=./acq_dump.dat
+Acquisition_1R.item_type=cshort
+Acquisition_1R.if=0
+Acquisition_1R.sampled_ms=1
+Acquisition_1R.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1R.threshold=0.008
+;Acquisition_1C.pfa=0.000001
+Acquisition_1R.doppler_max=10000
+Acquisition_1R.doppler_step=250
+Acquisition_1R.tong_init_val=2
+Acquisition_1R.tong_max_val=10
+Acquisition_1R.tong_max_dwells=20
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1R.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
+Tracking_1R.item_type=cshort
+Tracking_1R.if=0
+Tracking_1R.dump=false
+Tracking_1R.dump_filename=../data/epl_tracking_ch_
+Tracking_1R.pll_bw_hz=40.0;
+Tracking_1R.dll_bw_hz=4.0;
+Tracking_1R.order=3;
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1R.implementation=GLONASS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1R.dump=false
+TelemetryDecoder_1R.decimation_factor=1;
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=false
+Observables.dump_filename=./observables.dat
+
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.dump_filename=./PVT
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
+PVT.flag_nmea_tty_port=false;
+PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.dump=false

From f8f3574090c255641c5de869868d93de68fc579f Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 6 Jun 2017 07:27:48 -0700
Subject: [PATCH 246/379] gnav: Adding GLONASS GNAV Ephemeris, Almanac and UTC
 Model

Generates code for GLONASS GNAV Ephemeris, Almanac and UTC Model with
their respective decoding position indexes for string decoding and
message parsing. Starts developing of satellite position computation
based on its ephemeris and almanac information
---
 src/core/system_parameters/GLONASS_L1_CA.h    | 176 +++++
 .../system_parameters/glonass_gnav_almanac.cc |  57 ++
 .../system_parameters/glonass_gnav_almanac.h  |  70 ++
 .../glonass_gnav_ephemeris.cc                 | 600 ++++++++++++++++++
 .../glonass_gnav_ephemeris.h                  | 170 +++++
 .../glonass_gnav_utc_model.cc                 |  48 ++
 .../glonass_gnav_utc_model.h                  |  75 +++
 7 files changed, 1196 insertions(+)
 create mode 100644 src/core/system_parameters/GLONASS_L1_CA.h
 create mode 100644 src/core/system_parameters/glonass_gnav_almanac.cc
 create mode 100644 src/core/system_parameters/glonass_gnav_almanac.h
 create mode 100644 src/core/system_parameters/glonass_gnav_ephemeris.cc
 create mode 100644 src/core/system_parameters/glonass_gnav_ephemeris.h
 create mode 100644 src/core/system_parameters/glonass_gnav_utc_model.cc
 create mode 100644 src/core/system_parameters/glonass_gnav_utc_model.h

diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
new file mode 100644
index 000000000..d3c234801
--- /dev/null
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -0,0 +1,176 @@
+/*!
+ * \file GLONASS_L1_CA.h
+ * \brief  Defines system parameters for GLONASS L1 C/A signal and NAV data
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_H_
+#define GNSS_SDR_GLONASS_L1_CA_H_
+
+#include <vector>
+#include <utility> // std::pair
+#include "MATH_CONSTANTS.h"
+#include "gnss_frequencies.h"
+
+// Physical constants
+const double GLONASS_C_m_s                  = SPEED_OF_LIGHT;       //!< The speed of light, [m/s]
+const double GLONASS_C_m_ms                 = 299792.4580;          //!< The speed of light, [m/ms]
+const double GLONASS_PI                     = 3.1415926535898;      //!< Pi as defined in IS-GPS-200E
+const double GLONASS_TWO_PI                 = 6.283185307179586;    //!< 2Pi as defined in IS-GPS-200E
+const double GLONASS_OMEGA_EARTH_DOT        = 7.292115e-5;          //!< Earth rotation rate, [rad/s]
+const double GLONASS_GM                     = 398600.4418e9;        //!< Universal gravitational constant times the mass of the Earth, [km^3/s^2]
+const double GLONASS_fM_a                   = 0.35e9;               //!< Gravitational constant of atmosphere [m^3/s^2]
+const double GLONASS_SEMI_MAJOR_AXIS        = 6378136;              //!< Semi-major axis of Earth [m]
+const double GLONASS_FLATTENING             = 1/29825784;           //!< Flattening parameter
+const double GLONASS_GRAVITY                = 97803284;             //!< Equatorial acceleration of gravity [mGal]
+const double GLONASS_GRAVITY_CORRECTION     = 0.87;                 //!< Correction to acceleration of gravity at sea-level due to Atmosphere[мGal]
+const double GLONASS_J2                     = 1082625.75e-9;        //!< Second zonal harmonic of the geopotential
+const double GLONASS_J4                     = -2370.89e-9;          //!<Fourth zonal harmonic of the geopotential
+const double GLONASS_J6                     = 6.08e-9;              //!< Sixth zonal harmonic of the geopotential
+const double GLONASS_J8                     = 1.40e-11;             //!< Eighth zonal harmonic of the geopotential
+const double GLONASS_U0                     = 62636861.4;           //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]
+const double GLONASS_C20                    = -1082.63e-6;          //!< Second zonal coefficient of spherical harmonic expansion
+const double GLONASS_EARTH_RADIUS           = 6378.136;             //!< Equatorial radius of Earth [km]
+const double GLONASS_EARTH_INCLINATION      = 23°26'33''            //!< Mean inclination of ecliptic to equator (23°26'33'').
+
+const double GLONASS_TAU_0                  = -334°19′46′′,40;
+const double GLONASS_TAU_1                  = 4069°02′02′′,52;
+
+const double GLONASS_MOON_Q0                = -63°53′43′′,41;
+const double GLONASS_MOON_Q1                = 477198°50′56′′,79;
+const double GLONASS_MOON_OMEGA_0           = 259°10′59′′,79;
+const double GLONASS_MOON_OMEGA_1           = -1934°08′31′′,23;
+const double GLONASS_MOON_GM                = 4902.835;             //!< Lunar gravitational constant [km^3/s^2]
+const double GLONASS_MOON_SEMI_MAJOR_AXIS   = 3.84385243e5;         //!< Semi-major axis of lunar orbit [km];
+const double GLONASS_MOON_ECCENTRICITY      = 0.054900489;          //!< Eccentricity of lunar orbit
+const double GLONASS_MOON_INCLINATION       = 5°08'43.4''           //!< Inclination of lunar orbit to ecliptic plane (5°08'43.4'')
+
+const double GLONASS_SUN_OMEGA              = 281°13′15′′,0 + 6189′′, 03Т;
+const double GLONASS_SUN_Q0                 = 358°28′33′′,04;
+const double GLONASS_SUN_Q1                 = 129596579′′,10;
+const double GLONASS_SUN_GM                 = 0.1325263e12;       //!< Solar gravitational constant [km^3/s^2]
+const double GLONASS_SUN_SEMI_MAJOR_AXIS    = 1.49598e8;          //!< Semi-major axis of solar orbit [km];
+const double GLONASS_SUN_ECCENTRICITY       = 0.016719;           //!< Eccentricity of solar orbit
+
+// carrier and code frequencies
+const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO;     //!< L1 [Hz]
+const double GLONASS_L1_DFREQ_HZ             = DFRQ1_GLO;     //!< Freq Bias for GLONASS L1 [Hz]
+const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;       //!< GLONASS L1 C/A code rate [chips/s]
+const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;         //!< GLONASS L1 C/A code length [chips]
+const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/A code period [seconds]
+const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
+
+const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
+
+// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
+const int GLONASS_L1_CA_HISTORY_DEEP = 100;
+
+// NAVIGATION MESSAGE DEMODULATION AND DECODING
+
+#define GLONASS_CA_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
+const int GLONASS_CA_PREAMBLE_LENGTH_BITS = 30;
+const int GLONASS_CA_PREAMBLE_LENGTH_SYMBOLS = 300;
+const double GLONASS_CA_PREAMBLE_DURATION_S = 0.3;
+const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+const int GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT = 10;
+const int GLONASS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_CA_TELEMETRY_RATE_BITS_SECOND*GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT;   //!< NAV message bit rate [symbols/s]
+
+const int GLONASS_GNAV_WORD_LENGTH = 4;         //!< \TODO cHECK this, size is not integer bte size
+const int GLONASS_GNAV_FRAME_LENGTH = 40;       //!< \TODO GPS_WORD_LENGTH x 10 = 40 bytes
+const int GLONASS_GNAV_FRAME_BITS = 1725;       //!< Number of chips per frame in the GNAV message  15 strings*(85 data bits + 30 time mark bits)[bits]
+const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
+const int GLONASS_GNAV_FRAME_MS = 30000;        //!< Subframe duration [seconds]
+const int GLONASS_GNAV_STRING_BITS = 115;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
+
+// GLONASS GNAV NAVIGATION MESSAGE STRUCTURE
+// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix II)
+
+// FRAME 1-4
+// COMMON FIELDS
+const std::vector<std::pair<int,int>> STRING_ID({{2,4}});
+const std::vector<std::pair<int,int>> KX({{78,8}});
+//STRING 1
+const std::vector<std::pair<int,int>> P1({{8,2}});
+const std::vector<std::pair<int,int>> T_K({{10,12}});
+const std::vector<std::pair<int,int>> X_N_DOT ({{22,24}});
+const std::vector<std::pair<int,int>> X_N_DOT_DOT ({{46,5}});
+const std::vector<std::pair<int,int>> X_N({{51,27}});
+
+//STRING 2
+const std::vector<std::pair<int,int>> B_N({{6,3}});
+const std::vector<std::pair<int,int>> P2({{9,1}});
+const std::vector<std::pair<int,int>> T_B({{10,7}});
+const std::vector<std::pair<int,int>> Y_N_DOT ({{22,24}});
+const std::vector<std::pair<int,int>> Y_N_DOT_DOT ({{46,5}});
+const std::vector<std::pair<int,int>> Y_N({{51,27}});
+
+//STRING 3
+const std::vector<std::pair<int,int>> P3({{6,1}});
+const std::vector<std::pair<int,int>> GAMMA_N({{7,11}});
+const std::vector<std::pair<int,int>> P({{19,2}});
+const std::vector<std::pair<int,int>> L_N({{21,1}});
+const std::vector<std::pair<int,int>> Z_N_DOT ({{22,24}});
+const std::vector<std::pair<int,int>> Z_N_DOT_DOT ({{46,5}});
+const std::vector<std::pair<int,int>> Z_N({{51,27}});
+
+// STRING 4
+const std::vector<std::pair<int,int>> TAU_N({{6,22}});
+const std::vector<std::pair<int,int>> DELTA_TAU_N({{28,5}});
+const std::vector<std::pair<int,int>> E_N({{33,5}});
+const std::vector<std::pair<int,int>> P4 ({{52,1}});
+const std::vector<std::pair<int,int>> F_T ({{53,4}});
+const std::vector<std::pair<int,int>> N_T({{60,11}});
+const std::vector<std::pair<int,int>> N({{71,5}});
+const std::vector<std::pair<int,int>> M({{76,2}});
+
+// STRING 5
+const std::vector<std::pair<int,int>> N_A({{6,11}});
+const std::vector<std::pair<int,int>> TAU_C({{17,32}});
+const std::vector<std::pair<int,int>> N_4({{50,5}});
+const std::vector<std::pair<int,int>> TAU_GPS({{55,22}});
+const std::vector<std::pair<int,int>> L_N({{77,1}});
+
+// STRING 6, 8, 10, 12, 14
+const std::vector<std::pair<int,int>> C_N({{6,1}});
+const std::vector<std::pair<int,int>> M_N_A({{7,2}});
+const std::vector<std::pair<int,int>> n_A({{9,5}});
+const std::vector<std::pair<int,int>> TAU_N_A({{14,10}});
+const std::vector<std::pair<int,int>> LAMBDA_N_A({{24,21}});
+const std::vector<std::pair<int,int>> DELTA_I_N_A({{45,18}});
+const std::vector<std::pair<int,int>> EPSILON_N_A({{63,15}});
+
+//STRING 7, 9, 11, 13, 15
+const std::vector<std::pair<int,int>> OMEGA_N_A({{6,16}});
+const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
+const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
+const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
+const std::vector<std::pair<int,int>> H_N_A({{72,5}});
+const std::vector<std::pair<int,int>> L_N({{77,1}});
+
+
+#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
new file mode 100644
index 000000000..45174cabb
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -0,0 +1,57 @@
+/*!
+ * \file glonass_gnav_almanac.cc
+ * \brief  Interface of a GLONASS GNAV ALMANAC storage
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \author Damian Miralles , 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_gnav_almanac.h"
+
+Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
+{
+  int i_satellite_freq_channel = 0;
+  double d_tau_c = 0.0;
+  double d_tau_gps = 0.0;
+  double d_N_4 = 0.0;
+  double d_N_A = 0.0;
+  double d_n_A = 0.0;
+  double d_H_n_A = 0.0;
+  double d_lambda_n_A = 0.0;
+  double d_t_lambda_n_A = 0.0;
+  double d_Delta_i_n_A = 0.0;
+  double d_Delta_T_n_A = 0.0;
+  double d_Delta_T_n_A_dot = 0.0;
+  double d_epsilon_n_A = 0.0;
+  double d_omega_n_A = 0.0;
+  double d_M_n_A = 0.0;
+  double d_B1 = 0.0;
+  double d_B2 = 0.0;
+  double d_KP = 0.0;
+  double d_tau_n_A = 0.0;
+  double d_C_n_A = 0.0;
+}
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
new file mode 100644
index 000000000..3e13802fc
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -0,0 +1,70 @@
+/*!
+ * \file glonass_gnav_almanac.h
+ * \brief  Interface of a GLONASS GNAV ALMANAC storage
+ * \author Damian Miralles, 2017. dmiralles2009@gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GLONASS_ALMANAC_H_
+#define GNSS_SDR_GLONASS_ALMANAC_H_
+
+
+/*!
+ * \brief This class is a storage for the GLONASS SV ALMANAC data as described in IS-GPS-200E
+ * \todo Add proper links for GLONASS ICD
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ */
+class Glonass_Gnav_Almanac
+{
+public:
+    int i_satellite_freq_channel; //!< SV PRN NUMBER
+    double d_tau_c;             //!< GLONASS time scale correction to UTC(SU) time. [s]
+    double d_tau_gps;           //!< Correction to GPS time to GLONASS time [day]
+    double d_N_4;               //!< Four year interval number starting from 1996 [4 year interval]
+    double d_N_A;               //!< Calendar day number within the four-year period beginning since the leap year [days]
+    double d_n_A;               //!< Conventional number of satellite within GLONASS space segment [dimensionless]
+    double d_H_n_A;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite [dimensionless]
+    double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
+    double d_t_lambda_n_A;      //!< Time of first ascending node passage [s]
+    double d_Delta_i_n_A        //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
+    double d_Delta_T_n_A;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period]
+    double d_Delta_T_n_A_dot;   //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
+    double d_epsilon_n_A;       //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
+    double d_omega_n_A;         //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles]
+    double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
+    double d_B1;                //!< Coefficient  to  determine DeltaUT1 [s]
+    double d_B2;                //!< Coefficient  to  determine DeltaUT1 [s/msd]
+    double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
+    double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
+    double d_C_n_A;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    /*!
+     * Default constructor
+     */
+    Glonass_Gnav_Almanac();
+};
+
+#endif
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
new file mode 100644
index 000000000..a6e6436c2
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -0,0 +1,600 @@
+/*!
+ * \file gps_ephemeris.cc
+ * \brief  Interface of a GPS EPHEMERIS storage and orbital model functions
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \author Javier Arribas, 2013. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_ephemeris.h"
+#include <cmath>
+#include "GLONASS_L1_CA.h"
+#include "gnss_satellite.h"
+
+Gps_Ephemeris::Gps_Ephemeris()
+{
+    i_satellite_freq_channel = 0;
+    d_m = 0.0;               //!< String number within frame [dimensionless]
+    d_t_k = 0.0;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
+    d_t_b = 0.0;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
+    d_M = 0.0;               //!< Type of satellite transmitting navigation signal [dimensionless]
+    d_gamma_n = 0.0;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+    d_tau_n = 0.0;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+    // satellite positions
+    d_satpos_X = 0.0;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    d_satpos_Y = 0.0;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    d_satpos_Z = 0.0;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    d_satvel_X = 0.0;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    d_satvel_Y = 0.0;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    d_satvel_Z = 0.0;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    // Satellite acceleration
+    d_satacc_X = 0.0;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_satacc_Y = 0.0;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_satacc_Z = 0.0;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_B_n = 0.0;             //!< Health flag [dimensionless]
+    d_P = 0.0;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+    d_N_T = 0.0;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+    d_F_T = 0.0;             //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+    d_n = 0.0;               //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+    d_Delta_tau_n = 0.0;     //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+    d_E_n = 0.0;             //!< Characterises "age" of a current information [days]
+    d_P_1 = 0.0;             //!< Flag of the immediate data updating.
+    d_P_2 = 0.0;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    d_P_3 = 0.0;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    d_P_4 = 0.0;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    d_l_n = 0.0;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+
+    // clock terms derived from ephemeris data
+    d_satClkDrift = 0.0;    //!< GLONASS clock error
+    d_dtr = 0.0;
+}
+
+
+void Glonass_GNAV_Ephemeris::gravitational_perturbations()
+{
+    double T;
+    double sigma_days;
+    double tau_prime;
+    double Omega_moon;
+    double q_moon;
+    double q_sun;
+    double Tau_11; double Tau_12;
+    double Eta_11; double Eta_12;
+    double xi_11; double xi_12;
+    double xi_star;
+    double eta_star;
+    double zeta_star;
+    double E_moon;
+    double E_sun;
+    double xi_11;
+    double xi_12;
+    double eta_11;
+    double eta_12;
+    double zeta_11;
+    double zeta_12;
+
+    double sin_theta_moon;
+    double cos_theta_moon;
+    double theta_moon;
+    double xi_moon_e;
+    double eta_moon_e;
+    double zeta_moon_e;
+
+    double sin_theta_sun;
+    double cos_theta_sun;
+    double theta_sun;
+    double xi_sun_e;
+    double eta_sun_e;
+    double zeta_sun_e;
+
+    double r_moon_e;
+    double mu_bar_moon;
+    double x_bar_moon;
+    double y_bar_moon;
+    double Delta_o_moon;
+    double mu_bar_sun;
+    double x_bar_sun;
+    double y_bar_sun;
+    double Delta_o_sun;
+
+
+    //<! Directive Cosine computation
+    /// \TODO Need to define sigma days
+    T           = (27392.375 + sigma_days + (t_e/86400))/(36525);
+    tau_prime   = GLONASS_TAU_0 + GLONASS_TAU_1 * T;
+    Omega_moon  = GLONASS_MOON_OMEGA_0 + GLONASS_MOON_OMEGA_1*T;
+    q_moon      = GLONASS_MOON_Q0 + GLONASS_MOON_Q1*T;
+    q_sun       = GLONASS_SUN_Q0 + GLONASS_SUN_Q1*T;
+
+    xi_star     = 1 - (cos(Omega_moon)*cos(Omega_moon))*(1 - cos(GLONASS_MOON_INCLINATION));
+    eta_star    = sin(Omega_moon)*(sin(GLONASS_MOON_INCLINATION));
+    zeta_star   = cos(Omega_moon)*(sin(GLONASS_MOON_INCLINATION));
+
+    xi_11   = sin(Omega_moon)*cos(Omega_moon)*(1 - cos(GLONASS_MOON_INCLINATION));
+    xi_12   = 1 - (sin(Omega_moon)*sin(Omega_moon))*(1 - cos(GLONASS_MOON_INCLINATION));
+    eta_11  = xi_star*cos(GLONASS_EARTH_INCLINATION) - xi_star*sin(GLONASS_EARTH_INCLINATION);
+    eta_12  = xi_11*cos(GLONASS_EARTH_INCLINATION) + eta_star*sin(GLONASS_EARTH_INCLINATION);
+    zeta_11 = xi_star*sin(GLONASS_EARTH_INCLINATION) + zeta_star*cos(GLONASS_EARTH_INCLINATION);
+    zeta_12 = xi_11*sin(GLONASS_EARTH_INCLINATION) + eta_star*cos(GLONASS_EARTH_INCLINATION);
+
+    /// \TODO why is this calling sin(E_moon) in the same line where it is being computed
+    E_moon          = q_moon + GLONASS_MOON_ECCENTRICITY*sin(E_moon);
+    sin_theta_moon  = sqrt(1 - GLONASS_MOON_ECCENTRICITY*GLONASS_MOON_ECCENTRICITY)*sin(E_moon)/(1 - GLONASS_MOON_ECCENTRICITY*cos(E_moon));
+    cos_theta_moon  = cos(E_moon - GLONASS_MOON_ECCENTRICITY)/(1 - GLONASS_MOON_ECCENTRICITY*cos(E_moon));
+    theta_moon      = asin(sin_theta_moon);
+
+    xi_moon_e   = sin(theta_moon + tau_prime)*xi_11 + cos(theta_moon + tau_prime)*xi_12;
+    eta_moon_e  = sin(theta_moon + tau_prime)*eta_11 + cos(theta_moon + tau_prime)*eta_12;
+    zeta_moon_e = sin(theta_moon + tau_prime)*zeta_11 + cos(theta_moon + tau_prime)*zeta_12;
+    r_moon_e    = GLONASS_MOON_SEMI_MAJOR_AXIS*(1-GLONASS_MOON_ECCENTRICITY*cos(E_moon));
+
+    /// \TODO why is this calling sin(E_moon) in the same line where it is being computed
+    E_sun           = q_sun + GLONASS_SUN_ECCENTRICITY*sin(E_sun);
+    sin_theta_sun   = sqrt(1 - GLONASS_SUN_ECCENTRICITY*GLONASS_SUN_ECCENTRICITY)*sin(E_sun)/(1 - GLONASS_SUN_ECCENTRICITY*cos(E_sun));
+    cos_theta_sun   = cos(E_sun - GLONASS_SUN_ECCENTRICITY)/(1 - GLONASS_SUN_ECCENTRICITY*cos(E_sun));
+    theta_sun       = asin(sin_theta_sun);
+
+    xi_sun_e    = (cos_theta_sun*cos(GLONASS_SUN_OMEGA) - sin_theta_sun*sin(GLONASS_SUN_OMEGA));
+    eta_sun_e   = (sin_theta_sun*cos(GLONASS_SUN_OMEGA) + cos_theta_sun*sin(GLONASS_SUN_OMEGA))*cos(GLONASS_EARTH_INCLINATION);
+    zeta_sun_e  = (sin_theta_sun*cos(GLONASS_SUN_OMEGA) + cos_theta_sun*sin(GLONASS_SUN_OMEGA))*sin(GLONASS_EARTH_INCLINATION);
+    r_sun_e     = GLONASS_SUN_SEMI_MAJOR_AXIS*(1-GLONASS_SUN_ECCENTRICITY*cos(E_sun));
+
+    //<! Gravitational computation
+    mu_bar_moon = GLONASS_MOON_GM/(d_r_moon_e*d_r_moon_e);
+    x_bar_moon  = d_satpos_X/d_r_moon_e;
+    y_bar_moon  = d_satpos_Y/d_r_moon_e;
+    z_bar_moon  = d_satpos_Z/d_r_moon_e;
+    Delta_o_moon = sqrt((d_xi_moon_e - x_bar_moon)*(d_xi_moon_e - x_bar_moon) + (d_eta_moon_e - y_bar_moon)*(d_eta_moon_e - y_bar_moon) + (d_zeta_moon_e - z_bar_moon)*(d_zeta_moon_e - z_bar_moon));
+
+    mu_bar_sun = GLONASS_MOON_GM/(d_r_sun_e*d_r_sun_e);
+    x_bar_sun  = d_satpos_X/d_r_sun_e;
+    y_bar_sun  = d_satpos_Y/d_r_sun_e;
+    z_bar_sun  = d_satpos_Z/d_r_sun_e;
+    Delta_o_sun = sqrt((d_xi_sun_e - x_bar_sun)*(d_xi_sun_e - x_bar_sun) + (d_eta_sun_e - y_bar_sun)*(d_eta_sun_e - y_bar_sun) + (d_zeta_sun_e - z_bar_sun)*(d_zeta_sun_e - z_bar_sun));
+
+    d_Jx_moon = mu_bar_moon*(xi_moon_e - x_bar_moon)/pow(Delta_o_moon,3.0) - xi_moon_e;
+    d_Jy_moon = mu_bar_moon*(eta_moon_e - y_bar_moon)/pow(Delta_o_moon,3.0) - eta_moon_e;
+    d_Jz_moon = mu_bar_moon*(zeta_moon_e - z_bar_moon)/pow(Delta_o_moon,3.0) - zeta_moon_e;
+
+    d_Jx_sun = mu_bar_sun*(xi_sun_e - x_bar_sun)/pow(Delta_o_sun,3.0) - xi_sun_e;
+    d_Jy_sun = mu_bar_sun*(eta_sun_e - y_bar_sun)/pow(Delta_o_sun,3.0) - eta_sun_e;
+    d_Jz_sun = mu_bar_sun*(zeta_sun_e - z_bar_sun)/pow(Delta_o_sun,3.0) - zeta_sun_e;
+
+}
+
+
+double Glonass_GNAV_Ephemeris::check_t(double time)
+{
+    double corrTime;
+    double half_day = 43200.0;     // seconds
+    corrTime = time;
+    if (time > half_day)
+        {
+            corrTime = time - 2.0 * half_day;
+        }
+    else if (time < -half_day)
+        {
+            corrTime = time + 2.0 * half_day;
+        }
+    return corrTime;
+}
+
+
+// 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
+double Glonass_GNAV_Ephemeris::sv_clock_drift(double transmitTime, double timeCorrUTC)
+{
+    double dt;
+    dt = check_t(transmitTime - d_t_b);
+    d_satClkDrift = -(d_tau_n + timeCorrUTC - d_gamma_n * dt);
+    //Correct satellite group delay and missing relativistic term here
+    //d_satClkDrift-=d_TGD;
+
+    return d_satClkDrift;
+}
+
+
+// compute the relativistic correction term
+double Glonass_GNAV_Ephemeris::sv_clock_relativistic_term(double transmitTime)
+{
+    double tk;
+    double a;
+    double n;
+    double n0;
+    double E;
+    double E_old;
+    double dE;
+    double M;
+
+    // Restore semi-major axis
+    a = d_sqrt_A * d_sqrt_A;
+
+    // Time from ephemeris reference epoch
+    tk = check_t(transmitTime - d_Toe);
+
+    // Computed mean motion
+    n0 = sqrt(GM / (a * a * a));
+    // Corrected mean motion
+    n = n0 + d_Delta_n;
+    // Mean anomaly
+    M = d_M_0 + n * tk;
+
+    // Reduce mean anomaly to between 0 and 2pi
+    //M = fmod((M + 2.0 * GPS_PI), (2.0 * GPS_PI));
+
+    // Initial guess of eccentric anomaly
+    E = M;
+
+    // --- Iteratively compute eccentric anomaly ----------------------------
+    for (int ii = 1; ii < 20; ii++)
+        {
+            E_old   = E;
+            E       = M + d_e_eccentricity * sin(E);
+            dE      = fmod(E - E_old, 2.0 * GPS_PI);
+            if (fabs(dE) < 1e-12)
+                {
+                    //Necessary precision is reached, exit from the loop
+                    break;
+                }
+        }
+
+    // Compute relativistic correction term
+    d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
+    return d_dtr;
+}
+
+
+double Glonass_GNAV_Ephemeris::simplifiedSatellitePosition(double transmitTime)
+{
+    double dt = 0.0;
+    double tk = 0.0;
+    int numberOfIntegrations = 0;
+
+    // Find time difference
+    dt = check_t(transmitTime - d_t_b);
+
+    // Calculate clock correction
+    satClkCorr = -(d_tau_n + d_tau_c - d_gamma_n * dt);
+
+    // Find integration time
+    tk    = dt - satClkCorr;
+
+    // Check if to integrate forward or backward
+    if tk < 0
+        tau      = -60;
+    else
+        tau      = 60;
+    end
+
+    // x,y,z coordinates to meters
+    x0  = d_satpos_X * 1e3;
+    y0  = d_satpos_Y * 1e3;
+    z0  = d_satpos_Z * 1e3;
+
+    // x,y,z velocities to meters/s
+    Vx0 = d_satvel_X * 1e3;
+    Vy0 = d_satvel_Y * 1e3;
+    Vz0 = d_satvel_Z * 1e3;
+
+    // x,y,z accelerations to meters/sec^2
+    Ax0 = d_satacc_X * 1e3;
+    Ay0 = d_satacc_Y * 1e3;
+    Az0 = d_satacc_Z * 1e3;
+
+    for(numberOfIntegrations = tau; numberOfIntegrations < tk+tau; numberOfIntegrations += tau)
+        {
+            // Check if last integration step. If last integration step, make one more step that has the remaining time length...
+            if(fabs(numberOfIntegrations) > fabs(tk))
+                {
+                    // if there is more time left to integrate...
+                    if mod(tk,tau) ~= 0
+                        {
+                            tau = mod(time,tau);
+                        }
+                    else // otherwise make a zero step.
+                        {
+                            tau = 0;
+                        }
+                }
+
+            // Runge-Kutta Integration Stage K1
+            r0      = sqrt(x0*x0 + y0*y0 + z0*z0);
+            r0_2    = r0*r0;
+            r0_3    = r0*r0*r0;
+            r0_5    = r0*r0*r0*r0*r0;
+
+            dVx_1  = - GLONASS_GM / r0_3 * x0 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a * GLONASS_a) / r0_5 * x0 * (1 - 5 * (z0*z0) / r0_2) + (GLONASS_OMEGA_EARTH_DOT*GLONASS_OMEGA_EARTH_DOT) * x0 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy0 + Ax0;
+            dVy_1  = - GLONASS_GM / r0_3 * y0 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a * GLONASS_a) / r0_5 * y0 * (1 - 5 * (z0*z0) / r0_2) + (GLONASS_OMEGA_EARTH_DOT*GLONASS_OMEGA_EARTH_DOT) * y0 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx0 + Ay0;
+            dVz_1  = - GLONASS_GM / r0_3 * z0 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a * GLONASS_a) / r0_5 * z0 * (3 - 5 * (z0*z0) / r0_2) + Az0;
+
+            dx_1  = Vx0;
+            dy_1  = Vy0;
+            dz_1  = Vz0;
+
+            // Runge-Kutta Integration Stage K2
+            Vx_1  = Vx0 + 1/2 * tau * dVx_1;
+            Vy_1  = Vy0 + 1/2 * tau * dVy_1;
+            Vz_1  = Vz0 + 1/2 * tau * dVz_1;
+
+            x_1   = x0  + 1/2 * tau * dx_1;
+            y_1   = y0  + 1/2 * tau * dy_1;
+            z_1   = z0  + 1/2 * tau * dz_1;
+
+            r1  = sqrt( x_1*x_1 + y_1*y_1 + z_1*z_1 );
+            r1_2    = r1*r1;
+            r1_3    = r1*r1*r1;
+            r1_5    = r1*r1*r1*r1*r1;
+
+            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax0;
+            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay0;
+            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az0;
+
+            dx_2  = Vx_1;
+            dy_2  = Vy_1;
+            dz_2  = Vz_1;
+
+            // Runge-Kutta Integration Stage K2
+            Vx_2  = Vx0 + 1/2 * tau * dVx_2;
+            Vy_2  = Vy0 + 1/2 * tau * dVy_2;
+            Vz_2  = Vz0 + 1/2 * tau * dVz_2;
+
+            x_2   = x0  + 1/2 * tau * dx_2;
+            y_2   = y0  + 1/2 * tau * dy_2;
+            z_2   = z0  + 1/2 * tau * dz_2;
+
+            r2  = sqrt( x_2*x_2 + y_2*y_2 + z_2*z_2 );
+            r2_2 = r2*r2;
+            r2_3 = r2*r2*r2;
+            r2_5 = r2*r2*r2*r2*r2;
+
+
+            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax0;
+            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay0;
+            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az0;
+
+            dx_3  = Vx_2;
+            dy_3  = Vy_2;
+            dz_3  = Vz_2;
+
+            // Runge-Kutta Integration Stage K3
+            Vx_3  = Vx0 + tau * dVx_3;
+            Vy_3  = Vy0 + tau * dVy_3;
+            Vz_3  = Vz0 + tau * dVz_3;
+
+            x_3   = x0  + tau * dx_3;
+            y_3   = y0  + tau * dy_3;
+            z_3   = z0  + tau * dz_3;
+
+            r3  = sqrt( x_3*x_3 + y_3*y_3 + z_3*z_3 );
+            r3_2 = r3*r3;
+            r3_3 = r3*r3*r3;
+            r3_5 = r3*r3*r3*r3*r3;
+
+            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax0;
+            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay0;
+            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az0;
+
+            dx_4  = Vx_3;
+            dy_4  = Vy_3;
+            dz_4  = Vz_3;
+
+            // Final results showcased here
+            Vx0  = Vx0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
+            Vy0  = Vy0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
+            Vz0  = Vz0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
+
+            x0   = x0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
+            y0   = y0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
+            z0   = z0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
+
+        }
+
+    // Reasign position, velocities and accelerations for next integration
+    d_satpos_X = x0;
+    d_satpos_Y = y0;
+    d_satpos_Z = z0;
+
+    d_satvel_X = Vx0;
+    d_satvel_Y = Vy0;
+    d_satvel_Z = Vz0;
+
+    d_satacc_X = d_satacc_X;    // No change in accelerations reported over interval
+    d_satacc_Y = d_satacc_Y;    // No change in accelerations reported over interval
+    d_satacc_Z = d_satacc_Z;    // No change in accelerations reported over interval
+
+    // Time from ephemeris reference clock
+    tk = check_t(transmitTime - d_Toc);
+
+    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
+
+    /* relativity correction */
+    dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
+
+    return dtr_s;
+}
+
+
+double Glonass_GNAV_Ephemeris::satellitePosition(double transmitTime)
+{
+    double dt = 0.0;
+    double tk = 0.0;
+    int numberOfIntegrations = 0;
+
+    // Find time difference
+    dt = check_t(transmitTime - d_t_b);
+
+    // Calculate clock correction
+    satClkCorr = -(d_tau_n + d_tau_c - d_gamma_n * dt);
+
+    // Find integration time
+    tk    = dt - satClkCorr;
+
+    // Check if to integrate forward or backward
+    if tk < 0
+        tau      = -60;
+    else
+        tau      = 60;
+    end
+
+    // Coordinates transformation to an inertial reference frame
+    // x,y,z coordinates to meters
+    x0  = d_satpos_X * 1e3;
+    y0  = d_satpos_Y * 1e3;
+    z0  = d_satpos_Z * 1e3;
+
+    // x,y,z velocities to meters/s
+    Vx0 = d_satvel_X * 1e3;
+    Vy0 = d_satvel_Y * 1e3;
+    Vz0 = d_satvel_Z * 1e3;
+
+    // x,y,z accelerations to meters/sec^2
+    Ax0 = d_satacc_X * 1e3;
+    Ay0 = d_satacc_Y * 1e3;
+    Az0 = d_satacc_Z * 1e3;
+
+    for(numberOfIntegrations = tau; numberOfIntegrations < tk+tau; numberOfIntegrations += tau)
+        {
+            // Check if last integration step. If last integration step, make one more step that has the remaining time length...
+            if(fabs(numberOfIntegrations) > fabs(tk))
+                {
+                    // if there is more time left to integrate...
+                    if mod(tk,tau) ~= 0
+                        {
+                            tau = mod(time,tau);
+                        }
+                    else // otherwise make a zero step.
+                        {
+                            tau = 0;
+                        }
+                }
+
+            // Runge-Kutta Integration Stage K1
+            r0      = sqrt(x0*x0 + y0*y0 + z0*z0);
+            r0_2    = r0*r0;
+            r0_3    = r0*r0*r0;
+            r0_5    = r0*r0*r0*r0*r0;
+
+            dx_1 = Vx0;
+            dy_1 = Vy0;
+            dz_1 = Vz0;
+
+            dVx_1  = - GLONASS_GM / r0_3 * x0 + 3/2 * GLONASS_C20 * GLONASS_GM * (GLONASS_EARTH_RADIUS * GLONASS_EARTH_RADIUS) / r0_5 * x0 * (1 - 5 * 1 / (z0*z0)) + Jx_moon + Jx_sun;
+            dVy_1  = - GLONASS_GM / r0_3 * y0 + 3/2 * GLONASS_C20 * GLONASS_GM * (GLONASS_EARTH_RADIUS * GLONASS_EARTH_RADIUS) / r0_5 * y0 * (1 - 5 * 1 / (z0*z0)) + Jy_moon + Jy_sun;
+            dVz_1  = - GLONASS_GM / r0_3 * z0 + 3/2 * GLONASS_C20 * GLONASS_GM * (GLONASS_EARTH_RADIUS * GLONASS_EARTH_RADIUS) / r0_5 * z0 * (3 - 5 * 1 / (z0*z0)) + Jz_moon + Jz_sun;
+
+            dx_1  = Vx0;
+            dy_1  = Vy0;
+            dz_1  = Vz0;
+
+            // Runge-Kutta Integration Stage K2
+            Vx_1  = Vx0 + 1/2 * tau * dVx_1;
+            Vy_1  = Vy0 + 1/2 * tau * dVy_1;
+            Vz_1  = Vz0 + 1/2 * tau * dVz_1;
+
+            x_1   = x0  + 1/2 * tau * dx_1;
+            y_1   = y0  + 1/2 * tau * dy_1;
+            z_1   = z0  + 1/2 * tau * dz_1;
+
+            r1  = sqrt( x_1*x_1 + y_1*y_1 + z_1*z_1 );
+            r1_2    = r1*r1;
+            r1_3    = r1*r1*r1;
+            r1_5    = r1*r1*r1*r1*r1;
+
+            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax0;
+            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay0;
+            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az0;
+
+            dx_2  = Vx_1;
+            dy_2  = Vy_1;
+            dz_2  = Vz_1;
+
+            // Runge-Kutta Integration Stage K2
+            Vx_2  = Vx0 + 1/2 * tau * dVx_2;
+            Vy_2  = Vy0 + 1/2 * tau * dVy_2;
+            Vz_2  = Vz0 + 1/2 * tau * dVz_2;
+
+            x_2   = x0  + 1/2 * tau * dx_2;
+            y_2   = y0  + 1/2 * tau * dy_2;
+            z_2   = z0  + 1/2 * tau * dz_2;
+
+            r2  = sqrt( x_2*x_2 + y_2*y_2 + z_2*z_2 );
+            r2_2 = r2*r2;
+            r2_3 = r2*r2*r2;
+            r2_5 = r2*r2*r2*r2*r2;
+
+
+            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax0;
+            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay0;
+            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az0;
+
+            dx_3  = Vx_2;
+            dy_3  = Vy_2;
+            dz_3  = Vz_2;
+
+            // Runge-Kutta Integration Stage K3
+            Vx_3  = Vx0 + tau * dVx_3;
+            Vy_3  = Vy0 + tau * dVy_3;
+            Vz_3  = Vz0 + tau * dVz_3;
+
+            x_3   = x0  + tau * dx_3;
+            y_3   = y0  + tau * dy_3;
+            z_3   = z0  + tau * dz_3;
+
+            r3  = sqrt( x_3*x_3 + y_3*y_3 + z_3*z_3 );
+            r3_2 = r3*r3;
+            r3_3 = r3*r3*r3;
+            r3_5 = r3*r3*r3*r3*r3;
+
+            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax0;
+            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay0;
+            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az0;
+
+            dx_4  = Vx_3;
+            dy_4  = Vy_3;
+            dz_4  = Vz_3;
+
+            // Final results showcased here
+            Vx0  = Vx0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
+            Vy0  = Vy0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
+            Vz0  = Vz0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
+
+            x0   = x0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
+            y0   = y0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
+            z0   = z0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
+
+        }
+
+    // Time from ephemeris reference clock
+    tk = check_t(transmitTime - d_Toc);
+
+    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
+
+    /* relativity correction */
+    dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
+
+    return dtr_s;
+}
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
new file mode 100644
index 000000000..6a2ab046d
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -0,0 +1,170 @@
+/*!
+ * \file glonass_gnav_ephemeris.h
+ * \brief  Interface of a GLONASS EPHEMERIS storage
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GLONASS_GNAV_EPHEMERIS_H_
+#define GNSS_SDR_GLONASS_GNAV_EPHEMERIS_H_
+
+
+#include <map>
+#include <string>
+#include "boost/assign.hpp"
+#include <boost/serialization/nvp.hpp>
+
+
+
+/*!
+ * \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD Edition 5.1
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ */
+class Glonass_GNAV_Ephemeris
+{
+private:
+    /*
+     * Accounts for the beginning or end of week crossover
+     *
+     * See paragraph 20.3.3.3.3.1 (IS-GPS-200E)
+     * \param[in]  -  time in seconds
+     * \param[out] -  corrected time, in seconds
+     */
+    double check_t(double time);
+
+    double gravitational_perturbations(const double mu);
+
+    double d_Jx_moon;           //!< Moon gravitational perturbation
+    double d_Jx_sun;            //!< Sun gravitational perturbation
+
+public:
+    unsigned int i_satellite_freq_channel; // SV Frequency Channel Number
+    double d_m;               //!< String number within frame [dimensionless]
+    double d_t_k;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
+    double d_t_b;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
+    double d_M;               //!< Type of satellite transmitting navigation signal [dimensionless]
+    double d_gamma_n;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+    double d_tau_n;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+    // satellite positions
+    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    // Satellite acceleration
+    double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_B_n;             //!< Health flag [dimensionless]
+    double d_P;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+    double d_N_T;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+    double d_F_T;             //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+    double d_n;               //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+    double d_Delta_tau_n;     //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+    double d_E_n;             //!< Characterises "age" of a current information [days]
+    double d_P_1;             //!< Flag of the immediate data updating.
+    double d_P_2;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    double d_P_3;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    double d_P_4;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    double d_l_n;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+
+    // clock terms derived from ephemeris data
+    double d_satClkDrift;    //!< GPS clock error
+    double d_dtr;            //!< relativistic clock correction term
+
+    template<class Archive>
+
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+
+        archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel); //!< SV PRN frequency channel number
+        archive & make_nvp("d_m", d_m);             //!< String number within frame [dimensionless]
+        archive & make_nvp("d_t_k", d_t_k);         //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
+        archive & make_nvp("d_t_b", d_t_b);         //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
+        archive & make_nvp("d_M", d_M);             //!< Type of satellite transmitting navigation signal [dimensionless]
+        archive & make_nvp("d_gamma_n", d_gamma_n); //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+        archive & make_nvp("d_tau_n", d_tau_n);     //!< Correction to the nth satellite time (tn) relative to GLONASS time (te)
+        archive & make_nvp("d_B_n", d_B_n);         //!< Health flag [dimensionless]
+        archive & make_nvp("d_P", d_P);             //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+        archive & make_nvp("d_N_T", d_N_T);         //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+        archive & make_nvp("d_F_T", d_F_T);         //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+        archive & make_nvp("d_n", d_n);             //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+        archive & make_nvp("d_Delta_tau_n", d_Delta_tau_n);//!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+        archive & make_nvp("d_E_n", d_E_n);         //!< Characterises "age" of a current information [days]
+        archive & make_nvp("d_P_1", d_P_1);         //!< Flag of the immediate data updating.
+        archive & make_nvp("d_P_2", d_P_2);         //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+        archive & make_nvp("d_P_3", d_P_3);         //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+        archive & make_nvp("d_P_4", d_P_4);         //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+        archive & make_nvp("d_l_n", d_l_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    }
+
+    /*!
+     * \brief Compute the ECEF SV coordinates and ECEF velocity
+     * Implementation of Algorithm A.3.1.2 in GLONASS ICD v5.1
+     * and compute the clock bias term including relativistic effect (return value)
+     * \param transmitTime Time of ephemeris transmission
+     * \return clock bias of satellite
+     */
+    double simplifiedSatellitePosition(double transmitTime);
+
+    /*!
+     * \brief Compute the ECEF SV coordinates and ECEF velocity
+     * Implementation of Algorithm A.3.1.1 in GLONASS ICD v5.1
+     * and compute the clock bias term including relativistic effect (return value)
+     * \param transmitTime Time of ephemeris transmission
+     * \return clock bias of satellite
+     */
+    double satellitePosition(double transmitTime);
+
+    /*!
+     * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
+     *  (IS-GPS-200E,  20.3.3.3.3.1)
+     */
+    double sv_clock_drift(double transmitTime);
+
+    /*!
+     * \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
+     *  (IS-GPS-200E,  20.3.3.3.3.1)
+     */
+    double sv_clock_relativistic_term(double transmitTime);
+
+
+    /*!
+     * Default constructor
+     */
+    Glonass_GNAV_Ephemeris();
+};
+
+#endif
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.cc b/src/core/system_parameters/glonass_gnav_utc_model.cc
new file mode 100644
index 000000000..921195298
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_utc_model.cc
@@ -0,0 +1,48 @@
+/*
+ * \file glonass_gnav_utc_model.h
+ * \brief  Interface of a GLONASS GNAV UTC MODEL storage
+ * \author Damian Miralles, 2017. dmiralles2009(at).gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_gnav_utc_model.h"
+#include <cmath>
+
+Glonass_Gnav_Utc_Model::Glonass_Gnav_Utc_Model()
+{
+    valid = false;
+    d_tau_c = 0.0;
+}
+
+double Glonass_Gnav_Utc_Model::utc_time(double glonass_time_corrected)
+{
+    double t_utc;
+
+    // GLONASS Time is relative to UTC Moscow, so we simply add its time difference
+    t_utc = glonass_time_corrected + 3*3600 + d_tau_c;
+    
+    return t_utc;
+}
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.h b/src/core/system_parameters/glonass_gnav_utc_model.h
new file mode 100644
index 000000000..b08c4bdce
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_utc_model.h
@@ -0,0 +1,75 @@
+/*!
+ * \file glonass_gnav_utc_model.h
+ * \brief  Interface of a GLONASS GNAV UTC MODEL storage
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GLONASS_GNAV_UTC_MODEL_H_
+#define GNSS_SDR_GLONASS_GNAV_UTC_MODEL_H_
+
+#include "boost/assign.hpp"
+#include <boost/serialization/nvp.hpp>
+#include <iostream>
+
+/*!
+ * \brief This class is a storage for the GLONASS GNAV UTC MODEL data as described in GLONASS ICD (Edition 5.1)
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ */
+class Glonass_Gnav_Utc_Model
+{
+public:
+    bool valid;
+    // UTC
+    double d_tau_c;     //!< GLONASS time scale correction to UTC(SU) time. [s]
+
+    /*!
+     * Default constructor
+     */
+    Glonass_Gnav_Utc_Model();
+
+    /*!
+     * \brief Computes the Coordinated Universal Time (UTC) and
+     * returns it in [s] (GLONASS ICD (Edition 5.1) Section 3.3.3 GLONASS Time)
+     */
+    double utc_time(double glonass_time_corrected);
+
+    template<class Archive>
+    /*
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+        archive & make_nvp("valid",valid);
+        archive & make_nvp("d_tau_c",d_tau_c);
+    }
+
+};
+
+#endif

From c24710c5855f6b032c5412b4c22e1c18a72d1cd9 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 20 Jun 2017 21:44:44 -0700
Subject: [PATCH 247/379] gnav: Adding GLONASS GNAV Navigation Message
 Operations

Adding code for navigation message computation for GLONASS GNAV code.
Continues to fix the almanac position computation and fixes bugs in code
due to compilation errors, coding style and Doxygen documentation
---
 .gitignore                                    |   1 +
 src/core/system_parameters/CMakeLists.txt     |   5 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |  36 +-
 .../system_parameters/glonass_gnav_almanac.cc | 167 ++++-
 .../system_parameters/glonass_gnav_almanac.h  |  65 +-
 .../glonass_gnav_ephemeris.cc                 | 638 +++++++++++-------
 .../glonass_gnav_ephemeris.h                  |  52 +-
 .../glonass_gnav_navigation_message.cc        | 577 ++++++++++++++++
 .../glonass_gnav_navigation_message.h         | 203 ++++++
 .../glonass_gnav_utc_model.cc                 |   7 +-
 .../glonass_gnav_utc_model.h                  |  37 +-
 src/tests/test_main.cc                        |   8 +-
 .../glonass_gnav_almanac_test.cc              |  76 +++
 .../glonass_gnav_ephemeris_test.cc            |  54 ++
 14 files changed, 1604 insertions(+), 322 deletions(-)
 create mode 100644 src/core/system_parameters/glonass_gnav_navigation_message.cc
 create mode 100644 src/core/system_parameters/glonass_gnav_navigation_message.h
 create mode 100644 src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
 create mode 100644 src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc

diff --git a/.gitignore b/.gitignore
index 2d1eebded..cbccacdac 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,6 +6,7 @@ docs/latex
 docs/GNSS-SDR_manual.pdf
 src/tests/data/output.dat
 thirdparty/
+.settings
 .project
 .cproject
 /install
diff --git a/src/core/system_parameters/CMakeLists.txt b/src/core/system_parameters/CMakeLists.txt
index df419aebd..9143a038b 100644
--- a/src/core/system_parameters/CMakeLists.txt
+++ b/src/core/system_parameters/CMakeLists.txt
@@ -39,6 +39,10 @@ set(SYSTEM_PARAMETERS_SOURCES
 	 gps_cnav_iono.cc
 	 gps_cnav_utc_model.cc
 	 rtcm.cc
+   glonass_gnav_ephemeris.cc
+   glonass_gnav_almanac.cc
+   glonass_gnav_utc_model.cc
+   glonass_gnav_navigation_message.cc
 )
 
 
@@ -59,4 +63,3 @@ add_library(gnss_system_parameters ${SYSTEM_PARAMETERS_SOURCES} ${SYSTEM_PARAMET
 source_group(Headers FILES ${SYSTEM_PARAMETERS_HEADERS})
 add_dependencies(gnss_system_parameters rtklib_lib glog-${glog_RELEASE})
 target_link_libraries(gnss_system_parameters rtklib_lib ${Boost_LIBRARIES})
-
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index d3c234801..cc5ff2db4 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -43,7 +43,7 @@ const double GLONASS_C_m_ms                 = 299792.4580;          //!< The spe
 const double GLONASS_PI                     = 3.1415926535898;      //!< Pi as defined in IS-GPS-200E
 const double GLONASS_TWO_PI                 = 6.283185307179586;    //!< 2Pi as defined in IS-GPS-200E
 const double GLONASS_OMEGA_EARTH_DOT        = 7.292115e-5;          //!< Earth rotation rate, [rad/s]
-const double GLONASS_GM                     = 398600.4418e9;        //!< Universal gravitational constant times the mass of the Earth, [km^3/s^2]
+const double GLONASS_GM                     = 398600.4418e9;        //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
 const double GLONASS_fM_a                   = 0.35e9;               //!< Gravitational constant of atmosphere [m^3/s^2]
 const double GLONASS_SEMI_MAJOR_AXIS        = 6378136;              //!< Semi-major axis of Earth [m]
 const double GLONASS_FLATTENING             = 1/29825784;           //!< Flattening parameter
@@ -56,26 +56,26 @@ const double GLONASS_J8                     = 1.40e-11;             //!< Eighth
 const double GLONASS_U0                     = 62636861.4;           //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]
 const double GLONASS_C20                    = -1082.63e-6;          //!< Second zonal coefficient of spherical harmonic expansion
 const double GLONASS_EARTH_RADIUS           = 6378.136;             //!< Equatorial radius of Earth [km]
-const double GLONASS_EARTH_INCLINATION      = 23°26'33''            //!< Mean inclination of ecliptic to equator (23°26'33'').
+const double GLONASS_EARTH_INCLINATION      = 0.000409148809899e3;  //!< Mean inclination of ecliptic to equator (23 deg 26 min 33 sec) [rad]
 
-const double GLONASS_TAU_0                  = -334°19′46′′,40;
-const double GLONASS_TAU_1                  = 4069°02′02′′,52;
+const double GLONASS_TAU_0                  = -0.005835151531174e3; //!< (-334 deg 19 min 46.40 sec) [rad];
+const double GLONASS_TAU_1                  = 0.071018041257371e3;  //!< (4069 deg 02 min 02.52 sec) [rad];
 
-const double GLONASS_MOON_Q0                = -63°53′43′′,41;
-const double GLONASS_MOON_Q1                = 477198°50′56′′,79;
-const double GLONASS_MOON_OMEGA_0           = 259°10′59′′,79;
-const double GLONASS_MOON_OMEGA_1           = -1934°08′31′′,23;
+const double GLONASS_MOON_Q0                = -0.001115184961435e3; //!< (-63 deg 53 min 43.41 sec) [rad]
+const double GLONASS_MOON_Q1                = 8.328691103668023e3;  //!< (477198 deg 50 min 56.79 sec) [rad]
+const double GLONASS_MOON_OMEGA_0           = 0.004523601514852e3;  //!< (259 deg 10 min 59.79 sec) [rad]
+const double GLONASS_MOON_OMEGA_1           = -0.033757146246552e3; //!< (-1934 deg 08 min 31.23 sec) [rad]
 const double GLONASS_MOON_GM                = 4902.835;             //!< Lunar gravitational constant [km^3/s^2]
 const double GLONASS_MOON_SEMI_MAJOR_AXIS   = 3.84385243e5;         //!< Semi-major axis of lunar orbit [km];
 const double GLONASS_MOON_ECCENTRICITY      = 0.054900489;          //!< Eccentricity of lunar orbit
-const double GLONASS_MOON_INCLINATION       = 5°08'43.4''           //!< Inclination of lunar orbit to ecliptic plane (5°08'43.4'')
+const double GLONASS_MOON_INCLINATION       = 0.000089803977407e3;  //!< Inclination of lunar orbit to ecliptic plane (5 deg 08 min 43.4 sec) [rad]
 
-const double GLONASS_SUN_OMEGA              = 281°13′15′′,0 + 6189′′, 03Т;
-const double GLONASS_SUN_Q0                 = 358°28′33′′,04;
-const double GLONASS_SUN_Q1                 = 129596579′′,10;
-const double GLONASS_SUN_GM                 = 0.1325263e12;       //!< Solar gravitational constant [km^3/s^2]
-const double GLONASS_SUN_SEMI_MAJOR_AXIS    = 1.49598e8;          //!< Semi-major axis of solar orbit [km];
-const double GLONASS_SUN_ECCENTRICITY       = 0.016719;           //!< Eccentricity of solar orbit
+const double GLONASS_SUN_OMEGA              = 0.004908229466869e3;  //!< TODO What is this operation in the seconds with T?(281 deg 13 min 15.0 + 6189.03*Т sec) [rad]
+const double GLONASS_SUN_Q0                 = 0.006256583774423e3;  //!< (358 deg 28 min 33.04 sec) [rad]
+const double GLONASS_SUN_Q1                 = 0e3;                  //!< TODO Why is the value greater than 60?(129596579.10 sec) [rad]
+const double GLONASS_SUN_GM                 = 0.1325263e12;         //!< Solar gravitational constant [km^3/s^2]
+const double GLONASS_SUN_SEMI_MAJOR_AXIS    = 1.49598e8;            //!< Semi-major axis of solar orbit [km];
+const double GLONASS_SUN_ECCENTRICITY       = 0.016719;             //!< Eccentricity of solar orbit
 
 // carrier and code frequencies
 const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO;     //!< L1 [Hz]
@@ -133,7 +133,7 @@ const std::vector<std::pair<int,int>> Y_N({{51,27}});
 const std::vector<std::pair<int,int>> P3({{6,1}});
 const std::vector<std::pair<int,int>> GAMMA_N({{7,11}});
 const std::vector<std::pair<int,int>> P({{19,2}});
-const std::vector<std::pair<int,int>> L_N({{21,1}});
+const std::vector<std::pair<int,int>> EPH_L_N({{21,1}});
 const std::vector<std::pair<int,int>> Z_N_DOT ({{22,24}});
 const std::vector<std::pair<int,int>> Z_N_DOT_DOT ({{46,5}});
 const std::vector<std::pair<int,int>> Z_N({{51,27}});
@@ -153,7 +153,7 @@ const std::vector<std::pair<int,int>> N_A({{6,11}});
 const std::vector<std::pair<int,int>> TAU_C({{17,32}});
 const std::vector<std::pair<int,int>> N_4({{50,5}});
 const std::vector<std::pair<int,int>> TAU_GPS({{55,22}});
-const std::vector<std::pair<int,int>> L_N({{77,1}});
+const std::vector<std::pair<int,int>> ALM_L_N({{77,1}});
 
 // STRING 6, 8, 10, 12, 14
 const std::vector<std::pair<int,int>> C_N({{6,1}});
@@ -170,7 +170,7 @@ const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
 const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
 const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
 const std::vector<std::pair<int,int>> H_N_A({{72,5}});
-const std::vector<std::pair<int,int>> L_N({{77,1}});
+//const std::vector<std::pair<int,int>> L_N({{77,1}});
 
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index 45174cabb..ae1f492c7 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -1,8 +1,7 @@
 /*!
  * \file glonass_gnav_almanac.cc
- * \brief  Interface of a GLONASS GNAV ALMANAC storage
- *
- * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \brief  Interface of a GLONASS GNAV ALMANAC storage as described in GLONASS ICD (Edition 5.1)
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
  * \author Damian Miralles , 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -29,29 +28,149 @@
  *
  * -------------------------------------------------------------------------
  */
-
 #include "glonass_gnav_almanac.h"
+#include <cmath>
+#include "GLONASS_L1_CA.h"
+#include "gnss_satellite.h"
 
 Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
 {
-  int i_satellite_freq_channel = 0;
-  double d_tau_c = 0.0;
-  double d_tau_gps = 0.0;
-  double d_N_4 = 0.0;
-  double d_N_A = 0.0;
-  double d_n_A = 0.0;
-  double d_H_n_A = 0.0;
-  double d_lambda_n_A = 0.0;
-  double d_t_lambda_n_A = 0.0;
-  double d_Delta_i_n_A = 0.0;
-  double d_Delta_T_n_A = 0.0;
-  double d_Delta_T_n_A_dot = 0.0;
-  double d_epsilon_n_A = 0.0;
-  double d_omega_n_A = 0.0;
-  double d_M_n_A = 0.0;
-  double d_B1 = 0.0;
-  double d_B2 = 0.0;
-  double d_KP = 0.0;
-  double d_tau_n_A = 0.0;
-  double d_C_n_A = 0.0;
+  i_satellite_freq_channel = 0;
+  d_tau_c = 0.0;
+  d_tau_gps = 0.0;
+  d_N_4 = 0.0;
+  d_N_A = 0.0;
+  d_n_A = 0.0;
+  d_H_n_A = 0.0;
+  d_lambda_n_A = 0.0;
+  d_t_lambda_n_A = 0.0;
+  d_Delta_i_n_A = 0.0;
+  d_Delta_T_n_A = 0.0;
+  d_Delta_T_n_A_dot = 0.0;
+  d_epsilon_n_A = 0.0;
+  d_omega_n_A = 0.0;
+  d_M_n_A = 0.0;
+  d_KP = 0.0;
+  d_tau_n_A = 0.0;
+  d_C_n_A = 0.0;
+}
+
+void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
+{
+  double T_nom = 43200;     // [seconds]
+  double i_nom = D2R*63.0;  // [rad]
+
+  double Delta_t = 0.0;
+  double i = 0.0;
+  double T = 0.0;
+  double n = 0.0;
+  double a = 0.0;
+  double lambda_dot = 0.0;
+  double omega_dot = 0.0;
+  double lambda = 0.0;
+  double omega = 0.0;
+  double E_P = 0.0;
+  double Delta_T = 0.0;
+  double M = 0.0;
+  double E = 0.0;
+  double E_old = 0.0;
+  double dE = 0.0;
+
+  double e1_x = 0.0;
+  double e1_y = 0.0;
+  double e1_z = 0.0;
+
+  double e2_x = 0.0;
+  double e2_y = 0.0;
+  double e2_z = 0.0;
+  // Compute time difference to reference time
+  Delta_t = (N_i - d_N_A) * 86400 + (t_i + d_t_lambda_n_A);
+
+  // Compute the actual inclination
+  i = i_nom + d_Delta_i_n_A;
+
+  // Compute the actual orbital period:
+  T = T_nom + d_Delta_T_n_A;
+
+  // Compute the mean motion
+  n = 2*GLONASS_PI/T;
+
+  // Compute the semi-major axis:
+  a = cbrt(GLONASS_GM/(n*n));
+
+  // Compute correction to longitude of ascending node
+  lambda_dot = -10*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*cos(i)/86400;
+
+  // Compute correction to argument of perigee
+  omega_dot = 5*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*(5*cos(i)*cos(i) - 1)/86400;
+
+  // Compute corrected longitude of ascending node:
+  lambda = d_lambda_n_A + (lambda_dot - GLONASS_OMEGA_EARTH_DOT)*Delta_t;
+
+  // Compute corrected argument of perigee:
+  omega = d_omega_n_A + omega_dot*Delta_t;
+
+  // Compute eccentric anomaly at point P: Note: P is that point of the orbit the true anomaly of which is identical to the argument of perigee.
+  E_P = 2*atan(tan((omega/2)*(sqrt((1 - d_epsilon_n_A)*(1 + d_epsilon_n_A)))));
+
+  // Compute time difference to perigee passing
+  if (omega < GLONASS_PI)
+    {
+        Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n;
+    }
+  else
+    {
+      Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n + T;
+    }
+
+  // Compute mean anomaly at epoch t_i:
+  M = n * (Delta_t - Delta_T);
+
+  // Compute eccentric anomaly at epoch t_i. Note: Kepler’s equation has to be solved iteratively
+
+  // Initial guess of eccentric anomaly
+  E = M;
+
+  // --- Iteratively compute eccentric anomaly ----------------------------
+  for (int ii = 1; ii < 20; ii++)
+      {
+          E_old   = E;
+          E       = M + d_epsilon_n_A * sin(E);
+          dE      = fmod(E - E_old, 2.0 * GLONASS_PI);
+          if (fabs(dE) < 1e-12)
+              {
+                  //Necessary precision is reached, exit from the loop
+                  break;
+              }
+      }
+
+  // Compute position in orbital coordinate system
+  d_satpos_Xo = a*cos(E) - d_epsilon_n_A;
+  d_satpos_Yo = a*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*sin(E);
+  d_satpos_Zo = a*0;
+
+  // Compute velocity in orbital coordinate system
+  d_satvel_Xo = a/(1-d_epsilon_n_A*cos(E))*(-n*sin(E));
+  d_satvel_Yo = a/(1-d_epsilon_n_A*cos(E))*(n*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*cos(E));
+  d_satvel_Zo = a/(1-d_epsilon_n_A*cos(E))*(0);
+
+  // Determine orientation vectors of orbital coordinate system in ECEF system
+  e1_x = cos(omega)*cos(lambda) - sin(omega)*sin(lambda);
+  e1_y = cos(omega)*sin(lambda) + sin(omega)*cos(lambda)*cos(i);
+  e1_z = sin(omega)*sin(i);
+
+  e2_x = -sin(omega)*cos(lambda) - sin(omega)*sin(lambda)*cos(i);
+  e2_y = -sin(omega)*sin(lambda) + cos(omega)*cos(lambda)*cos(i);
+  e2_z = cos(omega)*sin(i);
+
+  // Convert position from orbital to ECEF system
+  d_satpos_X = d_satpos_Xo*e1_x + d_satpos_Xo*e2_x;
+  d_satpos_Y = d_satpos_Yo*e1_z + d_satpos_Yo*e2_y;
+  d_satpos_Z = d_satpos_Zo*e1_z + d_satpos_Zo*e2_z;
+
+  // Convert position from orbital to ECEF system
+  d_satvel_X = d_satvel_Xo*e1_x + d_satvel_Xo*e2_x + GLONASS_OMEGA_EARTH_DOT*d_satpos_Y;
+  d_satvel_Y = d_satvel_Yo*e1_z + d_satvel_Yo*e2_y - GLONASS_OMEGA_EARTH_DOT*d_satpos_X;
+  d_satvel_Z = d_satvel_Zo*e1_z + d_satvel_Zo*e2_z;
+
 }
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 3e13802fc..f4ce97312 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -32,16 +32,20 @@
 #ifndef GNSS_SDR_GLONASS_ALMANAC_H_
 #define GNSS_SDR_GLONASS_ALMANAC_H_
 
+#include <map>
+#include <string>
+#include "boost/assign.hpp"
+#include <boost/serialization/nvp.hpp>
 
 /*!
- * \brief This class is a storage for the GLONASS SV ALMANAC data as described in IS-GPS-200E
- * \todo Add proper links for GLONASS ICD
- * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \brief This class is a storage for the GLONASS SV ALMANAC data as described GLONASS ICD (Edition 5.1)
+ *
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
  */
 class Glonass_Gnav_Almanac
 {
 public:
-    int i_satellite_freq_channel; //!< SV PRN NUMBER
+    int i_satellite_freq_channel; //!< SV Frequency Channel NUMBER
     double d_tau_c;             //!< GLONASS time scale correction to UTC(SU) time. [s]
     double d_tau_gps;           //!< Correction to GPS time to GLONASS time [day]
     double d_N_4;               //!< Four year interval number starting from 1996 [4 year interval]
@@ -50,17 +54,64 @@ public:
     double d_H_n_A;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite [dimensionless]
     double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
     double d_t_lambda_n_A;      //!< Time of first ascending node passage [s]
-    double d_Delta_i_n_A        //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
+    double d_Delta_i_n_A;       //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
     double d_Delta_T_n_A;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period]
     double d_Delta_T_n_A_dot;   //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
     double d_epsilon_n_A;       //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
     double d_omega_n_A;         //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles]
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
-    double d_B1;                //!< Coefficient  to  determine DeltaUT1 [s]
-    double d_B2;                //!< Coefficient  to  determine DeltaUT1 [s/msd]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
     double d_C_n_A;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+
+    // satellite positions
+    double d_satpos_Xo;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_satpos_Yo;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_satpos_Zo;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    double d_satvel_Xo;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Yo;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Zo;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+
+    // satellite positions
+    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+
+    template<class Archive>
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the almanac data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+
+        archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel);
+        archive & make_nvp("d_tau_c", d_tau_c);
+        archive & make_nvp("d_tau_gps", d_tau_gps);
+        archive & make_nvp("d_N_4", d_N_4);
+        archive & make_nvp("d_N_A", d_N_A);
+        archive & make_nvp("d_n_A", d_n_A);
+        archive & make_nvp("d_H_n_A", d_H_n_A);
+        archive & make_nvp("d_lambda_n_A", d_lambda_n_A);
+        archive & make_nvp("d_t_lambda_n_A", d_t_lambda_n_A);
+        archive & make_nvp("d_Delta_i_n_A", d_Delta_i_n_A);
+        archive & make_nvp("d_Delta_T_n_A", d_Delta_T_n_A);
+        archive & make_nvp("d_Delta_T_n_A_dot", d_Delta_T_n_A_dot);
+        archive & make_nvp("d_epsilon_n_A", d_epsilon_n_A);
+        archive & make_nvp("d_omega_n_A", d_omega_n_A);
+        archive & make_nvp("d_M_n_A", d_M_n_A);
+        archive & make_nvp("d_KP", d_KP);
+        archive & make_nvp("d_tau_n_A", d_tau_n_A);
+        archive & make_nvp("d_C_n_A", d_C_n_A);
+    }
+
+    void satellite_position(double N_i, double t_i);
     /*!
      * Default constructor
      */
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index a6e6436c2..7f48c1051 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -1,9 +1,11 @@
 /*!
- * \file gps_ephemeris.cc
- * \brief  Interface of a GPS EPHEMERIS storage and orbital model functions
+ * \file glonass_gnav_ephemeris.cc
+ * \brief  Interface of a GLONASS GNAV EPHEMERIS storage and orbital model functions
  *
- * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
- * \author Javier Arribas, 2013. jarribas(at)cttc.es
+ * See Russian Institute of Space Device Engineering,
+ “Global Navigation Satellite System GLONASS Interface Control Document,
+ Navigational radiosignal in bands L1, L2,” Moscow, Edition 5.1, 2008.
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -30,12 +32,12 @@
  * -------------------------------------------------------------------------
  */
 
-#include "gps_ephemeris.h"
+#include "glonass_gnav_ephemeris.h"
 #include <cmath>
 #include "GLONASS_L1_CA.h"
 #include "gnss_satellite.h"
 
-Gps_Ephemeris::Gps_Ephemeris()
+Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 {
     i_satellite_freq_channel = 0;
     d_m = 0.0;               //!< String number within frame [dimensionless]
@@ -75,53 +77,56 @@ Gps_Ephemeris::Gps_Ephemeris()
 }
 
 
-void Glonass_GNAV_Ephemeris::gravitational_perturbations()
+void Glonass_Gnav_Ephemeris::gravitational_perturbations()
 {
-    double T;
-    double sigma_days;
-    double tau_prime;
-    double Omega_moon;
-    double q_moon;
-    double q_sun;
-    double Tau_11; double Tau_12;
-    double Eta_11; double Eta_12;
-    double xi_11; double xi_12;
-    double xi_star;
-    double eta_star;
-    double zeta_star;
-    double E_moon;
-    double E_sun;
-    double xi_11;
-    double xi_12;
-    double eta_11;
-    double eta_12;
-    double zeta_11;
-    double zeta_12;
+    double T = 0.0;
+    double sigma_days = 0.0;
+    double tau_prime = 0.0;
+    double Omega_moon = 0.0;
+    double q_moon = 0.0;
+    double q_sun = 0.0;
 
-    double sin_theta_moon;
-    double cos_theta_moon;
-    double theta_moon;
-    double xi_moon_e;
-    double eta_moon_e;
-    double zeta_moon_e;
+    double xi_star = 0.0;
+    double eta_star = 0.0;
+    double zeta_star = 0.0;
+    double E_moon = 0.0;
+    double E_sun = 0.0;
+    double xi_11 = 0.0;
+    double xi_12 = 0.0;
+    double eta_11 = 0.0;
+    double eta_12 = 0.0;
+    double zeta_11 = 0.0;
+    double zeta_12 = 0.0;
 
-    double sin_theta_sun;
-    double cos_theta_sun;
-    double theta_sun;
-    double xi_sun_e;
-    double eta_sun_e;
-    double zeta_sun_e;
+    double sin_theta_moon = 0.0;
+    double cos_theta_moon = 0.0;
+    double theta_moon = 0.0;
+    double xi_moon_e = 0.0;
+    double eta_moon_e = 0.0;
+    double zeta_moon_e = 0.0;
+    double r_moon_e = 0.0;
 
-    double r_moon_e;
-    double mu_bar_moon;
-    double x_bar_moon;
-    double y_bar_moon;
-    double Delta_o_moon;
-    double mu_bar_sun;
-    double x_bar_sun;
-    double y_bar_sun;
-    double Delta_o_sun;
+    double sin_theta_sun = 0.0;
+    double cos_theta_sun = 0.0;
+    double theta_sun = 0.0;
+    double xi_sun_e = 0.0;
+    double eta_sun_e = 0.0;
+    double zeta_sun_e = 0.0;
+    double r_sun_e = 0.0;
 
+    double mu_bar_moon = 0.0;
+    double x_bar_moon = 0.0;
+    double y_bar_moon = 0.0;
+    double z_bar_moon = 0.0;
+    double Delta_o_moon = 0.0;
+    double mu_bar_sun = 0.0;
+    double x_bar_sun = 0.0;
+    double y_bar_sun = 0.0;
+    double z_bar_sun = 0.0;
+    double Delta_o_sun = 0.0;
+
+
+    double t_e = 0.0;
 
     //<! Directive Cosine computation
     /// \TODO Need to define sigma days
@@ -165,17 +170,17 @@ void Glonass_GNAV_Ephemeris::gravitational_perturbations()
     r_sun_e     = GLONASS_SUN_SEMI_MAJOR_AXIS*(1-GLONASS_SUN_ECCENTRICITY*cos(E_sun));
 
     //<! Gravitational computation
-    mu_bar_moon = GLONASS_MOON_GM/(d_r_moon_e*d_r_moon_e);
-    x_bar_moon  = d_satpos_X/d_r_moon_e;
-    y_bar_moon  = d_satpos_Y/d_r_moon_e;
-    z_bar_moon  = d_satpos_Z/d_r_moon_e;
-    Delta_o_moon = sqrt((d_xi_moon_e - x_bar_moon)*(d_xi_moon_e - x_bar_moon) + (d_eta_moon_e - y_bar_moon)*(d_eta_moon_e - y_bar_moon) + (d_zeta_moon_e - z_bar_moon)*(d_zeta_moon_e - z_bar_moon));
+    mu_bar_moon = GLONASS_MOON_GM/(r_moon_e*r_moon_e);
+    x_bar_moon  = d_Xn/r_moon_e;
+    y_bar_moon  = d_Yn/r_moon_e;
+    z_bar_moon  = d_Zn/r_moon_e;
+    Delta_o_moon = sqrt((xi_moon_e - x_bar_moon)*(xi_moon_e - x_bar_moon) + (eta_moon_e - y_bar_moon)*(eta_moon_e - y_bar_moon) + (zeta_moon_e - z_bar_moon)*(zeta_moon_e - z_bar_moon));
 
-    mu_bar_sun = GLONASS_MOON_GM/(d_r_sun_e*d_r_sun_e);
-    x_bar_sun  = d_satpos_X/d_r_sun_e;
-    y_bar_sun  = d_satpos_Y/d_r_sun_e;
-    z_bar_sun  = d_satpos_Z/d_r_sun_e;
-    Delta_o_sun = sqrt((d_xi_sun_e - x_bar_sun)*(d_xi_sun_e - x_bar_sun) + (d_eta_sun_e - y_bar_sun)*(d_eta_sun_e - y_bar_sun) + (d_zeta_sun_e - z_bar_sun)*(d_zeta_sun_e - z_bar_sun));
+    mu_bar_sun = GLONASS_MOON_GM/(r_sun_e*r_sun_e);
+    x_bar_sun  = d_Xn/r_sun_e;
+    y_bar_sun  = d_Yn/r_sun_e;
+    z_bar_sun  = d_Zn/r_sun_e;
+    Delta_o_sun = sqrt((xi_sun_e - x_bar_sun)*(xi_sun_e - x_bar_sun) + (eta_sun_e - y_bar_sun)*(eta_sun_e - y_bar_sun) + (zeta_sun_e - z_bar_sun)*(zeta_sun_e - z_bar_sun));
 
     d_Jx_moon = mu_bar_moon*(xi_moon_e - x_bar_moon)/pow(Delta_o_moon,3.0) - xi_moon_e;
     d_Jy_moon = mu_bar_moon*(eta_moon_e - y_bar_moon)/pow(Delta_o_moon,3.0) - eta_moon_e;
@@ -188,7 +193,7 @@ void Glonass_GNAV_Ephemeris::gravitational_perturbations()
 }
 
 
-double Glonass_GNAV_Ephemeris::check_t(double time)
+double Glonass_Gnav_Ephemeris::check_t(double time)
 {
     double corrTime;
     double half_day = 43200.0;     // seconds
@@ -204,9 +209,9 @@ double Glonass_GNAV_Ephemeris::check_t(double time)
     return corrTime;
 }
 
-
+// FIXME Fix reference here
 // 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
-double Glonass_GNAV_Ephemeris::sv_clock_drift(double transmitTime, double timeCorrUTC)
+double Glonass_Gnav_Ephemeris::sv_clock_drift(double transmitTime, double timeCorrUTC)
 {
     double dt;
     dt = check_t(transmitTime - d_t_b);
@@ -217,93 +222,148 @@ double Glonass_GNAV_Ephemeris::sv_clock_drift(double transmitTime, double timeCo
     return d_satClkDrift;
 }
 
-
+// TODO is this the right formula
 // compute the relativistic correction term
-double Glonass_GNAV_Ephemeris::sv_clock_relativistic_term(double transmitTime)
+double Glonass_Gnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
 {
-    double tk;
-    double a;
-    double n;
-    double n0;
-    double E;
-    double E_old;
-    double dE;
-    double M;
-
-    // Restore semi-major axis
-    a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    tk = check_t(transmitTime - d_Toe);
-
-    // Computed mean motion
-    n0 = sqrt(GM / (a * a * a));
-    // Corrected mean motion
-    n = n0 + d_Delta_n;
-    // Mean anomaly
-    M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    //M = fmod((M + 2.0 * GPS_PI), (2.0 * GPS_PI));
-
-    // Initial guess of eccentric anomaly
-    E = M;
-
-    // --- Iteratively compute eccentric anomaly ----------------------------
-    for (int ii = 1; ii < 20; ii++)
-        {
-            E_old   = E;
-            E       = M + d_e_eccentricity * sin(E);
-            dE      = fmod(E - E_old, 2.0 * GPS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    //Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
     // Compute relativistic correction term
-    d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
+    d_dtr = 0.0;
     return d_dtr;
 }
 
 
-double Glonass_GNAV_Ephemeris::simplifiedSatellitePosition(double transmitTime)
+double Glonass_Gnav_Ephemeris::simplified_satellite_position(double transmitTime)
 {
     double dt = 0.0;
+    double tau = 0.0;
     double tk = 0.0;
     int numberOfIntegrations = 0;
 
+    // RK 1
+    double x_0 = 0.0;
+    double y_0 = 0.0;
+    double z_0 = 0.0;
+
+    double Vx_0 = 0.0;
+    double Vy_0 = 0.0;
+    double Vz_0 = 0.0;
+
+    double Ax_0 = 0.0;
+    double Ay_0 = 0.0;
+    double Az_0 = 0.0;
+
+    double r0   = 0.0;
+    double r0_2 = 0.0;
+    double r0_3 = 0.0;
+    double r0_5 = 0.0;
+
+    double dVx_1  = 0.0;
+    double dVy_1  = 0.0;
+    double dVz_1  = 0.0;
+
+    double dx_1  = 0.0;
+    double dy_1  = 0.0;
+    double dz_1  = 0.0;
+
+    // Runge-Kutta Integration Stage K2
+    double x_1   = 0.0;
+    double y_1   = 0.0;
+    double z_1   = 0.0;
+
+    double Vx_1  = 0.0;
+    double Vy_1  = 0.0;
+    double Vz_1  = 0.0;
+
+    double r1   = 0.0;
+    double r1_2 = 0.0;
+    double r1_3 = 0.0;
+    double r1_5 = 0.0;
+
+    double dVx_2  = 0.0;
+    double dVy_2  = 0.0;
+    double dVz_2  = 0.0;
+
+    double dx_2 = 0.0;
+    double dy_2 = 0.0;
+    double dz_2 = 0.0;
+
+    // Runge-Kutta Integration Stage K3
+    double x_2   = 0.0;
+    double y_2   = 0.0;
+    double z_2   = 0.0;
+
+    double Vx_2  = 0.0;
+    double Vy_2  = 0.0;
+    double Vz_2  = 0.0;
+
+    double r2   = 0.0;
+    double r2_2 = 0.0;
+    double r2_3 = 0.0;
+    double r2_5 = 0.0;
+
+    double dVx_3  = 0.0;
+    double dVy_3  = 0.0;
+    double dVz_3  = 0.0;
+
+    double dx_3 = 0.0;
+    double dy_3 = 0.0;
+    double dz_3 = 0.0;
+
+    // Runge-Kutta Integration Stage K4
+    double x_3   = 0.0;
+    double y_3   = 0.0;
+    double z_3   = 0.0;
+
+    double Vx_3  = 0.0;
+    double Vy_3  = 0.0;
+    double Vz_3  = 0.0;
+
+    double r3   = 0.0;
+    double r3_2 = 0.0;
+    double r3_3 = 0.0;
+    double r3_5 = 0.0;
+
+    double dVx_4  = 0.0;
+    double dVy_4  = 0.0;
+    double dVz_4  = 0.0;
+
+    double dx_4 = 0.0;
+    double dy_4 = 0.0;
+    double dz_4 = 0.0;
+
     // Find time difference
     dt = check_t(transmitTime - d_t_b);
 
     // Calculate clock correction
-    satClkCorr = -(d_tau_n + d_tau_c - d_gamma_n * dt);
+    d_satClkDrift = -(d_tau_n + /*d_tau_c*/ - d_gamma_n * dt);
 
     // Find integration time
-    tk    = dt - satClkCorr;
+    tk    = dt - d_satClkDrift;
 
     // Check if to integrate forward or backward
-    if tk < 0
-        tau      = -60;
+    if(tk < 0)
+        {
+            tau      = -60;
+        }
     else
-        tau      = 60;
-    end
+        {
+            tau      = 60;
+        }
 
     // x,y,z coordinates to meters
-    x0  = d_satpos_X * 1e3;
-    y0  = d_satpos_Y * 1e3;
-    z0  = d_satpos_Z * 1e3;
+    x_0  = d_Xn * 1e3;
+    y_0  = d_Yn * 1e3;
+    z_0  = d_Zn * 1e3;
 
     // x,y,z velocities to meters/s
-    Vx0 = d_satvel_X * 1e3;
-    Vy0 = d_satvel_Y * 1e3;
-    Vz0 = d_satvel_Z * 1e3;
+    Vx_0 = d_VXn * 1e3;
+    Vy_0 = d_VYn * 1e3;
+    Vz_0 = d_VZn * 1e3;
 
     // x,y,z accelerations to meters/sec^2
-    Ax0 = d_satacc_X * 1e3;
-    Ay0 = d_satacc_Y * 1e3;
-    Az0 = d_satacc_Z * 1e3;
+    Ax_0 = d_AXn * 1e3;
+    Ay_0 = d_AYn * 1e3;
+    Az_0 = d_AZn * 1e3;
 
     for(numberOfIntegrations = tau; numberOfIntegrations < tk+tau; numberOfIntegrations += tau)
         {
@@ -311,9 +371,9 @@ double Glonass_GNAV_Ephemeris::simplifiedSatellitePosition(double transmitTime)
             if(fabs(numberOfIntegrations) > fabs(tk))
                 {
                     // if there is more time left to integrate...
-                    if mod(tk,tau) ~= 0
+                    if(fmod(tk,tau) != 0)
                         {
-                            tau = mod(time,tau);
+                            tau = fmod(tk,tau);
                         }
                     else // otherwise make a zero step.
                         {
@@ -322,49 +382,49 @@ double Glonass_GNAV_Ephemeris::simplifiedSatellitePosition(double transmitTime)
                 }
 
             // Runge-Kutta Integration Stage K1
-            r0      = sqrt(x0*x0 + y0*y0 + z0*z0);
+            r0      = sqrt(x_0*x_0 + y_0*y_0 + z_0*z_0);
             r0_2    = r0*r0;
             r0_3    = r0*r0*r0;
             r0_5    = r0*r0*r0*r0*r0;
 
-            dVx_1  = - GLONASS_GM / r0_3 * x0 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a * GLONASS_a) / r0_5 * x0 * (1 - 5 * (z0*z0) / r0_2) + (GLONASS_OMEGA_EARTH_DOT*GLONASS_OMEGA_EARTH_DOT) * x0 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy0 + Ax0;
-            dVy_1  = - GLONASS_GM / r0_3 * y0 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a * GLONASS_a) / r0_5 * y0 * (1 - 5 * (z0*z0) / r0_2) + (GLONASS_OMEGA_EARTH_DOT*GLONASS_OMEGA_EARTH_DOT) * y0 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx0 + Ay0;
-            dVz_1  = - GLONASS_GM / r0_3 * z0 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a * GLONASS_a) / r0_5 * z0 * (3 - 5 * (z0*z0) / r0_2) + Az0;
+            dVx_1  = - GLONASS_GM / r0_3 * x_0 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r0_5 * x_0 * (1 - 5 * (z_0*z_0) / r0_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_0 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_0 + Ax_0;
+            dVy_1  = - GLONASS_GM / r0_3 * y_0 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r0_5 * y_0 * (1 - 5 * (z_0*z_0) / r0_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_0 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_0 + Ay_0;
+            dVz_1  = - GLONASS_GM / r0_3 * z_0 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r0_5 * z_0 * (3 - 5 * (z_0*z_0) / r0_2) + Az_0;
 
-            dx_1  = Vx0;
-            dy_1  = Vy0;
-            dz_1  = Vz0;
+            dx_1  = Vx_0;
+            dy_1  = Vy_0;
+            dz_1  = Vz_0;
 
             // Runge-Kutta Integration Stage K2
-            Vx_1  = Vx0 + 1/2 * tau * dVx_1;
-            Vy_1  = Vy0 + 1/2 * tau * dVy_1;
-            Vz_1  = Vz0 + 1/2 * tau * dVz_1;
+            Vx_1  = Vx_0 + 1/2 * tau * dVx_1;
+            Vy_1  = Vy_0 + 1/2 * tau * dVy_1;
+            Vz_1  = Vz_0 + 1/2 * tau * dVz_1;
 
-            x_1   = x0  + 1/2 * tau * dx_1;
-            y_1   = y0  + 1/2 * tau * dy_1;
-            z_1   = z0  + 1/2 * tau * dz_1;
+            x_1   = x_0  + 1/2 * tau * dx_1;
+            y_1   = y_0  + 1/2 * tau * dy_1;
+            z_1   = z_0  + 1/2 * tau * dz_1;
 
             r1  = sqrt( x_1*x_1 + y_1*y_1 + z_1*z_1 );
             r1_2    = r1*r1;
             r1_3    = r1*r1*r1;
             r1_5    = r1*r1*r1*r1*r1;
 
-            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax0;
-            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay0;
-            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az0;
+            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax_0;
+            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay_0;
+            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az_0;
 
             dx_2  = Vx_1;
             dy_2  = Vy_1;
             dz_2  = Vz_1;
 
             // Runge-Kutta Integration Stage K2
-            Vx_2  = Vx0 + 1/2 * tau * dVx_2;
-            Vy_2  = Vy0 + 1/2 * tau * dVy_2;
-            Vz_2  = Vz0 + 1/2 * tau * dVz_2;
+            Vx_2  = Vx_0 + 1/2 * tau * dVx_2;
+            Vy_2  = Vy_0 + 1/2 * tau * dVy_2;
+            Vz_2  = Vz_0 + 1/2 * tau * dVz_2;
 
-            x_2   = x0  + 1/2 * tau * dx_2;
-            y_2   = y0  + 1/2 * tau * dy_2;
-            z_2   = z0  + 1/2 * tau * dz_2;
+            x_2   = x_0  + 1/2 * tau * dx_2;
+            y_2   = y_0  + 1/2 * tau * dy_2;
+            z_2   = z_0  + 1/2 * tau * dz_2;
 
             r2  = sqrt( x_2*x_2 + y_2*y_2 + z_2*z_2 );
             r2_2 = r2*r2;
@@ -372,109 +432,205 @@ double Glonass_GNAV_Ephemeris::simplifiedSatellitePosition(double transmitTime)
             r2_5 = r2*r2*r2*r2*r2;
 
 
-            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax0;
-            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay0;
-            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az0;
+            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax_0;
+            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay_0;
+            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az_0;
 
             dx_3  = Vx_2;
             dy_3  = Vy_2;
             dz_3  = Vz_2;
 
             // Runge-Kutta Integration Stage K3
-            Vx_3  = Vx0 + tau * dVx_3;
-            Vy_3  = Vy0 + tau * dVy_3;
-            Vz_3  = Vz0 + tau * dVz_3;
+            Vx_3  = Vx_0 + tau * dVx_3;
+            Vy_3  = Vy_0 + tau * dVy_3;
+            Vz_3  = Vz_0 + tau * dVz_3;
 
-            x_3   = x0  + tau * dx_3;
-            y_3   = y0  + tau * dy_3;
-            z_3   = z0  + tau * dz_3;
+            x_3   = x_0  + tau * dx_3;
+            y_3   = y_0  + tau * dy_3;
+            z_3   = z_0  + tau * dz_3;
 
             r3  = sqrt( x_3*x_3 + y_3*y_3 + z_3*z_3 );
             r3_2 = r3*r3;
             r3_3 = r3*r3*r3;
             r3_5 = r3*r3*r3*r3*r3;
 
-            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax0;
-            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay0;
-            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az0;
+            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax_0;
+            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay_0;
+            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az_0;
 
             dx_4  = Vx_3;
             dy_4  = Vy_3;
             dz_4  = Vz_3;
 
             // Final results showcased here
-            Vx0  = Vx0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
-            Vy0  = Vy0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
-            Vz0  = Vz0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
+            Vx_0  = Vx_0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
+            Vy_0  = Vy_0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
+            Vz_0  = Vz_0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
 
-            x0   = x0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
-            y0   = y0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
-            z0   = z0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
+            x_0   = x_0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
+            y_0   = y_0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
+            z_0   = z_0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
 
         }
 
     // Reasign position, velocities and accelerations for next integration
-    d_satpos_X = x0;
-    d_satpos_Y = y0;
-    d_satpos_Z = z0;
+    d_satpos_X = x_0;
+    d_satpos_Y = y_0;
+    d_satpos_Z = z_0;
 
-    d_satvel_X = Vx0;
-    d_satvel_Y = Vy0;
-    d_satvel_Z = Vz0;
+    d_satvel_X = Vx_0;
+    d_satvel_Y = Vy_0;
+    d_satvel_Z = Vz_0;
 
-    d_satacc_X = d_satacc_X;    // No change in accelerations reported over interval
-    d_satacc_Y = d_satacc_Y;    // No change in accelerations reported over interval
-    d_satacc_Z = d_satacc_Z;    // No change in accelerations reported over interval
+    d_satacc_X = d_AXn;    // No change in accelerations reported over interval
+    d_satacc_Y = d_AYn;    // No change in accelerations reported over interval
+    d_satacc_Z = d_AZn;    // No change in accelerations reported over interval
 
     // Time from ephemeris reference clock
-    tk = check_t(transmitTime - d_Toc);
+    //tk = check_t(transmitTime - d_Toc);
 
-    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
+    //double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
 
     /* relativity correction */
-    dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
+    //dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
 
-    return dtr_s;
+    return 0;
 }
 
 
-double Glonass_GNAV_Ephemeris::satellitePosition(double transmitTime)
+double Glonass_Gnav_Ephemeris::satellite_position(double transmitTime)
 {
     double dt = 0.0;
     double tk = 0.0;
+    double tau = 0.0;
     int numberOfIntegrations = 0;
 
+    // RK 1
+    double x_0 = 0.0;
+    double y_0 = 0.0;
+    double z_0 = 0.0;
+
+    double Vx_0 = 0.0;
+    double Vy_0 = 0.0;
+    double Vz_0 = 0.0;
+
+    double Ax_0 = 0.0;
+    double Ay_0 = 0.0;
+    double Az_0 = 0.0;
+
+    double r0   = 0.0;
+    double r0_2 = 0.0;
+    double r0_3 = 0.0;
+    double r0_5 = 0.0;
+
+    double dVx_1  = 0.0;
+    double dVy_1  = 0.0;
+    double dVz_1  = 0.0;
+
+    double dx_1  = 0.0;
+    double dy_1  = 0.0;
+    double dz_1  = 0.0;
+
+    // Runge-Kutta Integration Stage K2
+    double x_1   = 0.0;
+    double y_1   = 0.0;
+    double z_1   = 0.0;
+
+    double Vx_1  = 0.0;
+    double Vy_1  = 0.0;
+    double Vz_1  = 0.0;
+
+    double r1   = 0.0;
+    double r1_2 = 0.0;
+    double r1_3 = 0.0;
+    double r1_5 = 0.0;
+
+    double dVx_2  = 0.0;
+    double dVy_2  = 0.0;
+    double dVz_2  = 0.0;
+
+    double dx_2 = 0.0;
+    double dy_2 = 0.0;
+    double dz_2 = 0.0;
+
+    // Runge-Kutta Integration Stage K3
+    double x_2   = 0.0;
+    double y_2   = 0.0;
+    double z_2   = 0.0;
+
+    double Vx_2  = 0.0;
+    double Vy_2  = 0.0;
+    double Vz_2  = 0.0;
+
+    double r2   = 0.0;
+    double r2_2 = 0.0;
+    double r2_3 = 0.0;
+    double r2_5 = 0.0;
+
+    double dVx_3  = 0.0;
+    double dVy_3  = 0.0;
+    double dVz_3  = 0.0;
+
+    double dx_3 = 0.0;
+    double dy_3 = 0.0;
+    double dz_3 = 0.0;
+
+    // Runge-Kutta Integration Stage K4
+    double x_3   = 0.0;
+    double y_3   = 0.0;
+    double z_3   = 0.0;
+
+    double Vx_3  = 0.0;
+    double Vy_3  = 0.0;
+    double Vz_3  = 0.0;
+
+    double r3   = 0.0;
+    double r3_2 = 0.0;
+    double r3_3 = 0.0;
+    double r3_5 = 0.0;
+
+    double dVx_4  = 0.0;
+    double dVy_4  = 0.0;
+    double dVz_4  = 0.0;
+
+    double dx_4 = 0.0;
+    double dy_4 = 0.0;
+    double dz_4 = 0.0;
+
     // Find time difference
     dt = check_t(transmitTime - d_t_b);
 
     // Calculate clock correction
-    satClkCorr = -(d_tau_n + d_tau_c - d_gamma_n * dt);
+    d_satClkDrift = -(d_tau_n + /*d_tau_c*/ - d_gamma_n * dt);
 
     // Find integration time
-    tk    = dt - satClkCorr;
+    tk    = dt - d_satClkDrift;
 
     // Check if to integrate forward or backward
-    if tk < 0
-        tau      = -60;
+    if (tk < 0)
+        {
+            tau      = -60;
+        }
     else
-        tau      = 60;
-    end
+        {
+            tau      = 60;
+        }
 
     // Coordinates transformation to an inertial reference frame
     // x,y,z coordinates to meters
-    x0  = d_satpos_X * 1e3;
-    y0  = d_satpos_Y * 1e3;
-    z0  = d_satpos_Z * 1e3;
+    x_0  = d_Xn * 1e3;
+    y_0  = d_Yn * 1e3;
+    z_0  = d_Zn * 1e3;
 
     // x,y,z velocities to meters/s
-    Vx0 = d_satvel_X * 1e3;
-    Vy0 = d_satvel_Y * 1e3;
-    Vz0 = d_satvel_Z * 1e3;
+    Vx_0 = d_VXn * 1e3;
+    Vy_0 = d_VYn * 1e3;
+    Vz_0 = d_VZn * 1e3;
 
     // x,y,z accelerations to meters/sec^2
-    Ax0 = d_satacc_X * 1e3;
-    Ay0 = d_satacc_Y * 1e3;
-    Az0 = d_satacc_Z * 1e3;
+    Ax_0 = d_AXn * 1e3;
+    Ay_0 = d_AYn * 1e3;
+    Az_0 = d_AZn * 1e3;
 
     for(numberOfIntegrations = tau; numberOfIntegrations < tk+tau; numberOfIntegrations += tau)
         {
@@ -482,9 +638,9 @@ double Glonass_GNAV_Ephemeris::satellitePosition(double transmitTime)
             if(fabs(numberOfIntegrations) > fabs(tk))
                 {
                     // if there is more time left to integrate...
-                    if mod(tk,tau) ~= 0
+                    if (fmod(tk,tau) != 0)
                         {
-                            tau = mod(time,tau);
+                            tau = fmod(tk,tau);
                         }
                     else // otherwise make a zero step.
                         {
@@ -493,53 +649,53 @@ double Glonass_GNAV_Ephemeris::satellitePosition(double transmitTime)
                 }
 
             // Runge-Kutta Integration Stage K1
-            r0      = sqrt(x0*x0 + y0*y0 + z0*z0);
+            r0      = sqrt(x_0*x_0 + y_0*y_0 + z_0*z_0);
             r0_2    = r0*r0;
             r0_3    = r0*r0*r0;
             r0_5    = r0*r0*r0*r0*r0;
 
-            dx_1 = Vx0;
-            dy_1 = Vy0;
-            dz_1 = Vz0;
+            dx_1 = Vx_0;
+            dy_1 = Vy_0;
+            dz_1 = Vz_0;
 
-            dVx_1  = - GLONASS_GM / r0_3 * x0 + 3/2 * GLONASS_C20 * GLONASS_GM * (GLONASS_EARTH_RADIUS * GLONASS_EARTH_RADIUS) / r0_5 * x0 * (1 - 5 * 1 / (z0*z0)) + Jx_moon + Jx_sun;
-            dVy_1  = - GLONASS_GM / r0_3 * y0 + 3/2 * GLONASS_C20 * GLONASS_GM * (GLONASS_EARTH_RADIUS * GLONASS_EARTH_RADIUS) / r0_5 * y0 * (1 - 5 * 1 / (z0*z0)) + Jy_moon + Jy_sun;
-            dVz_1  = - GLONASS_GM / r0_3 * z0 + 3/2 * GLONASS_C20 * GLONASS_GM * (GLONASS_EARTH_RADIUS * GLONASS_EARTH_RADIUS) / r0_5 * z0 * (3 - 5 * 1 / (z0*z0)) + Jz_moon + Jz_sun;
+            dVx_1  = - GLONASS_GM / r0_3 * x_0 + 3/2 * GLONASS_C20 * GLONASS_GM * pow(GLONASS_EARTH_RADIUS, 2) / r0_5 * x_0 * (1 - 5 * 1 / (z_0*z_0)) + d_Jx_moon + d_Jx_sun;
+            dVy_1  = - GLONASS_GM / r0_3 * y_0 + 3/2 * GLONASS_C20 * GLONASS_GM * pow(GLONASS_EARTH_RADIUS, 2) / r0_5 * y_0 * (1 - 5 * 1 / (z_0*z_0)) + d_Jy_moon + d_Jy_sun;
+            dVz_1  = - GLONASS_GM / r0_3 * z_0 + 3/2 * GLONASS_C20 * GLONASS_GM * pow(GLONASS_EARTH_RADIUS, 2) / r0_5 * z_0 * (3 - 5 * 1 / (z_0*z_0)) + d_Jz_moon + d_Jz_sun;
 
-            dx_1  = Vx0;
-            dy_1  = Vy0;
-            dz_1  = Vz0;
+            dx_1  = Vx_0;
+            dy_1  = Vy_0;
+            dz_1  = Vz_0;
 
             // Runge-Kutta Integration Stage K2
-            Vx_1  = Vx0 + 1/2 * tau * dVx_1;
-            Vy_1  = Vy0 + 1/2 * tau * dVy_1;
-            Vz_1  = Vz0 + 1/2 * tau * dVz_1;
+            Vx_1  = Vx_0 + 1/2 * tau * dVx_1;
+            Vy_1  = Vy_0 + 1/2 * tau * dVy_1;
+            Vz_1  = Vz_0 + 1/2 * tau * dVz_1;
 
-            x_1   = x0  + 1/2 * tau * dx_1;
-            y_1   = y0  + 1/2 * tau * dy_1;
-            z_1   = z0  + 1/2 * tau * dz_1;
+            x_1   = x_0  + 1/2 * tau * dx_1;
+            y_1   = y_0  + 1/2 * tau * dy_1;
+            z_1   = z_0  + 1/2 * tau * dz_1;
 
             r1  = sqrt( x_1*x_1 + y_1*y_1 + z_1*z_1 );
             r1_2    = r1*r1;
             r1_3    = r1*r1*r1;
             r1_5    = r1*r1*r1*r1*r1;
 
-            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax0;
-            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay0;
-            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az0;
+            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax_0;
+            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay_0;
+            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az_0;
 
             dx_2  = Vx_1;
             dy_2  = Vy_1;
             dz_2  = Vz_1;
 
             // Runge-Kutta Integration Stage K2
-            Vx_2  = Vx0 + 1/2 * tau * dVx_2;
-            Vy_2  = Vy0 + 1/2 * tau * dVy_2;
-            Vz_2  = Vz0 + 1/2 * tau * dVz_2;
+            Vx_2  = Vx_0 + 1/2 * tau * dVx_2;
+            Vy_2  = Vy_0 + 1/2 * tau * dVy_2;
+            Vz_2  = Vz_0 + 1/2 * tau * dVz_2;
 
-            x_2   = x0  + 1/2 * tau * dx_2;
-            y_2   = y0  + 1/2 * tau * dy_2;
-            z_2   = z0  + 1/2 * tau * dz_2;
+            x_2   = x_0  + 1/2 * tau * dx_2;
+            y_2   = y_0  + 1/2 * tau * dy_2;
+            z_2   = z_0  + 1/2 * tau * dz_2;
 
             r2  = sqrt( x_2*x_2 + y_2*y_2 + z_2*z_2 );
             r2_2 = r2*r2;
@@ -547,54 +703,54 @@ double Glonass_GNAV_Ephemeris::satellitePosition(double transmitTime)
             r2_5 = r2*r2*r2*r2*r2;
 
 
-            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax0;
-            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay0;
-            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az0;
+            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax_0;
+            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay_0;
+            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az_0;
 
             dx_3  = Vx_2;
             dy_3  = Vy_2;
             dz_3  = Vz_2;
 
             // Runge-Kutta Integration Stage K3
-            Vx_3  = Vx0 + tau * dVx_3;
-            Vy_3  = Vy0 + tau * dVy_3;
-            Vz_3  = Vz0 + tau * dVz_3;
+            Vx_3  = Vx_0 + tau * dVx_3;
+            Vy_3  = Vy_0 + tau * dVy_3;
+            Vz_3  = Vz_0 + tau * dVz_3;
 
-            x_3   = x0  + tau * dx_3;
-            y_3   = y0  + tau * dy_3;
-            z_3   = z0  + tau * dz_3;
+            x_3   = x_0  + tau * dx_3;
+            y_3   = y_0  + tau * dy_3;
+            z_3   = z_0  + tau * dz_3;
 
             r3  = sqrt( x_3*x_3 + y_3*y_3 + z_3*z_3 );
             r3_2 = r3*r3;
             r3_3 = r3*r3*r3;
             r3_5 = r3*r3*r3*r3*r3;
 
-            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax0;
-            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay0;
-            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * (GLONASS_a*GLONASS_a) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az0;
+            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax_0;
+            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay_0;
+            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az_0;
 
             dx_4  = Vx_3;
             dy_4  = Vy_3;
             dz_4  = Vz_3;
 
             // Final results showcased here
-            Vx0  = Vx0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
-            Vy0  = Vy0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
-            Vz0  = Vz0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
+            d_satvel_X  = Vx_0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
+            d_satvel_Y  = Vy_0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
+            d_satvel_Z  = Vz_0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
 
-            x0   = x0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
-            y0   = y0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
-            z0   = z0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
+            d_satpos_X   = x_0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
+            d_satpos_Y   = y_0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
+            d_satpos_Z   = z_0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
 
         }
 
     // Time from ephemeris reference clock
-    tk = check_t(transmitTime - d_Toc);
+    //tk = check_t(transmitTime - d_Toc);
 
-    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
+    //double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
 
     /* relativity correction */
-    dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
+    //dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
 
-    return dtr_s;
+    return d_dtr;
 }
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 6a2ab046d..d0edcc69b 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -41,11 +41,11 @@
 
 
 /*!
- * \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD Edition 5.1
+ * \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD (Edition 5.1)
  *
- * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
  */
-class Glonass_GNAV_Ephemeris
+class Glonass_Gnav_Ephemeris
 {
 private:
     /*
@@ -57,10 +57,15 @@ private:
      */
     double check_t(double time);
 
-    double gravitational_perturbations(const double mu);
+    void gravitational_perturbations();
 
     double d_Jx_moon;           //!< Moon gravitational perturbation
+    double d_Jy_moon;           //!< Moon gravitational perturbation
+    double d_Jz_moon;           //!< Moon gravitational perturbation
+
     double d_Jx_sun;            //!< Sun gravitational perturbation
+    double d_Jy_sun;            //!< Sun gravitational perturbation
+    double d_Jz_sun;            //!< Sun gravitational perturbation
 
 public:
     unsigned int i_satellite_freq_channel; // SV Frequency Channel Number
@@ -70,18 +75,20 @@ public:
     double d_M;               //!< Type of satellite transmitting navigation signal [dimensionless]
     double d_gamma_n;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
     double d_tau_n;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+
     // satellite positions
-    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    double d_Xn;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_Yn;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_Zn;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
     // Satellite velocity
-    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_VXn;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_VYn;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_VZn;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
     // Satellite acceleration
-    double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_AXn;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_AYn;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_AZn;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+
     double d_B_n;             //!< Health flag [dimensionless]
     double d_P;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
     double d_N_T;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
@@ -99,6 +106,19 @@ public:
     double d_satClkDrift;    //!< GPS clock error
     double d_dtr;            //!< relativistic clock correction term
 
+    // satellite positions
+    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    // Satellite acceleration
+    double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+
     template<class Archive>
 
     /*!
@@ -137,7 +157,7 @@ public:
      * \param transmitTime Time of ephemeris transmission
      * \return clock bias of satellite
      */
-    double simplifiedSatellitePosition(double transmitTime);
+    double simplified_satellite_position(double transmitTime);
 
     /*!
      * \brief Compute the ECEF SV coordinates and ECEF velocity
@@ -146,7 +166,7 @@ public:
      * \param transmitTime Time of ephemeris transmission
      * \return clock bias of satellite
      */
-    double satellitePosition(double transmitTime);
+    double satellite_position(double transmitTime);
 
     /*!
      * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
@@ -164,7 +184,7 @@ public:
     /*!
      * Default constructor
      */
-    Glonass_GNAV_Ephemeris();
+    Glonass_Gnav_Ephemeris();
 };
 
 #endif
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
new file mode 100644
index 000000000..0dc90d25d
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -0,0 +1,577 @@
+/*!
+m * \file glonass_gnav_navigation_message.cc
+ * \brief  Implementation of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "glonass_gnav_navigation_message.h"
+#include <cmath>
+#include <iostream>
+#include <gnss_satellite.h>
+
+
+void Glonass_Gnav_Navigation_Message::reset()
+{
+    b_valid_ephemeris_set_flag = false;
+    double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+    d_TOW_SF1 = 0;            //!< Time of GPS Week from HOW word of Subframe 1 [s]
+    d_TOW_SF2 = 0;            //!< Time of GPS Week from HOW word of Subframe 2 [s]
+    d_TOW_SF3 = 0;            //!< Time of GPS Week from HOW word of Subframe 3 [s]
+    d_TOW_SF4 = 0;            //!< Time of GPS Week from HOW word of Subframe 4 [s]
+    d_TOW_SF5 = 0;            //!< Time of GPS Week from HOW word of Subframe 5 [s]
+
+    d_m = 0.0;               //!< String number within frame [dimensionless]
+    d_t_k = 0.0;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
+    d_t_b = 0.0;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
+    d_M = 0.0;               //!< Type of satellite transmitting navigation signal [dimensionless]
+    d_gamma_n = 0.0;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+    d_tau_n = 0.0;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+    d_B_n = 0.0;             //!< Health flag [dimensionless]
+    d_P = 0.0;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+    d_N_T = 0.0;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+    d_F_T = 0.0;             //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+    d_n = 0.0;               //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+    d_Delta_tau_n = 0.0;     //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+    d_E_n = 0.0;             //!< Characterises "age" of a current information [days]
+    d_P_1 = 0.0;             //!< Flag of the immediate data updating.
+    d_P_2 = 0.0;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    d_P_3 = 0.0;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    d_P_4 = 0.0;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    d_l_n = 0.0;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+
+    // Almanac and Not Inmediate Information
+    d_tau_c = 0.0;             //!< GLONASS time scale correction to UTC(SU) time. [s]
+    d_tau_gps = 0.0;           //!< Correction to GPS time to GLONASS time [day]
+    d_N_4 = 0.0;               //!< Four year interval number starting from 1996 [4 year interval]
+    d_N_A = 0.0;               //!< Calendar day number within the four-year period beginning since the leap year [days]
+    d_n_A = 0.0;               //!< Conventional number of satellite within GLONASS space segment [dimensionless]
+    d_H_n_A = 0.0;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite [dimensionless]
+    d_lambda_n_A = 0.0;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
+    d_t_lambda_n_A = 0.0;      //!< Time of first ascending node passage [s]
+    d_Delta_i_n_A = 0.0;        //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
+    d_Delta_T_n_A = 0.0;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period]
+    d_Delta_T_n_A_dot = 0.0;   //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
+    d_epsilon_n_A = 0.0;       //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
+    d_omega_n_A = 0.0;         //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles]
+    d_M_n_A = 0.0;             //!< Type of satellite n_A [dimensionless]
+    d_B1 = 0.0;                //!< Coefficient  to  determine DeltaUT1 [s]
+    d_B2 = 0.0;                //!< Coefficient  to  determine DeltaUT1 [s/msd]
+    d_KP = 0.0;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
+    d_tau_n_A = 0.0;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
+    d_C_n_A = 0.0;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+
+    std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
+
+
+    /*! \brief If true, enhanced level of integrity assurance.
+     *
+     *  If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
+     *  That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
+     *  value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
+     *  than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
+     *  integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
+     *  times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
+     *  accompanying alert, is less than 1E-8 per hour.
+     */
+    b_integrity_status_flag = false;
+    b_alert_flag = false;      //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+    b_antispoofing_flag = false;  //!<  If true, the AntiSpoofing mode is ON in that SV
+
+    // Clock terms
+    d_satClkCorr = 0.0;     // Satellite clock error
+    d_dtr = 0.0;            // Relativistic clock correction term
+    d_satClkDrift = 0.0;    // Satellite clock drift
+
+    // satellite identification info
+    int i_channel_ID = 0;
+    int i_satellite_freq_channel = 0; //!< SV PRN NUMBER
+
+    // time synchro
+    d_subframe_timestamp_ms = 0; //[ms]
+
+    // UTC parameters
+    bool flag_utc_model_valid = false; //!< If set, it indicates that the UTC model parameters are filled
+
+    // satellite positions
+    d_satpos_X = 0.0;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    d_satpos_Y = 0.0;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    d_satpos_Z = 0.0;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    d_satvel_X = 0.0;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    d_satvel_Y = 0.0;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    d_satvel_Z = 0.0;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    // Satellite acceleration
+    d_satacc_X = 0.0;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_satacc_Y = 0.0;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_satacc_Z = 0.0;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+
+    auto gnss_sat = Gnss_Satellite();
+    std::string _system ("GLONASS");
+    //TODO SHould number of channels be hardcoded?
+    for(unsigned int i = 1; i < 14; i++)
+        {
+            satelliteBlock[i] = gnss_sat.what_block(_system, i);
+        }
+}
+
+
+Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
+{
+    reset();
+}
+
+
+bool Glonass_Gnav_Navigation_Message::read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter)
+{
+    bool value;
+
+    if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+        {
+            value = true;
+        }
+    else
+        {
+            value = false;
+        }
+    return value;
+}
+
+
+unsigned long int Glonass_Gnav_Navigation_Message::read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter)
+{
+    unsigned long int value = 0;
+    int num_of_slices = parameter.size();
+    for (int i = 0; i < num_of_slices; i++)
+        {
+            for (int j = 0; j < parameter[i].second; j++)
+                {
+                    value <<= 1; //shift left
+                    if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
+                        {
+                            value += 1; // insert the bit
+                        }
+                }
+        }
+    return value;
+}
+
+
+signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter)
+{
+    signed long int value = 0;
+    int num_of_slices = parameter.size();
+    // Discriminate between 64 bits and 32 bits compiler
+    int long_int_size_bytes = sizeof(signed long int);
+    if (long_int_size_bytes == 8) // if a long int takes 8 bytes, we are in a 64 bits system
+        {
+            // read the MSB and perform the sign extension
+            if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+                {
+                    value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable
+                }
+            else
+                {
+                    value &= 0;
+                }
+
+            for (int i = 0; i < num_of_slices; i++)
+                {
+                    for (int j = 0; j < parameter[i].second; j++)
+                        {
+                            value <<= 1; //shift left
+                            value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable)
+                            if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
+                                {
+                                    value += 1; // insert the bit
+                                }
+                        }
+                }
+        }
+    else  // we assume we are in a 32 bits system
+        {
+            // read the MSB and perform the sign extension
+            if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+                {
+                    value ^= 0xFFFFFFFF;
+                }
+            else
+                {
+                    value &= 0;
+                }
+
+            for (int i = 0; i < num_of_slices; i++)
+                {
+                    for (int j = 0; j < parameter[i].second; j++)
+                        {
+                            value <<= 1; //shift left
+                            value &= 0xFFFFFFFE; //reset the corresponding bit
+                            if (bits[GPS_SUBFRAME_BITS - parameter[i].first - j] == 1)
+                                {
+                                    value += 1; // insert the bit
+                                }
+                        }
+                }
+        }
+    return value;
+}
+
+int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string, int frame_ID)
+{
+    int string_ID = 0;
+
+    // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string(frame_string));
+
+    string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
+
+    // Decode all 15 string messages
+    switch (string_ID)
+        {
+        case 1:
+            //--- It is string 1 -----------------------------------------------
+            gnav_ephemeris.d_P_1 = static_cast<double>(read_navigation_unsigned(string_bits, P1));
+            gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K));
+            gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT));
+            gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT));
+            gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N));
+
+            break;
+
+        case 2:
+            //--- It is string 2 -----------------------------------------------
+            gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
+            gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
+            gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B));
+            gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT));
+            gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT));
+            gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N));
+
+            break;
+
+        case 3:
+            // --- It is string 3 ----------------------------------------------
+            gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
+            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N));
+            gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
+            gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
+            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT));
+            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT));
+            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N));
+
+            break;
+
+        case 4:
+            // --- It is subframe 4 --------------------------------------------
+            // TODO signed vs unsigned reading from datasheet
+            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N));
+            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N));
+            gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
+            gnav_ephemeris.d_P_4 = static_cast<double>(read_navigation_unsigned(string_bits, P4));
+            gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
+            gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
+            gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
+            gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
+
+            break;
+
+        case 5:
+            // --- It is string 5 ----------------------------------------------
+            // TODO signed vs unsigned reading from datasheet
+            d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
+            d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
+            d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
+            d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+
+            break;
+
+        case 6:
+            // --- It is string 6 ----------------------------------------------
+            // TODO signed vs unsigned reading from datasheet
+            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+
+            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+
+            flag_almanac_str_6 = true;
+
+            break;
+
+        case 7:
+            // --- It is string 7 ----------------------------------------------
+            if (flag_almanac_str_6 == true)
+              {
+                // TODO signed vs unsigned reading from datasheet
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+
+                flag_almanac_str_7 = true;
+              }
+
+
+            break;
+        case 8:
+            // --- It is string 8 ----------------------------------------------
+            // TODO signed vs unsigned reading from datasheet
+            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+
+            flag_almanac_str_8 = true;
+
+            break;
+
+        case 9:
+            // --- It is string 9 ----------------------------------------------
+            if (flag_almanac_str_8 == true)
+              {
+                // TODO signed vs unsigned reading from datasheet
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+
+                flag_almanac_str_9 = true;
+              }
+        case 10:
+            // --- It is string 8 ----------------------------------------------
+            // TODO signed vs unsigned reading from datasheet
+            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+
+            flag_almanac_str_10 = true;
+
+            break;
+
+        case 11:
+            // --- It is string 9 ----------------------------------------------
+            if (flag_almanac_str_10 == true)
+              {
+                // TODO signed vs unsigned reading from datasheet
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+
+                flag_almanac_str_11 = true;
+              }
+            break;
+        case 12:
+            // --- It is string 8 ----------------------------------------------
+            // TODO signed vs unsigned reading from datasheet
+            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+
+            flag_almanac_str_12 = true;
+
+            break;
+
+        case 13:
+            // --- It is string 9 ----------------------------------------------
+            if (flag_almanac_str_12 == true)
+              {
+                // TODO signed vs unsigned reading from datasheet
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+
+                flag_almanac_str_13 = true;
+              }
+        case 14:
+            // --- It is string 8 ----------------------------------------------
+            if( frame_number == 5)
+              {
+                gnav_utc_model.B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
+                gnav_utc_model.B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
+              }
+            else
+              {
+                // TODO signed vs unsigned reading from datasheet
+                i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+
+                flag_almanac_str_14 = true;
+              }
+
+
+            break;
+
+        case 15:
+            // --- It is string 9 ----------------------------------------------
+            if (frame_number != 5 and flag_almanac_str_14 = true )
+              {
+                // TODO signed vs unsigned reading from datasheet
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+
+                flag_almanac_str_15 = true;
+              }
+        default:
+            break;
+        } // switch subframeID ...
+
+    return subframe_ID;
+}
+
+
+
+
+double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corrected) const
+{
+    double t_utc;
+
+    t_utc = glonass_time_corrected + 3*3600 + d_tau_c;
+    return t_utc;
+}
+
+
+
+Glonass_Gnav_Ephemeris Glonass_Gnav_Navigation_Message::get_ephemeris()
+{
+    Glonass_Gnav_Ephemeris ephemeris;
+
+    ephemeris.i_satellite_freq_channel = i_satellite_freq_channel;
+    ephemeris.d_m = d_m;
+    ephemeris.d_t_k = d_t_k;
+    ephemeris.d_t_b = d_t_b;
+    ephemeris.d_M = d_M;
+    ephemeris.d_gamma_n = d_gamma_n;
+    ephemeris.d_tau_n = d_tau_n;
+    // satellite positions
+    ephemeris.d_satpos_X = d_satpos_X;
+    ephemeris.d_satpos_Y = d_satpos_Y;
+    ephemeris.d_satpos_Z = d_satpos_Z;
+    // Satellite velocity
+    ephemeris.d_satvel_X = d_satvel_X;
+    ephemeris.d_satvel_Y = d_satvel_Y;
+    ephemeris.d_satvel_Z = d_satvel_Z;
+    // Satellite acceleration
+    ephemeris.d_satacc_X = d_satacc_X;
+    ephemeris.d_satacc_Y = d_satacc_Y;
+    ephemeris.d_satacc_Z = d_satacc_Z;
+    ephemeris.d_B_n = d_B_n;
+    ephemeris.d_P = d_P;
+    ephemeris.d_N_T = d_N_T;
+    ephemeris.d_F_T = d_F_T;
+    ephemeris.d_n = d_n;
+    ephemeris.d_Delta_tau_n = d_Delta_tau_n;
+    ephemeris.d_E_n = d_E_n;
+    ephemeris.d_P_1 = d_P_1;
+    ephemeris.d_P_2 = d_P_2;
+    ephemeris.d_P_3 = d_P_3;
+    ephemeris.d_P_4 = d_P_4;
+    ephemeris.d_l_n = d_l_n;
+
+    // clock terms derived from ephemeris data
+    ephemeris.d_satClkDrift = d_satClkDrift;
+    ephemeris.d_dtr = d_dtr;
+
+    return ephemeris;
+}
+
+
+Glonass_Gnav_Utc_Model Glonass_Gnav_Navigation_Message::get_utc_model()
+{
+    Gps_Utc_Model utc_model;
+    utc_model.valid = flag_utc_model_valid;
+    // UTC parameters
+    utc_model.d_A1 = d_A1;
+    utc_model.d_A0 = d_A0;
+    utc_model.d_t_OT = d_t_OT;
+    utc_model.i_WN_T = i_WN_T;
+    utc_model.d_DeltaT_LS = d_DeltaT_LS;
+    utc_model.i_WN_LSF = i_WN_LSF;
+    utc_model.i_DN = i_DN;
+    utc_model.d_DeltaT_LSF = d_DeltaT_LSF;
+    // warning: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
+    flag_utc_model_valid = false;
+    return utc_model;
+}
+
+
+bool Glonass_Gnav_Navigation_Message::satellite_validation()
+{
+    bool flag_data_valid = false;
+    b_valid_ephemeris_set_flag = false;
+
+    // First Step:
+    // check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
+    // and check if the data have been filled (!=0)
+    if (d_TOW_SF1 != 0 and d_TOW_SF2 != 0 and d_TOW_SF3 != 0)
+        {
+            if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!= -1)
+                {
+                    flag_data_valid = true;
+                    b_valid_ephemeris_set_flag = true;
+                }
+        }
+    return flag_data_valid;
+}
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
new file mode 100644
index 000000000..0098f6d9a
--- /dev/null
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -0,0 +1,203 @@
+/*!
+ * \file glonass_gnav_navigation_message.h
+ * \brief  Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_
+#define GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_
+
+
+#include <bitset>
+#include <map>
+#include <string>
+#include <utility>
+#include <vector>
+#include "GLONASS_L1_CA.h"
+#include "glonass_gnav_ephemeris.h"
+//#include "gps_iono.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_utc_model.h"
+
+
+
+/*!
+ * \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1)
+ *
+ * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdfdescribed in IS-GPS-200E
+ *
+ */
+class Glonass_Gnav_Navigation_Message
+{
+private:
+    unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
+    signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
+    bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
+    bool _CRC_test(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
+
+    unsigned int get_frame_number(unsigned int satellite_slot_number);
+
+public:
+    bool b_valid_ephemeris_set_flag; // flag indicating that this ephemeris set have passed the validation check
+    int Page_type_time_stamp;
+    int flag_even_word;
+    std::string page_Even;
+    bool flag_CRC_test;
+
+    Glonass_Gnav_Ephemeris gnav_ephemeris;      //!< Ephemeris information decoded
+    Glonass_Gnav_Iono gnav_iono;                //!< Iono corrections information
+    Glonass_Gnav_Utc_Model gnav_utc_model;      //!< UTC model information
+    Glonass_Gnav_Almanac gnav_almanac[24];      //!< Almanac information for all 24 satellites
+
+    //!< Ephmeris Flags
+    bool flag_all_ephemeris;  //!< Flag indicating that all strings containing ephemeris have been received
+    bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (word 1) have been received
+    bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (word 2) have been received
+    bool flag_ephemeris_str_3;    //!< Flag indicating that ephemeris 3/4 (word 3) have been received
+    bool flag_ephemeris_str_4;    //!< Flag indicating that ephemeris 4/4 (word 4) have been received
+
+    bool flag_iono_and_GST;   //!< Flag indicating that ionospheric and GST parameters (word 5) have been received
+    bool flag_TOW_5;
+    bool flag_TOW_6;
+    bool flag_TOW_set;        //!< it is true when page 5 or page 6 arrives
+    bool flag_utc_model;      //!< Flag indicating that utc model parameters (word 6) have been received
+
+    bool flag_all_almanac;        //!< Flag indicating that all almanac have been received
+    bool flag_almanac_str_6;      //!< Flag indicating that almanac 1/4 (word 7) have been received
+    bool flag_almanac_str_7;      //!< Flag indicating that almanac 2/4 (word 8) have been received
+    bool flag_almanac_str_8;      //!< Flag indicating that almanac 3/4 (word 9) have been received
+    bool flag_almanac_str_9;      //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_almanac_str_10;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_almanac_str_11;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_almanac_str_12;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_almanac_str_13;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_almanac_str_14;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_almanac_str_15;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+
+    //broadcast orbit 1
+    //TODO Need to send the information regarding the frame number
+    double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+    double d_TOW_F1;            //!< Time of GPS Week from HOW word of Subframe 1 [s]
+    double d_TOW_F2;            //!< Time of GPS Week from HOW word of Subframe 2 [s]
+    double d_TOW_F3;            //!< Time of GPS Week from HOW word of Subframe 3 [s]
+    double d_TOW_F4;            //!< Time of GPS Week from HOW word of Subframe 4 [s]
+    double d_TOW_F5;            //!< Time of GPS Week from HOW word of Subframe 5 [s]
+
+    // Clock terms
+    double d_satClkCorr;     // Satellite clock error
+    double d_dtr;            // Relativistic clock correction term
+    double d_satClkDrift;    // Satellite clock drift
+
+    // satellite identification info
+    int i_channel_ID;
+    unsigned int i_satellite_PRN;   //!< SV PRN Number
+    int i_satellite_freq_channel;   //!< SV Frequency Slot Number
+    int i_satellite_slot_number;    //!< SV Orbit Slot Number
+
+    // UTC parameters
+    bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
+
+    // satellite positions
+    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    // Satellite velocity
+    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    // Satellite acceleration
+    double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+
+    /*!
+     * \brief Reset GLONASS GNAV Navigation Information
+     */
+    void reset();
+
+    /*!
+     * \brief Obtain a GLONASS GNAV SV Ephemeris class filled with current SV data
+     */
+    Glonass_Gnav_Ephemeris get_ephemeris();
+
+    /*!
+    // TODO Should I keep this function ?
+     * \brief Obtain a GPS ionospheric correction parameters class filled with current SV data
+     */
+    Glonass_Gnav_Iono get_iono();
+
+    /*!
+     * \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data
+     */
+    Glonass_Gnav_Utc_Model get_utc_model();
+
+    /*
+     * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
+     */
+    Glonass_Gnav_Almanac get_almanac();
+
+    /*
+     * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_ephemeris();
+
+    /*
+     * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_iono();
+
+    /*
+     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_utc_model();
+
+    /*
+     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_almanac();
+
+
+
+    /*!
+     * \brief Decodes the GLONASS GNAV frame
+     */
+    int string_decoder(char *string, int frame_ID);
+
+    /*!
+     * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
+     */
+    double utc_time(const double gpstime_corrected) const;
+
+    /*!
+     * Default constructor
+     */
+    Glonass_Gnav_Navigation_Message();
+};
+
+#endif
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.cc b/src/core/system_parameters/glonass_gnav_utc_model.cc
index 921195298..55ca5ccee 100644
--- a/src/core/system_parameters/glonass_gnav_utc_model.cc
+++ b/src/core/system_parameters/glonass_gnav_utc_model.cc
@@ -35,6 +35,11 @@ Glonass_Gnav_Utc_Model::Glonass_Gnav_Utc_Model()
 {
     valid = false;
     d_tau_c = 0.0;
+    d_tau_gps = 0.0;
+    d_N_4 = 0.0;
+    d_N_A = 0.0;
+    d_B1 = 0.0;
+    d_B2 = 0.0;
 }
 
 double Glonass_Gnav_Utc_Model::utc_time(double glonass_time_corrected)
@@ -43,6 +48,6 @@ double Glonass_Gnav_Utc_Model::utc_time(double glonass_time_corrected)
 
     // GLONASS Time is relative to UTC Moscow, so we simply add its time difference
     t_utc = glonass_time_corrected + 3*3600 + d_tau_c;
-    
+
     return t_utc;
 }
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.h b/src/core/system_parameters/glonass_gnav_utc_model.h
index b08c4bdce..51d47f6c3 100644
--- a/src/core/system_parameters/glonass_gnav_utc_model.h
+++ b/src/core/system_parameters/glonass_gnav_utc_model.h
@@ -45,7 +45,30 @@ class Glonass_Gnav_Utc_Model
 public:
     bool valid;
     // UTC
-    double d_tau_c;     //!< GLONASS time scale correction to UTC(SU) time. [s]
+    double d_tau_c;             //!< GLONASS time scale correction to UTC(SU) time. [s]
+    double d_tau_gps;           //!< Correction to GPS time to GLONASS time [day]
+    double d_N_4;               //!< Four year interval number starting from 1996 [4 year interval]
+    double d_N_A;               //!< Calendar day number within the four-year period beginning since the leap year [days]
+    double d_B1;                //!< Coefficient  to  determine DeltaUT1 [s]
+    double d_B2;                //!< Coefficient  to  determine DeltaUT1 [s/msd]
+
+    template<class Archive>
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the almanac data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+
+        archive & make_nvp("valid",valid);
+        archive & make_nvp("d_tau_c", d_tau_c);
+        archive & make_nvp("d_tau_gps", d_tau_gps);
+        archive & make_nvp("d_N_4", d_N_4);
+        archive & make_nvp("d_N_A", d_N_A);
+        archive & make_nvp("d_B1", d_B1);
+        archive & make_nvp("d_B2", d_B2);
+    }
 
     /*!
      * Default constructor
@@ -58,18 +81,6 @@ public:
      */
     double utc_time(double glonass_time_corrected);
 
-    template<class Archive>
-    /*
-     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
-     */
-    void serialize(Archive& archive, const unsigned int version)
-    {
-        using boost::serialization::make_nvp;
-        if(version){};
-        archive & make_nvp("valid",valid);
-        archive & make_nvp("d_tau_c",d_tau_c);
-    }
-
 };
 
 #endif
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 60b33a4d0..36c5620d7 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -59,6 +59,11 @@
 
 #include "sbas_ephemeris.h"
 
+#include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_iono.h"
+#include "glonass_gnav_utc_model.h"
+
 using google::LogMessage;
 
 DECLARE_string(log_dir);
@@ -139,7 +144,8 @@ DECLARE_string(log_dir);
 #endif
 #endif
 
-
+#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
+#include "unit-tests/system-parameters/glonass_gnav_almanac_test.cc"
 
 // For GPS NAVIGATION (L1)
 concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
new file mode 100644
index 000000000..650daa341
--- /dev/null
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
@@ -0,0 +1,76 @@
+/*!
+ * \file code_generation_test.cc
+ * \brief  This file implements tests for the generation of complex exponentials.
+ * \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <complex>
+#include <ctime>
+#include "gps_sdr_signal_processing.h"
+#include "gnss_signal_processing.h"
+
+
+
+#include <complex>
+#include <ctime>
+#include "gnss_signal_processing.h"
+#include "glonass_gnav_almanac.h"
+
+// See A 3.2.3
+TEST(GlonassGnavEphemerisTest, SatellitePosition)
+{
+    double N_i = 615;           // [days]
+    double t_i = 33300.0        // [seconds]
+    double Xoi = 10947.021572;  // [km]
+    double Yoi = 13078.978287;  // [km]
+    double Zoi = 18922.063362;  // [km]
+    double Vxoi = -3.375497     // [m/s]
+    double Vyoi = -0.161453;    // [Кm/s]
+    double Vzoi = 2.060844;     // [Кm/s]
+
+    Glonass_Gnav_Ephemeris gnav_almanac;
+
+    gnav_almanac.d_N_A              = 615;              // [days]
+    gnav_almanac.d_lambda_n_A       = -0.189986229;     // [half cycles]
+    gnav_almanac.d_t_lambda_n_A     = 27122.09375;      // [second]
+    gnav_almanac.d_Delta_i_n_A      = 0.011929512;      // [half cycle]
+    gnav_almanac.d_Delta_T_n_A      = -2655.76171875;   // [seconds]
+    gnav_almanac.d_Delta_T_n_A_dot  = 0.000549316;      // [Secjnds/cycle2]
+    gnav_almanac.d_epsilon_n_A      = 0.001482010;      // [unitless]
+    gnav_almanac.d_omega_n_A        = 0.440277100;      // [Half cycle]
+
+    gnav_almanac.satellite_position(N_i, t_i);
+
+    ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
+    ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
+    ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
+    ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
+    ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
+    ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
+}
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
new file mode 100644
index 000000000..44497f114
--- /dev/null
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -0,0 +1,54 @@
+/*!
+ * \file code_generation_test.cc
+ * \brief  This file implements tests for the generation of complex exponentials.
+ * \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <complex>
+#include <ctime>
+#include "gnss_signal_processing.h"
+#include "glonass_gnav_ephemeris.h"
+
+
+TEST(GlonassGnavEphemerisTest, SatellitePosition)
+{
+    Glonass_Gnav_Ephemeris gnav_eph;
+
+    gnav_eph.d_Xn = 12317.934082000;
+    gnav_eph.d_Yn = -2245.13232422;
+    gnav_eph.d_Zn = 22212.8173828;
+    gnav_eph.d_VXn = -1.25356674194;
+    gnav_eph.d_VYn = 2.774200439450;
+    gnav_eph.d_VZn = 0.9808206558230000;
+    gnav_eph.d_AXn = -0.931322574616e-9;
+    gnav_eph.d_AYn = 0.0000000000000000;
+    gnav_eph.d_AZn =  -0.186264514923e-8;
+
+    gnav_eph.simplified_satellite_position(60);
+}

From 6c8a29d3d46f40967b73e26937dacf92ddccfb43 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 6 Jul 2017 23:02:50 -0700
Subject: [PATCH 248/379] writing code for crc computation in GLONASS
 processing

---
 src/core/system_parameters/GLONASS_L1_CA.h    |   9 ++
 .../glonass_gnav_navigation_message.cc        | 111 +++++++++++++++++-
 2 files changed, 119 insertions(+), 1 deletion(-)

diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index cc5ff2db4..1b5eeefc9 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -107,6 +107,15 @@ const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
 const int GLONASS_GNAV_FRAME_MS = 30000;        //!< Subframe duration [seconds]
 const int GLONASS_GNAV_STRING_BITS = 115;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
 
+const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
+const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
+const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
+const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
+const std::vector<int> GLONASS_GNAV_CRC_M_INDEX {20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 81, 82, 83, 84, 85};
+const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
+const std::vector<int> GLONASS_GNAV_CRC_P_INDEX {66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
+const std::vector<int> GLONASS_GNAV_CRC_Q_INDEX {9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
+
 // GLONASS GNAV NAVIGATION MESSAGE STRUCTURE
 // NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix II)
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 0dc90d25d..7fcc00cad 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -145,6 +145,81 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
     reset();
 }
 
+bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits )
+{
+    int sum;
+
+    //!< Compute C1 term
+    sum = 0;
+    for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size; i++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]
+        }
+    C1 = hamming_code_bits[0]^fmod(sum,2);
+
+    //!< Compute C2 term
+    sum = 0;
+    for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size; j++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]]
+        }
+    C2 = hamming_code_bits[1]^fmod(sum,2);
+
+    //!< Compute C3 term
+    sum = 0;
+    for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size; k++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]]
+        }
+    C3 = hamming_code_bits[2]^fmod(sum,2);
+
+    //!< Compute C4 term
+    sum = 0;
+    for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size; l++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]]
+        }
+    C4 = hamming_code_bits[3]^fmod(sum,2);
+
+    //!< Compute C5 term
+    sum = 0;
+    for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size; m++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]]
+        }
+    C5 = hamming_code_bits[4]^fmod(sum,2);
+
+    //!< Compute C6 term
+    sum = 0;
+    for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size; n++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]]
+        }
+    C6 = hamming_code_bits[5]^fmod(sum,2);
+
+    //!< Compute C7 term
+    sum = 0;
+    for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size; p++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]]
+        }
+    C7 = hamming_code_bits[6]^fmod(sum,2);
+
+    //!< Compute C8 term
+    sum = 0;
+    for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size; q++)
+        {
+            sum += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]]
+        }
+    C8 = hamming_code_bits[7]^fmod(sum,2);
+
+    if isempty(find(C,1)) || (length(find(C(1,1:7))) == 1 && C(1,8) == 1)
+         status = 1;
+     else
+         status = 0;
+     end
+}
+
 
 bool Glonass_Gnav_Navigation_Message::read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter)
 {
@@ -240,12 +315,46 @@ signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bit
     return value;
 }
 
-int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string, int frame_ID)
+unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int satellite_slot_number)
+{
+    unsigned int frame_ID = 0;
+
+    if(satellite_slot_number >= 1 and satellite_slot_number <= 5 )
+        {
+            frame_ID = 1;
+        }
+    else if(satellite_slot_number >= 6 and satellite_slot_number <= 10 )
+        {
+            frame_ID = 2;
+        }
+    else if(satellite_slot_number >= 11 and satellite_slot_number <= 15 )
+        {
+            frame_ID = 3;
+        }
+    else if(satellite_slot_number >= 16 and satellite_slot_number <= 20 )
+        {
+            frame_ID = 4;
+        }
+    else if(satellite_slot_number >= 21 and satellite_slot_number <= 24 )
+        {
+            frame_ID = 5;
+        }
+    else
+        {
+            //TODO Find print statement and make it an error
+            frame_ID = 0;
+        }
+}
+
+int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 {
     int string_ID = 0;
+    int frame_ID = 0;
 
     // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
     std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string(frame_string));
+    std::bitset<GLONASS_GNAV_STRING_BITS> data_bits(std::string(frame_string), 0, 77);
+    std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits(std::string(frame_string), 77, 8);
 
     string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
 

From b34a82a949a481fbecc0df429c509a941bd1039e Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 9 Jul 2017 23:00:49 -0700
Subject: [PATCH 249/379] Adding code for telemetry decoder algorithms

---
 .../glonass_l1_ca_telemetry_decoder.cc        | 102 ++++
 .../glonass_l1_ca_telemetry_decoder.h         |  91 ++++
 .../glonass_l1_ca_telemetry_decoder_cc.cc     | 441 ++++++++++++++++++
 .../glonass_l1_ca_telemetry_decoder_cc.h      | 114 +++++
 src/core/system_parameters/GLONASS_L1_CA.h    |   6 +-
 .../glonass_gnav_navigation_message.cc        | 339 +++++++-------
 .../glonass_gnav_navigation_message.h         |  93 ++--
 7 files changed, 952 insertions(+), 234 deletions(-)
 create mode 100644 src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
 create mode 100644 src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
 create mode 100644 src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
 create mode 100644 src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h

diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
new file mode 100644
index 000000000..868fb3304
--- /dev/null
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
@@ -0,0 +1,102 @@
+/*!
+ * \file glonass_l1_ca_telemetry_decoder.cc
+ * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
+ * to a TelemetryDecoderInterface
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "glonass_l1_ca_telemetry_decoder.h"
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include "concurrent_queue.h"
+#include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_iono.h"
+#include "glonass_gnav_utc_model.h"
+#include "configuration_interface.h"
+
+using google::LogMessage;
+
+GlonassL1CaTelemetryDecoder::GlonassL1CaTelemetryDecoder(ConfigurationInterface* configuration,
+        std::string role,
+        unsigned int in_streams,
+        unsigned int out_streams) :
+        role_(role),
+        in_streams_(in_streams),
+        out_streams_(out_streams)
+{
+    std::string default_dump_filename = "./navigation.dat";
+    DLOG(INFO) << "role " << role;
+    dump_ = configuration->property(role + ".dump", false);
+    dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
+    // make telemetry decoder object
+    telemetry_decoder_ = glonass_l1_ca_make_telemetry_decoder_cc(satellite_, dump_); // TODO fix me
+    DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
+
+    DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
+    channel_ = 0;
+}
+
+
+GlonassL1CaTelemetryDecoder::~GlonassL1CaTelemetryDecoder()
+{}
+
+
+void GlonassL1CaTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
+{
+    satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
+    telemetry_decoder_->set_satellite(satellite_);
+    DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
+}
+
+
+void GlonassL1CaTelemetryDecoder::connect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    // Nothing to connect internally
+    DLOG(INFO) << "nothing to connect internally";
+}
+
+
+void GlonassL1CaTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
+{
+    if(top_block) { /* top_block is not null */};
+    // Nothing to disconnect
+}
+
+
+gr::basic_block_sptr GlonassL1CaTelemetryDecoder::get_left_block()
+{
+    return telemetry_decoder_;
+}
+
+
+gr::basic_block_sptr GlonassL1CaTelemetryDecoder::get_right_block()
+{
+    return telemetry_decoder_;
+}
diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
new file mode 100644
index 000000000..d9d883a71
--- /dev/null
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
@@ -0,0 +1,91 @@
+/*!
+ * \file glonass_l1_ca_telemetry_decoder.h
+ * \brief Interface of an adapter of a GLONASS L1 C/A NAV data decoder block
+ * to a TelemetryDecoderInterface
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_TELEMETRY_DECODER_H_
+#define GNSS_SDR_GLONASS_L1_CA_TELEMETRY_DECODER_H_
+
+#include <string>
+#include "telemetry_decoder_interface.h"
+#include "glonass_l1_ca_telemetry_decoder_cc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a NAV data decoder for GLONASS L1 C/A
+ */
+class GlonassL1CaTelemetryDecoder : public TelemetryDecoderInterface
+{
+public:
+    GlonassL1CaTelemetryDecoder(ConfigurationInterface* configuration,
+            std::string role,
+            unsigned int in_streams,
+            unsigned int out_streams);
+
+    virtual ~GlonassL1CaTelemetryDecoder();
+    std::string role()
+    {
+        return role_;
+    }
+
+    //! Returns "GLONASS_L1_CA_Telemetry_Decoder"
+    std::string implementation()
+    {
+        return "GLONASS_L1_CA_Telemetry_Decoder";
+    }
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+    void set_satellite(Gnss_Satellite satellite);
+    void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
+    void reset()
+    {
+        return;
+    }
+    size_t item_size()
+    {
+        return 0;
+    }
+
+private:
+    glonass_l1_ca_telemetry_decoder_cc_sptr telemetry_decoder_;
+    Gnss_Satellite satellite_;
+    int channel_;
+    bool dump_;
+    std::string dump_filename_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
new file mode 100644
index 000000000..6318977f5
--- /dev/null
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -0,0 +1,441 @@
+/*!
+ * \file galileo_e1b_telemetry_decoder_cc.cc
+ * \brief Implementation of a Galileo INAV message demodulator block
+ * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
+ * \author Javier Arribas 2013. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "galileo_e1b_telemetry_decoder_cc.h"
+#include <cstdio>
+#include <cstdlib>
+#include <iostream>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include "control_message_factory.h"
+#include "gnss_synchro.h"
+#include "convolutional.h"
+
+
+#define CRC_ERROR_LIMIT 6
+
+using google::LogMessage;
+
+
+glonass_l1_ca_telemetry_decoder_cc_sptr
+glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump)
+{
+    return glonass_l1_ca_telemetry_decoder_cc_sptr(new glonass_l1_ca_telemetry_decoder_cc(satellite, dump));
+}
+
+
+glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
+        Gnss_Satellite satellite,
+        bool dump) :
+                   gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
+                           gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+    // Telemetry Bit transition synchronization port out
+    this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
+    // Ephemeris data port out
+    this->message_port_register_out(pmt::mp("telemetry"));
+    // initialize internal vars
+    d_dump = dump;
+    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
+    LOG(INFO) << "Initializing GLONASS L1CA TELEMETRY PROCESSING";
+    // TODO. WHAT IS THIS?
+    d_samples_per_symbol = ( GLONASS_L1_CODE_CHIP_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
+
+    // set the preamble
+    unsigned short int preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS] = GLONASS_GNAV_PREAMBLE;
+    d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
+
+    memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GLONASS_GNAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
+
+    // preamble bits to sampled symbols
+    d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
+    int n = 0;
+    for (int i = 0; i < GLONASS_GNAV_PREAMBLE_LENGTH_BITS; i++)
+        {
+            for (unsigned int j = 0; j < d_samples_per_symbol; j++)
+                {
+                    if (d_preambles_bits[i] == 1)
+                        {
+                            d_preambles_symbols[n] = 1;
+                        }
+                    else
+                        {
+                            d_preambles_symbols[n] = -1;
+                        }
+                    n++;
+                }
+        }
+    d_sample_counter = 0;
+    d_stat = 0;
+    d_preamble_index = 0;
+
+    d_flag_frame_sync = false;
+
+    d_flag_parity = false;
+    d_TOW_at_current_symbol = 0;
+    delta_t = 0;
+    d_CRC_error_counter = 0;
+    flag_even_word_arrived = 0;
+    d_flag_preamble = false;
+    d_channel = 0;
+    flag_TOW_set = false;
+}
+
+
+glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
+{
+    delete d_preambles_symbols;
+    d_dump_file.close();
+}
+
+
+void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *page_part_symbols,int frame_length)
+{
+    double page_part_symbols_deint[frame_length];
+
+    // 2. Viterbi decoder
+    // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
+    // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180�
+    for (int i = 0; i < frame_length; i++)
+        {
+            if ((i + 1) % 2 == 0)
+                {
+                    page_part_symbols_deint[i] = -page_part_symbols_deint[i];
+                }
+        }
+
+    int page_part_bits[frame_length/2];
+    viterbi_decoder(page_part_symbols_deint, page_part_bits);
+
+    // 3. Call the Galileo page decoder
+    std::string page_String;
+    for(int i = 0; i < (frame_length/2); i++)
+        {
+            if (page_part_bits[i] > 0)
+                {
+                    page_String.push_back('1');
+                }
+            else
+                {
+                    page_String.push_back('0');
+                }
+        }
+
+    d_nav.decode_string(page_String);
+
+    if(d_nav.flag_CRC_test == true)
+        {
+            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite;
+            std::cout << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
+        }
+    else
+        {
+            std::cout << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite << std::endl;
+            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
+        }
+
+
+
+    // 4. Push the new navigation data to the queues
+    if (d_nav.have_new_ephemeris() == true)
+        {
+            // get object for this SV (mandatory)
+            std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
+
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+
+        }
+    if (d_nav.have_new_utc_model() == true)
+        {
+            // get object for this SV (mandatory)
+            std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+        }
+    if (d_nav.have_new_almanac() == true)
+        {
+            std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac());
+            this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            //debug
+            std::cout << "GLONASS GNAV almanac received!" << std::endl;
+            DLOG(INFO) << "Current parameters:";
+            DLOG(INFO) << "d_TOW_at_current_symbol=" << d_TOW_at_current_symbol;
+            DLOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0;
+            delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (d_TOW_at_current_symbol - tmp_obj->t_0G_10 + 604800 * (fmod((d_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
+            DLOG(INFO) << "delta_t=" << delta_t << "[s]";
+        }
+}
+
+
+
+
+int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+    int corr_value = 0;
+    int preamble_diff = 0;
+
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+    const Gnss_Synchro **in = (const Gnss_Synchro **)  &input_items[0]; //Get the input samples pointer
+
+    Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
+    //1. Copy the current tracking output
+    current_symbol = in[0][0];
+    d_symbol_history.push_back(current_symbol); //add new symbol to the symbol queue
+    d_sample_counter++; //count for the processed samples
+    consume_each(1);
+
+    d_flag_preamble = false;
+    unsigned int required_symbols=GLONASS_GNAV_PAGE_SYMBOLS+d_symbols_per_preamble;
+
+    if (d_symbol_history.size()>required_symbols)
+    {
+        //******* preamble correlation ********
+        for (int i = 0; i < d_symbols_per_preamble; i++)
+            {
+                if (d_symbol_history.at(i).Prompt_I < 0)    // symbols clipping
+                    {
+                        corr_value -= d_preambles_symbols[i];
+                    }
+                else
+                    {
+                        corr_value += d_preambles_symbols[i];
+                    }
+            }
+    }
+
+    //******* frame sync ******************
+    if (d_stat == 0) //no preamble information
+        {
+            if (abs(corr_value) >= d_symbols_per_preamble)
+                {
+                    d_preamble_index = d_sample_counter;//record the preamble sample stamp
+                    LOG(INFO) << "Preamble detection for GLONASS L1 C/A SAT " << this->d_satellite;
+                    d_stat = 1; // enter into frame pre-detection status
+                }
+        }
+    else if (d_stat == 1) // posible preamble lock
+        {
+            if (abs(corr_value) >= d_symbols_per_preamble)
+                {
+                    //check preamble separation
+                    preamble_diff = d_sample_counter - d_preamble_index;
+                    if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
+                        {
+                            //try to decode frame
+                            LOG(INFO) << "Starting page decoder for GLONASS L1 C/A SAT " << this->d_satellite;
+                            d_preamble_index = d_sample_counter; //record the preamble sample stamp
+                            d_stat = 2;
+                        }
+                    else
+                        {
+                            if (preamble_diff > GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS)
+                                {
+                                    d_stat = 0; // start again
+                                }
+                        }
+                }
+        }
+    else if (d_stat == 2)
+        {
+            if (d_sample_counter == d_preamble_index + GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS)
+                {
+                    // NEW GLONASS string received
+                    // 0. fetch the symbols into an array
+                    int frame_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
+                    double page_part_symbols[frame_length];
+
+                    //******* SYMBOL TO BIT *******
+                    if (d_symbol_history.at(0).Flag_valid_symbol_output == true)
+                        {
+                            // extended correlation to bit period is enabled in tracking!
+                            d_symbol_accumulator += d_symbol_history.at(0).Prompt_I; // accumulate the input value in d_symbol_accumulator
+                            d_symbol_accumulator_counter += d_symbol_history.at(0).correlation_length_ms;
+                        }
+                    if (d_symbol_accumulator_counter >= 20)
+                         {
+                         }
+
+                    for (int i = 0; i < frame_length; i++)
+                        {
+                            if (corr_value > 0)
+                                {
+                                    page_part_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
+
+                                }
+                            else
+                                {
+                                    page_part_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
+                                }
+                        }
+
+                    //call the decoder
+                    decode_string(page_part_symbols);
+                    if (d_nav.flag_CRC_test == true)
+                        {
+                            d_CRC_error_counter = 0;
+                            d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
+                            d_preamble_index = d_sample_counter;  //record the preamble sample stamp (t_P)
+                            if (!d_flag_frame_sync)
+                                {
+                                    d_flag_frame_sync = true;
+                                    DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
+                                            << d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
+                                }
+                        }
+                    else
+                        {
+                            d_CRC_error_counter++;
+                            d_preamble_index = d_sample_counter;  //record the preamble sample stamp
+                            if (d_CRC_error_counter > CRC_ERROR_LIMIT)
+                                {
+                                    LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
+                                    d_flag_frame_sync = false;
+                                    d_stat = 0;
+                                }
+                        }
+                }
+        }
+
+    // UPDATE GNSS SYNCHRO DATA
+    //2. Add the telemetry decoder information
+    if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
+        //update TOW at the preamble instant
+        {
+            if(d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
+                {
+                //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
+                    d_TOW_at_current_symbol = d_nav.TOW_5  + GALILEO_INAV_PAGE_PART_SECONDS+((double)required_symbols)*GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
+                    d_nav.flag_TOW_5 = false;
+                }
+
+            else if(d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
+                {
+                    //TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
+                    d_TOW_at_current_symbol = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS+((double)required_symbols)*GALILEO_E1_CODE_PERIOD;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
+                    d_nav.flag_TOW_6 = false;
+                }
+            else
+                {
+                    //this page has no timing information
+                    d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
+                }
+        }
+    else //if there is not a new preamble, we define the TOW of the current symbol
+        {
+            d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;
+        }
+
+    //if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
+
+    if(d_nav.flag_GGTO_1 == true  and  d_nav.flag_GGTO_2 == true and  d_nav.flag_GGTO_3 == true and  d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
+        {
+            delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
+        }
+
+    if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
+        {
+            current_symbol.Flag_valid_word = true;
+        }
+    else
+        {
+            current_symbol.Flag_valid_word = false;
+        }
+
+    current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
+    current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
+
+    if(d_dump == true)
+        {
+            // MULTIPLEXED FILE RECORDING - Record results to file
+            try
+            {
+                double tmp_double;
+                unsigned long int tmp_ulong_int;
+                tmp_double = d_TOW_at_current_symbol;
+                d_dump_file.write((char*)&tmp_double, sizeof(double));
+                tmp_ulong_int = current_symbol.Tracking_sample_counter;
+                d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
+                tmp_double = 0;
+                d_dump_file.write((char*)&tmp_double, sizeof(double));
+            }
+            catch (const std::ifstream::failure & e)
+            {
+                    LOG(WARNING) << "Exception writing observables dump file " << e.what();
+            }
+        }
+
+    // remove used symbols from history
+    if (d_symbol_history.size()>required_symbols)
+    {
+        d_symbol_history.pop_front();
+    }
+    //3. Make the output (copy the object contents to the GNURadio reserved memory)
+    *out[0] = current_symbol;
+
+    return 1;
+}
+
+
+void glonass_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
+{
+    d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
+    DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
+    DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
+}
+
+
+void glonass_l1_ca_telemetry_decoder_cc::set_channel(int channel)
+{
+    d_channel = channel;
+    LOG(INFO) << "Navigation channel set to " << channel;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_filename = "telemetry";
+                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+                            d_dump_filename.append(".dat");
+                            d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
+                    }
+                    catch (const std::ifstream::failure& e)
+                    {
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
+                    }
+                }
+        }
+}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
new file mode 100644
index 000000000..bfd9d975e
--- /dev/null
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -0,0 +1,114 @@
+/*!
+ * \file glonass_l1_ca_telemetry_decoder_cc.h
+ * \brief Interface of a GLONASS GNAV message demodulator block
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GLONASS_L1_CA_TELEMETRY_DECODER_CC_H
+#define GNSS_SDR_GLONASS_L1_CA_TELEMETRY_DECODER_CC_H
+
+#include <fstream>
+#include <string>
+#include <gnuradio/block.h>
+#include "GLONASS_L1_CA.h"
+#include "concurrent_queue.h"
+#include "gnss_satellite.h"
+#include "glonass_gnav_navigation_message.h"
+#include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_iono.h"
+#include "glonass_gnav_utc_model.h"
+#include "gnss_synchro.h"
+
+
+
+class glonass_l1_ca_telemetry_decoder_cc;
+
+typedef boost::shared_ptr<glonass_l1_ca_telemetry_decoder_cc> glonass_l1_ca_telemetry_decoder_cc_sptr;
+
+glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
+
+/*!
+ * \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD
+ *
+ */
+class glonass_l1_ca_telemetry_decoder_cc : public gr::block
+{
+public:
+    ~glonass_l1_ca_telemetry_decoder_cc();
+    void set_satellite(Gnss_Satellite satellite);  //!< Set satellite PRN
+    void set_channel(int channel);                 //!< Set receiver's channel
+
+    /*!
+     * \brief This is where all signal processing takes place
+     */
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+private:
+    friend glonass_l1_ca_telemetry_decoder_cc_sptr
+    glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
+    glonass_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
+
+    void decode_word(double *symbols,int frame_length);
+
+    //!< Preamble decoding
+    unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
+    int *d_preambles_symbols;
+    unsigned int d_samples_per_symbol;
+    int d_symbols_per_preamble;
+
+    //!< Storage for incoming data
+    std::deque<Gnss_Synchro> d_symbol_history;
+
+    //!< Variables for internal functionality
+    long unsigned int d_sample_counter;     //!< Sample counter as an index (1,2,3,..etc) indicating number of samples processed
+    long unsigned int d_preamble_index;     //!< Index of sample number where preamble was found
+    unsigned int d_stat;                    //!< Status of decoder
+    bool d_flag_frame_sync;                 //!< Indicate when a frame sync is achieved
+    bool d_flag_parity;                     //!< Flag indicating when parity check was achieved (crc check)
+    bool d_flag_preamble;
+    int d_CRC_error_counter;
+    bool flag_TOW_set;      //!<
+    double delta_t;         //!< GPS-GLONASS time offset
+    
+    //!< Navigation Message variable
+    Glonass_Gnav_Navigation_Message d_nav;
+
+    //!< Values to populate gnss synchronization structure
+    double d_TOW_at_current_symbol;
+    bool Flag_valid_word;
+
+    //!< Satellite Information and logging capacity
+    Gnss_Satellite d_satellite;
+    int d_channel;
+    bool d_dump;
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+};
+
+#endif
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 1b5eeefc9..158dae798 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -84,6 +84,7 @@ const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;       //!< GLONASS L1 C/
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;         //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
+const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;
 
 const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
 
@@ -91,7 +92,6 @@ const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (
 const int GLONASS_L1_CA_HISTORY_DEEP = 100;
 
 // NAVIGATION MESSAGE DEMODULATION AND DECODING
-
 #define GLONASS_CA_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
 const int GLONASS_CA_PREAMBLE_LENGTH_BITS = 30;
 const int GLONASS_CA_PREAMBLE_LENGTH_SYMBOLS = 300;
@@ -99,9 +99,7 @@ const double GLONASS_CA_PREAMBLE_DURATION_S = 0.3;
 const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
 const int GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT = 10;
 const int GLONASS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_CA_TELEMETRY_RATE_BITS_SECOND*GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT;   //!< NAV message bit rate [symbols/s]
-
-const int GLONASS_GNAV_WORD_LENGTH = 4;         //!< \TODO cHECK this, size is not integer bte size
-const int GLONASS_GNAV_FRAME_LENGTH = 40;       //!< \TODO GPS_WORD_LENGTH x 10 = 40 bytes
+const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
 const int GLONASS_GNAV_FRAME_BITS = 1725;       //!< Number of chips per frame in the GNAV message  15 strings*(85 data bits + 30 time mark bits)[bits]
 const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
 const int GLONASS_GNAV_FRAME_MS = 30000;        //!< Subframe duration [seconds]
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 7fcc00cad..db5b84eee 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -37,98 +37,55 @@ m * \file glonass_gnav_navigation_message.cc
 
 void Glonass_Gnav_Navigation_Message::reset()
 {
-    b_valid_ephemeris_set_flag = false;
-    double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    d_TOW_SF1 = 0;            //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    d_TOW_SF2 = 0;            //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    d_TOW_SF3 = 0;            //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    d_TOW_SF4 = 0;            //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    d_TOW_SF5 = 0;            //!< Time of GPS Week from HOW word of Subframe 5 [s]
+    //!< Satellite Identification
+    i_channel_ID = 0;               //!< Channel ID assigned by the receiver
+    i_satellite_freq_channel = 0;   //!< SV Frequency Slot Number
+    i_satellite_slot_number = 0;    //!< SV Orbit Slot Number
 
-    d_m = 0.0;               //!< String number within frame [dimensionless]
-    d_t_k = 0.0;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
-    d_t_b = 0.0;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
-    d_M = 0.0;               //!< Type of satellite transmitting navigation signal [dimensionless]
-    d_gamma_n = 0.0;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
-    d_tau_n = 0.0;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
-    d_B_n = 0.0;             //!< Health flag [dimensionless]
-    d_P = 0.0;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
-    d_N_T = 0.0;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
-    d_F_T = 0.0;             //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
-    d_n = 0.0;               //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
-    d_Delta_tau_n = 0.0;     //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
-    d_E_n = 0.0;             //!< Characterises "age" of a current information [days]
-    d_P_1 = 0.0;             //!< Flag of the immediate data updating.
-    d_P_2 = 0.0;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-    d_P_3 = 0.0;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-    d_P_4 = 0.0;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    d_l_n = 0.0;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    //!< Ephmeris Flags
+    flag_all_ephemeris = false;
+    flag_ephemeris_str_1 = false;
+    flag_ephemeris_str_2 = false;
+    flag_ephemeris_str_3 = false;
+    flag_ephemeris_str_4 = false;
 
-    // Almanac and Not Inmediate Information
-    d_tau_c = 0.0;             //!< GLONASS time scale correction to UTC(SU) time. [s]
-    d_tau_gps = 0.0;           //!< Correction to GPS time to GLONASS time [day]
-    d_N_4 = 0.0;               //!< Four year interval number starting from 1996 [4 year interval]
-    d_N_A = 0.0;               //!< Calendar day number within the four-year period beginning since the leap year [days]
-    d_n_A = 0.0;               //!< Conventional number of satellite within GLONASS space segment [dimensionless]
-    d_H_n_A = 0.0;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite [dimensionless]
-    d_lambda_n_A = 0.0;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
-    d_t_lambda_n_A = 0.0;      //!< Time of first ascending node passage [s]
-    d_Delta_i_n_A = 0.0;        //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
-    d_Delta_T_n_A = 0.0;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period]
-    d_Delta_T_n_A_dot = 0.0;   //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
-    d_epsilon_n_A = 0.0;       //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
-    d_omega_n_A = 0.0;         //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles]
-    d_M_n_A = 0.0;             //!< Type of satellite n_A [dimensionless]
-    d_B1 = 0.0;                //!< Coefficient  to  determine DeltaUT1 [s]
-    d_B2 = 0.0;                //!< Coefficient  to  determine DeltaUT1 [s/msd]
-    d_KP = 0.0;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
-    d_tau_n_A = 0.0;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
-    d_C_n_A = 0.0;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    //!< Almanac Flags
+    flag_all_almanac = false;
+    flag_almanac_str_6  = false;
+    flag_almanac_str_7  = false;
+    flag_almanac_str_8  = false;
+    flag_almanac_str_9  = false;
+    flag_almanac_str_10 = false;
+    flag_almanac_str_11 = false;
+    flag_almanac_str_12 = false;
+    flag_almanac_str_13 = false;
+    flag_almanac_str_14 = false;
+    flag_almanac_str_15 = false;
 
-    std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
+    //!< UTC and System Clocks Flags
+    flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled
+    flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
+    flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
+    flag_TOW_5;
+    flag_TOW_6;
+    flag_TOW_set;              //!< it is true when page 5 or page 6 arrives
 
-
-    /*! \brief If true, enhanced level of integrity assurance.
-     *
-     *  If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
-     *  That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
-     *  value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
-     *  than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
-     *  integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
-     *  times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
-     *  accompanying alert, is less than 1E-8 per hour.
-     */
-    b_integrity_status_flag = false;
-    b_alert_flag = false;      //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
-    b_antispoofing_flag = false;  //!<  If true, the AntiSpoofing mode is ON in that SV
+    //broadcast orbit 1
+    //TODO Need to send the information regarding the frame number
+    double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+    double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
+    double d_TOW_F2;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
+    double d_TOW_F3;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
+    double d_TOW_F4;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
+    double d_TOW_F5;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     // Clock terms
-    d_satClkCorr = 0.0;     // Satellite clock error
-    d_dtr = 0.0;            // Relativistic clock correction term
-    d_satClkDrift = 0.0;    // Satellite clock drift
+    d_satClkCorr = 0.0;
+    d_dtr = 0.0;
+    d_satClkDrift = 0.0;
 
-    // satellite identification info
-    int i_channel_ID = 0;
-    int i_satellite_freq_channel = 0; //!< SV PRN NUMBER
 
-    // time synchro
-    d_subframe_timestamp_ms = 0; //[ms]
-
-    // UTC parameters
-    bool flag_utc_model_valid = false; //!< If set, it indicates that the UTC model parameters are filled
-
-    // satellite positions
-    d_satpos_X = 0.0;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    d_satpos_Y = 0.0;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    d_satpos_Z = 0.0;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    d_satvel_X = 0.0;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    d_satvel_Y = 0.0;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    d_satvel_Z = 0.0;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-    // Satellite acceleration
-    d_satacc_X = 0.0;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-    d_satacc_Y = 0.0;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-    d_satacc_Z = 0.0;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
 
     auto gnss_sat = Gnss_Satellite();
     std::string _system ("GLONASS");
@@ -145,79 +102,97 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
     reset();
 }
 
+
 bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits )
 {
-    int sum;
+    int sum_bits;
+    int sum_hamming;
 
     //!< Compute C1 term
-    sum = 0;
+    sum_bits = 0;
     for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size; i++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
         }
-    C1 = hamming_code_bits[0]^fmod(sum,2);
+    C1 = hamming_code_bits[0]^fmod(sum_bits,2);
 
     //!< Compute C2 term
-    sum = 0;
+    sum_bits = 0;
     for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size; j++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
         }
-    C2 = hamming_code_bits[1]^fmod(sum,2);
+    C2 = hamming_code_bits[1]^fmod(sum_bits,2);
 
     //!< Compute C3 term
-    sum = 0;
+    sum_bits = 0;
     for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size; k++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
         }
-    C3 = hamming_code_bits[2]^fmod(sum,2);
+    C3 = hamming_code_bits[2]^fmod(sum_bits,2);
 
     //!< Compute C4 term
-    sum = 0;
+    sum_bits = 0;
     for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size; l++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
         }
-    C4 = hamming_code_bits[3]^fmod(sum,2);
+    C4 = hamming_code_bits[3]^fmod(sum_bits,2);
 
     //!< Compute C5 term
-    sum = 0;
+    sum_bits = 0;
     for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size; m++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
         }
-    C5 = hamming_code_bits[4]^fmod(sum,2);
+    C5 = hamming_code_bits[4]^fmod(sum_bits,2);
 
     //!< Compute C6 term
-    sum = 0;
+    sum_bits = 0;
     for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size; n++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
         }
-    C6 = hamming_code_bits[5]^fmod(sum,2);
+    C6 = hamming_code_bits[5]^fmod(sum_bits,2);
 
     //!< Compute C7 term
-    sum = 0;
+    sum_bits = 0;
     for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size; p++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
         }
-    C7 = hamming_code_bits[6]^fmod(sum,2);
+    C7 = hamming_code_bits[6]^fmod(sum_bits,2);
 
-    //!< Compute C8 term
-    sum = 0;
+    //!< Compute C_Sigma term
+    sum_bits = 0;
+    sum_hamming = 0;
     for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size; q++)
         {
-            sum += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]]
+            sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
         }
-    C8 = hamming_code_bits[7]^fmod(sum,2);
+    for(int q = 0; q < 8; q++)
+        {
+            sum_hamming += hamming_code_bits[q];
+        }
+    C_Sigma = fmod(sum_bits, 2)^fmod(sum_bits,2);
 
-    if isempty(find(C,1)) || (length(find(C(1,1:7))) == 1 && C(1,8) == 1)
-         status = 1;
-     else
-         status = 0;
-     end
+
+    //!< Verification of the data
+    // All of the checksums are equal to zero
+    if((C1 & C2 & C3 & C4 & C5 & C6 & C7 & C_Sigma) == 0 )
+        {
+            return true;
+        }
+    // only one of the checksums (C1,...,C7) is equal to zero but C_Sigma = 1
+    else if(C_Sigma == 1 && C1+C2+C3+C4+C5+C6+C7 == 6)
+        {
+            return true;
+        }
+    else
+        {
+            return false;
+        }
 }
 
 
@@ -315,6 +290,7 @@ signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bit
     return value;
 }
 
+
 unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int satellite_slot_number)
 {
     unsigned int frame_ID = 0;
@@ -346,6 +322,7 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
         }
 }
 
+
 int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 {
     int string_ID = 0;
@@ -591,8 +568,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 }
 
 
-
-
 double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corrected) const
 {
     double t_utc;
@@ -602,71 +577,25 @@ double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corre
 }
 
 
-
 Glonass_Gnav_Ephemeris Glonass_Gnav_Navigation_Message::get_ephemeris()
 {
-    Glonass_Gnav_Ephemeris ephemeris;
-
-    ephemeris.i_satellite_freq_channel = i_satellite_freq_channel;
-    ephemeris.d_m = d_m;
-    ephemeris.d_t_k = d_t_k;
-    ephemeris.d_t_b = d_t_b;
-    ephemeris.d_M = d_M;
-    ephemeris.d_gamma_n = d_gamma_n;
-    ephemeris.d_tau_n = d_tau_n;
-    // satellite positions
-    ephemeris.d_satpos_X = d_satpos_X;
-    ephemeris.d_satpos_Y = d_satpos_Y;
-    ephemeris.d_satpos_Z = d_satpos_Z;
-    // Satellite velocity
-    ephemeris.d_satvel_X = d_satvel_X;
-    ephemeris.d_satvel_Y = d_satvel_Y;
-    ephemeris.d_satvel_Z = d_satvel_Z;
-    // Satellite acceleration
-    ephemeris.d_satacc_X = d_satacc_X;
-    ephemeris.d_satacc_Y = d_satacc_Y;
-    ephemeris.d_satacc_Z = d_satacc_Z;
-    ephemeris.d_B_n = d_B_n;
-    ephemeris.d_P = d_P;
-    ephemeris.d_N_T = d_N_T;
-    ephemeris.d_F_T = d_F_T;
-    ephemeris.d_n = d_n;
-    ephemeris.d_Delta_tau_n = d_Delta_tau_n;
-    ephemeris.d_E_n = d_E_n;
-    ephemeris.d_P_1 = d_P_1;
-    ephemeris.d_P_2 = d_P_2;
-    ephemeris.d_P_3 = d_P_3;
-    ephemeris.d_P_4 = d_P_4;
-    ephemeris.d_l_n = d_l_n;
-
-    // clock terms derived from ephemeris data
-    ephemeris.d_satClkDrift = d_satClkDrift;
-    ephemeris.d_dtr = d_dtr;
-
-    return ephemeris;
+    return gnav_ephemeris;
 }
 
 
 Glonass_Gnav_Utc_Model Glonass_Gnav_Navigation_Message::get_utc_model()
 {
-    Gps_Utc_Model utc_model;
-    utc_model.valid = flag_utc_model_valid;
-    // UTC parameters
-    utc_model.d_A1 = d_A1;
-    utc_model.d_A0 = d_A0;
-    utc_model.d_t_OT = d_t_OT;
-    utc_model.i_WN_T = i_WN_T;
-    utc_model.d_DeltaT_LS = d_DeltaT_LS;
-    utc_model.i_WN_LSF = i_WN_LSF;
-    utc_model.i_DN = i_DN;
-    utc_model.d_DeltaT_LSF = d_DeltaT_LSF;
-    // warning: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
-    flag_utc_model_valid = false;
-    return utc_model;
+    return gnav_utc_model;
 }
 
 
-bool Glonass_Gnav_Navigation_Message::satellite_validation()
+Glonass_Gnav_Almanac get_almanac()
+{
+    return gnav_almanac;
+}
+
+
+bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
     bool flag_data_valid = false;
     b_valid_ephemeris_set_flag = false;
@@ -674,7 +603,7 @@ bool Glonass_Gnav_Navigation_Message::satellite_validation()
     // First Step:
     // check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
     // and check if the data have been filled (!=0)
-    if (d_TOW_SF1 != 0 and d_TOW_SF2 != 0 and d_TOW_SF3 != 0)
+    if (d_TOW_F1 != 0 and d_TOW_F2 != 0 and d_TOW_F3 != 0)
         {
             if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!= -1)
                 {
@@ -682,5 +611,67 @@ bool Glonass_Gnav_Navigation_Message::satellite_validation()
                     b_valid_ephemeris_set_flag = true;
                 }
         }
-    return flag_data_valid;
+
+
+    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and (flag_iono_and_GST == true))
+        {
+            //if all ephemeris pages have the same IOD, then they belong to the same block
+            if ((gnav_ephemeris.d_t_b== IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
+                {
+                    std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+                    flag_ephemeris_1 = false;// clear the flag
+                    flag_ephemeris_2 = false;// clear the flag
+                    flag_ephemeris_3 = false;// clear the flag
+                    flag_ephemeris_4 = false;// clear the flag
+                    flag_all_ephemeris = true;
+                    IOD_ephemeris = IOD_nav_1;
+                    std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
+                    return true;
+                }
+            else
+                {
+                    return false;
+                }
+        }
+    else
+        return false;
+}
+
+
+bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
+{
+    if (flag_utc_model == true)
+        {
+            flag_utc_model = false; // clear the flag
+            return true;
+        }
+    else
+        return false;
+}
+
+
+bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a new almanac data set stored in the galileo navigation class
+{
+    if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true) and
+        (flag_almanac_str_8 == true) and (flag_almanac_str_9 == true) and
+        (flag_almanac_str_10 == true) and (flag_almanac_str_11 == true) and
+        (flag_almanac_str_12 == true) and (flag_almanac_str_13 == true) and
+        (flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
+        {
+            //All almanac have been received
+            flag_almanac_str_6 = false;
+            flag_almanac_str_7 = false;
+            flag_almanac_str_8 = false;
+            flag_almanac_str_9 = false;
+            flag_almanac_str_10 = false;
+            flag_almanac_str_11 = false;
+            flag_almanac_str_12 = false;
+            flag_almanac_str_13 = false;
+            flag_almanac_str_14 = false;
+            flag_almanac_str_15 = false;
+            flag_all_almanac = true;
+            return true;
+        }
+    else
+        return false;
 }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 0098f6d9a..d16f4b651 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -64,78 +64,61 @@ private:
     unsigned int get_frame_number(unsigned int satellite_slot_number);
 
 public:
-    bool b_valid_ephemeris_set_flag; // flag indicating that this ephemeris set have passed the validation check
-    int Page_type_time_stamp;
-    int flag_even_word;
-    std::string page_Even;
     bool flag_CRC_test;
+    unsigned int u_frame_number;
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;      //!< Ephemeris information decoded
-    Glonass_Gnav_Iono gnav_iono;                //!< Iono corrections information
+    //Glonass_Gnav_Iono gnav_iono;                //!< Iono corrections information
     Glonass_Gnav_Utc_Model gnav_utc_model;      //!< UTC model information
     Glonass_Gnav_Almanac gnav_almanac[24];      //!< Almanac information for all 24 satellites
 
+    //!< Satellite Identification
+    int i_channel_ID;               //!< Channel ID assigned by the receiver
+    int i_satellite_freq_channel;   //!< SV Frequency Slot Number
+    int i_satellite_slot_number;    //!< SV Orbit Slot Number
+
     //!< Ephmeris Flags
     bool flag_all_ephemeris;  //!< Flag indicating that all strings containing ephemeris have been received
-    bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (word 1) have been received
-    bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (word 2) have been received
-    bool flag_ephemeris_str_3;    //!< Flag indicating that ephemeris 3/4 (word 3) have been received
-    bool flag_ephemeris_str_4;    //!< Flag indicating that ephemeris 4/4 (word 4) have been received
+    bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
+    bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (string 2) have been received
+    bool flag_ephemeris_str_3;    //!< Flag indicating that ephemeris 3/4 (string 3) have been received
+    bool flag_ephemeris_str_4;    //!< Flag indicating that ephemeris 4/4 (string 4) have been received
 
-    bool flag_iono_and_GST;   //!< Flag indicating that ionospheric and GST parameters (word 5) have been received
+    //!< Almanac Flags
+    bool flag_all_almanac;        //!< Flag indicating that all almanac have been received
+    bool flag_almanac_str_6;      //!< Flag indicating that almanac of string 6 have been received
+    bool flag_almanac_str_7;      //!< Flag indicating that almanac of string 7 have been received
+    bool flag_almanac_str_8;      //!< Flag indicating that almanac of string 8 have been received
+    bool flag_almanac_str_9;      //!< Flag indicating that almanac of string 9 have been received
+    bool flag_almanac_str_10;     //!< Flag indicating that almanac of string 10 have been received
+    bool flag_almanac_str_11;     //!< Flag indicating that almanac of string 11 have been received
+    bool flag_almanac_str_12;     //!< Flag indicating that almanac of string 12 have been received
+    bool flag_almanac_str_13;     //!< Flag indicating that almanac of string 13 have been received
+    bool flag_almanac_str_14;     //!< Flag indicating that almanac of string 14 have been received
+    bool flag_almanac_str_15;     //!< Flag indicating that almanac of string 15 have been received
+
+    //!< UTC and System Clocks Flags
+    bool flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled
+    bool flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
+    bool flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
     bool flag_TOW_5;
     bool flag_TOW_6;
-    bool flag_TOW_set;        //!< it is true when page 5 or page 6 arrives
-    bool flag_utc_model;      //!< Flag indicating that utc model parameters (word 6) have been received
-
-    bool flag_all_almanac;        //!< Flag indicating that all almanac have been received
-    bool flag_almanac_str_6;      //!< Flag indicating that almanac 1/4 (word 7) have been received
-    bool flag_almanac_str_7;      //!< Flag indicating that almanac 2/4 (word 8) have been received
-    bool flag_almanac_str_8;      //!< Flag indicating that almanac 3/4 (word 9) have been received
-    bool flag_almanac_str_9;      //!< Flag indicating that almanac 4/4 (word 10) have been received
-    bool flag_almanac_str_10;     //!< Flag indicating that almanac 4/4 (word 10) have been received
-    bool flag_almanac_str_11;     //!< Flag indicating that almanac 4/4 (word 10) have been received
-    bool flag_almanac_str_12;     //!< Flag indicating that almanac 4/4 (word 10) have been received
-    bool flag_almanac_str_13;     //!< Flag indicating that almanac 4/4 (word 10) have been received
-    bool flag_almanac_str_14;     //!< Flag indicating that almanac 4/4 (word 10) have been received
-    bool flag_almanac_str_15;     //!< Flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_TOW_set;              //!< it is true when page 5 or page 6 arrives
 
     //broadcast orbit 1
     //TODO Need to send the information regarding the frame number
-    double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    double d_TOW_F1;            //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    double d_TOW_F2;            //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    double d_TOW_F3;            //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    double d_TOW_F4;            //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    double d_TOW_F5;            //!< Time of GPS Week from HOW word of Subframe 5 [s]
+    double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+    double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
+    double d_TOW_F2;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
+    double d_TOW_F3;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
+    double d_TOW_F4;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
+    double d_TOW_F5;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     // Clock terms
     double d_satClkCorr;     // Satellite clock error
     double d_dtr;            // Relativistic clock correction term
     double d_satClkDrift;    // Satellite clock drift
 
-    // satellite identification info
-    int i_channel_ID;
-    unsigned int i_satellite_PRN;   //!< SV PRN Number
-    int i_satellite_freq_channel;   //!< SV Frequency Slot Number
-    int i_satellite_slot_number;    //!< SV Orbit Slot Number
-
-    // UTC parameters
-    bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
-
-    // satellite positions
-    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-    // Satellite acceleration
-    double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
-
     /*!
      * \brief Reset GLONASS GNAV Navigation Information
      */
@@ -182,12 +165,10 @@ public:
      */
     bool have_new_almanac();
 
-
-
     /*!
-     * \brief Decodes the GLONASS GNAV frame
+     * \brief Decodes the GLONASS GNAV string
      */
-    int string_decoder(char *string, int frame_ID);
+    int string_decoder(char *string);
 
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]

From 50f133e960bd353ec01bdae7b1b61f8053e6e01a Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 12 Jul 2017 07:35:57 -0700
Subject: [PATCH 250/379] Fixing compilation warnings

---
 src/core/system_parameters/GLONASS_L1_CA.h    |  3 +-
 .../glonass_gnav_navigation_message.cc        | 77 +++++++++++--------
 .../glonass_gnav_navigation_message.h         | 17 +---
 3 files changed, 47 insertions(+), 50 deletions(-)

diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 158dae798..7e6699b8f 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -104,10 +104,11 @@ const int GLONASS_GNAV_FRAME_BITS = 1725;       //!< Number of chips per frame i
 const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
 const int GLONASS_GNAV_FRAME_MS = 30000;        //!< Subframe duration [seconds]
 const int GLONASS_GNAV_STRING_BITS = 115;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
+const int GLONASS_GNAV_HAMMING_CODE_BITS = 115; //!< Number of bits in hamming code sequence of GNAV message
 
 const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
 const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
-const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
+const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34, 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
 const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
 const std::vector<int> GLONASS_GNAV_CRC_M_INDEX {20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 81, 82, 83, 84, 85};
 const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index db5b84eee..5abd0351b 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -63,21 +63,21 @@ void Glonass_Gnav_Navigation_Message::reset()
     flag_almanac_str_15 = false;
 
     //!< UTC and System Clocks Flags
-    flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled
-    flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
-    flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
-    flag_TOW_5;
-    flag_TOW_6;
-    flag_TOW_set;              //!< it is true when page 5 or page 6 arrives
+    flag_utc_model_valid  = false;      //!< If set, it indicates that the UTC model parameters are filled
+    flag_utc_model_str_5 = false;      //!< Clock info send in string 5 of navigation data
+    flag_utc_model_str_15 = false;     //!< Clock info send in string 15 of frame 5 of navigation data
+    flag_TOW_5 = false;
+    flag_TOW_6 = false;
+    flag_TOW_set = false;              //!< it is true when page 5 or page 6 arrives
 
     //broadcast orbit 1
     //TODO Need to send the information regarding the frame number
-    double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    double d_TOW_F2;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    double d_TOW_F3;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    double d_TOW_F4;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    double d_TOW_F5;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
+    d_TOW = false;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+    d_TOW_F1 = false;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
+    d_TOW_F2 = false;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
+    d_TOW_F3 = false;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
+    d_TOW_F4 = false;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
+    d_TOW_F5 = false;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     // Clock terms
     d_satClkCorr = 0.0;
@@ -103,30 +103,37 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
 }
 
 
-bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits )
+bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code_bits )
 {
     int sum_bits;
     int sum_hamming;
-
+    int C1 = 0;
+    int C2 = 0;
+    int C3 = 0;
+    int C4 = 0;
+    int C5 = 0;
+    int C6 = 0;
+    int C7 = 0;
+    int C_Sigma = 0;
     //!< Compute C1 term
     sum_bits = 0;
-    for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size; i++)
+    for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size(); i++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
+            sum_bits += static_cast<int>(data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]);
         }
-    C1 = hamming_code_bits[0]^fmod(sum_bits,2);
+    C1 = static_cast<int>(hamming_code_bits[0])^static_cast<int>(fmod(sum_bits,2));
 
     //!< Compute C2 term
     sum_bits = 0;
-    for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size; j++)
+    for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size(); j++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
+            sum_bits += static_cast<int>data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
         }
-    C2 = hamming_code_bits[1]^fmod(sum_bits,2);
+    C2 = static_cast<int>(hamming_code_bits[1])^static_cast<int>(fmod(sum_bits,2));
 
     //!< Compute C3 term
     sum_bits = 0;
-    for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size; k++)
+    for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size(); k++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
         }
@@ -134,7 +141,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
 
     //!< Compute C4 term
     sum_bits = 0;
-    for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size; l++)
+    for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size(); l++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
         }
@@ -142,7 +149,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
 
     //!< Compute C5 term
     sum_bits = 0;
-    for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size; m++)
+    for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size(); m++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
         }
@@ -150,7 +157,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
 
     //!< Compute C6 term
     sum_bits = 0;
-    for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size; n++)
+    for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size(); n++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
         }
@@ -158,7 +165,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
 
     //!< Compute C7 term
     sum_bits = 0;
-    for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size; p++)
+    for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size(); p++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
         }
@@ -167,7 +174,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
     //!< Compute C_Sigma term
     sum_bits = 0;
     sum_hamming = 0;
-    for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size; q++)
+    for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size(); q++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
         }
@@ -280,7 +287,7 @@ signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bit
                         {
                             value <<= 1; //shift left
                             value &= 0xFFFFFFFE; //reset the corresponding bit
-                            if (bits[GPS_SUBFRAME_BITS - parameter[i].first - j] == 1)
+                            if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
                                 {
                                     value += 1; // insert the bit
                                 }
@@ -320,6 +327,8 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
             //TODO Find print statement and make it an error
             frame_ID = 0;
         }
+
+    return frame_ID;
 }
 
 
@@ -548,7 +557,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
         case 15:
             // --- It is string 9 ----------------------------------------------
-            if (frame_number != 5 and flag_almanac_str_14 = true )
+            if (frame_number != 5 and flag_almanac_str_14 == true )
               {
                 // TODO signed vs unsigned reading from datasheet
                 gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
@@ -613,16 +622,16 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
         }
 
 
-    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and (flag_iono_and_GST == true))
+    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
         {
             //if all ephemeris pages have the same IOD, then they belong to the same block
-            if ((gnav_ephemeris.d_t_b== IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
+            if ((gnav_ephemeris.d_t_b == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
                 {
                     std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
-                    flag_ephemeris_1 = false;// clear the flag
-                    flag_ephemeris_2 = false;// clear the flag
-                    flag_ephemeris_3 = false;// clear the flag
-                    flag_ephemeris_4 = false;// clear the flag
+                    flag_ephemeris_str_1 = false;// clear the flag
+                    flag_ephemeris_str_2 = false;// clear the flag
+                    flag_ephemeris_str_3 = false;// clear the flag
+                    flag_ephemeris_str_4 = false;// clear the flag
                     flag_all_ephemeris = true;
                     IOD_ephemeris = IOD_nav_1;
                     std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index d16f4b651..ebcb99156 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -41,7 +41,6 @@
 #include <vector>
 #include "GLONASS_L1_CA.h"
 #include "glonass_gnav_ephemeris.h"
-//#include "gps_iono.h"
 #include "glonass_gnav_almanac.h"
 #include "glonass_gnav_utc_model.h"
 
@@ -59,16 +58,15 @@ private:
     unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
     signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
     bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
-    bool _CRC_test(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
+    bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code);
 
     unsigned int get_frame_number(unsigned int satellite_slot_number);
 
 public:
     bool flag_CRC_test;
-    unsigned int u_frame_number;
+    unsigned int frame_number;
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;      //!< Ephemeris information decoded
-    //Glonass_Gnav_Iono gnav_iono;                //!< Iono corrections information
     Glonass_Gnav_Utc_Model gnav_utc_model;      //!< UTC model information
     Glonass_Gnav_Almanac gnav_almanac[24];      //!< Almanac information for all 24 satellites
 
@@ -129,12 +127,6 @@ public:
      */
     Glonass_Gnav_Ephemeris get_ephemeris();
 
-    /*!
-    // TODO Should I keep this function ?
-     * \brief Obtain a GPS ionospheric correction parameters class filled with current SV data
-     */
-    Glonass_Gnav_Iono get_iono();
-
     /*!
      * \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data
      */
@@ -150,11 +142,6 @@ public:
      */
     bool have_new_ephemeris();
 
-    /*
-     * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
-     */
-    bool have_new_iono();
-
     /*
      * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
      */

From 8a0689fbb171ece0e577d8a8477814766cbc8218 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 12 Jul 2017 13:11:53 -0700
Subject: [PATCH 251/379] Fixing compile warnings and adding work on unit test

---
 src/core/system_parameters/GLONASS_L1_CA.h    |   5 +-
 .../system_parameters/glonass_gnav_almanac.cc |   2 +-
 .../system_parameters/glonass_gnav_almanac.h  |   4 +-
 .../glonass_gnav_navigation_message.cc        | 138 +++++++++---------
 .../glonass_gnav_navigation_message.h         |   4 +-
 src/tests/test_main.cc                        |   1 -
 .../glonass_gnav_almanac_test.cc              |   8 +-
 7 files changed, 84 insertions(+), 78 deletions(-)

diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 7e6699b8f..33b21b18f 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -178,7 +178,10 @@ const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
 const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
 const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
 const std::vector<std::pair<int,int>> H_N_A({{72,5}});
-//const std::vector<std::pair<int,int>> L_N({{77,1}});
+
+// STRING 14 FRAME 5
+const std::vector<std::pair<int,int>> B1({{6,11}});
+const std::vector<std::pair<int,int>> B2({{17,10}});
 
 
 #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index ae1f492c7..cdde02086 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -52,7 +52,7 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
   d_M_n_A = 0.0;
   d_KP = 0.0;
   d_tau_n_A = 0.0;
-  d_C_n_A = 0.0;
+  d_C_n = 0.0;
 }
 
 void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index f4ce97312..7bbf9fe41 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -62,7 +62,7 @@ public:
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
-    double d_C_n_A;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    double d_C_n;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
 
     // satellite positions
     double d_satpos_Xo;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
@@ -108,7 +108,7 @@ public:
         archive & make_nvp("d_M_n_A", d_M_n_A);
         archive & make_nvp("d_KP", d_KP);
         archive & make_nvp("d_tau_n_A", d_tau_n_A);
-        archive & make_nvp("d_C_n_A", d_C_n_A);
+        archive & make_nvp("d_C_n", d_C_n);
     }
 
     void satellite_position(double N_i, double t_i);
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 5abd0351b..d7c059d7e 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -32,6 +32,7 @@ m * \file glonass_gnav_navigation_message.cc
 #include "glonass_gnav_navigation_message.h"
 #include <cmath>
 #include <iostream>
+#include <sstream>
 #include <gnss_satellite.h>
 
 
@@ -103,7 +104,7 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
 }
 
 
-bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code_bits )
+bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
 {
     int sum_bits;
     int sum_hamming;
@@ -115,66 +116,75 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
     int C6 = 0;
     int C7 = 0;
     int C_Sigma = 0;
+
+    std::bitset<GLONASS_GNAV_STRING_BITS> data = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 0, 77);
+    std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 77, 8);
+
+    std::istringstream dsb = std::istringstream( data.to_string() );
+    std::istringstream hcb = std::istringstream( hamming_code.to_string() );
+    std::vector<int> data_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
+    std::vector<int> hamming_code_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
+
     //!< Compute C1 term
     sum_bits = 0;
-    for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size(); i++)
+    for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
         {
-            sum_bits += static_cast<int>(data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]);
+            sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
         }
-    C1 = static_cast<int>(hamming_code_bits[0])^static_cast<int>(fmod(sum_bits,2));
+    C1 = hamming_code_bits[0]^(sum_bits%2);
 
     //!< Compute C2 term
     sum_bits = 0;
-    for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size(); j++)
+    for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
         {
-            sum_bits += static_cast<int>data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
+            sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
         }
-    C2 = static_cast<int>(hamming_code_bits[1])^static_cast<int>(fmod(sum_bits,2));
+    C2 = (hamming_code_bits[1])^(sum_bits%2);
 
     //!< Compute C3 term
     sum_bits = 0;
-    for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size(); k++)
+    for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
         }
-    C3 = hamming_code_bits[2]^fmod(sum_bits,2);
+    C3 = hamming_code_bits[2]^(sum_bits%2);
 
     //!< Compute C4 term
     sum_bits = 0;
-    for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size(); l++)
+    for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
         }
-    C4 = hamming_code_bits[3]^fmod(sum_bits,2);
+    C4 = hamming_code_bits[3]^(sum_bits%2);
 
     //!< Compute C5 term
     sum_bits = 0;
-    for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size(); m++)
+    for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
         }
-    C5 = hamming_code_bits[4]^fmod(sum_bits,2);
+    C5 = hamming_code_bits[4]^(sum_bits%2);
 
     //!< Compute C6 term
     sum_bits = 0;
-    for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size(); n++)
+    for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
         }
-    C6 = hamming_code_bits[5]^fmod(sum_bits,2);
+    C6 = hamming_code_bits[5]^(sum_bits%2);
 
     //!< Compute C7 term
     sum_bits = 0;
-    for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size(); p++)
+    for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
         }
-    C7 = hamming_code_bits[6]^fmod(sum_bits,2);
+    C7 = hamming_code_bits[6]^(sum_bits%2);
 
     //!< Compute C_Sigma term
     sum_bits = 0;
     sum_hamming = 0;
-    for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size(); q++)
+    for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
         {
             sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
         }
@@ -182,7 +192,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
         {
             sum_hamming += hamming_code_bits[q];
         }
-    C_Sigma = fmod(sum_bits, 2)^fmod(sum_bits,2);
+    C_Sigma = (sum_hamming%2)^(sum_bits%2);
 
 
     //!< Verification of the data
@@ -338,12 +348,11 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
     int frame_ID = 0;
 
     // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
-    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string(frame_string));
-    std::bitset<GLONASS_GNAV_STRING_BITS> data_bits(std::string(frame_string), 0, 77);
-    std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits(std::string(frame_string), 77, 8);
-
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>(std::string(frame_string));
     string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
 
+    _CRC_test(string_bits);
+
     // Decode all 15 string messages
     switch (string_ID)
         {
@@ -355,6 +364,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT));
             gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N));
 
+            flag_ephemeris_str_1 = true;
+
             break;
 
         case 2:
@@ -366,6 +377,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT));
             gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N));
 
+            flag_ephemeris_str_2 = true;
+
             break;
 
         case 3:
@@ -378,6 +391,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT));
             gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N));
 
+            flag_ephemeris_str_3 = true;
+
             break;
 
         case 4:
@@ -392,25 +407,27 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
             gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
+            flag_ephemeris_str_4 = true;
+
             break;
 
         case 5:
             // --- It is string 5 ----------------------------------------------
             // TODO signed vs unsigned reading from datasheet
-            d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
-            d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
-            d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
-            d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+            gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
+            gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
+            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
+            gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
             break;
 
         case 6:
             // --- It is string 6 ----------------------------------------------
             // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@@ -432,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_7 = true;
               }
@@ -442,8 +459,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 8:
             // --- It is string 8 ----------------------------------------------
             // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@@ -465,15 +482,15 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_9 = true;
               }
         case 10:
             // --- It is string 8 ----------------------------------------------
             // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@@ -495,7 +512,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_11 = true;
               }
@@ -503,8 +520,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 12:
             // --- It is string 8 ----------------------------------------------
             // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@@ -526,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_13 = true;
               }
@@ -534,14 +551,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             // --- It is string 8 ----------------------------------------------
             if( frame_number == 5)
               {
-                gnav_utc_model.B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
-                gnav_utc_model.B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
+                gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
+                gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
               }
             else
               {
                 // TODO signed vs unsigned reading from datasheet
-                i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+                i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
                 gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@@ -565,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_15 = true;
               }
@@ -573,7 +590,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             break;
         } // switch subframeID ...
 
-    return subframe_ID;
+    return frame_ID;
 }
 
 
@@ -581,7 +598,7 @@ double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corre
 {
     double t_utc;
 
-    t_utc = glonass_time_corrected + 3*3600 + d_tau_c;
+    t_utc = glonass_time_corrected + 3*3600 + gnav_utc_model.d_tau_c;
     return t_utc;
 }
 
@@ -598,43 +615,29 @@ Glonass_Gnav_Utc_Model Glonass_Gnav_Navigation_Message::get_utc_model()
 }
 
 
-Glonass_Gnav_Almanac get_almanac()
+Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac( int satellite_slot_number)
 {
-    return gnav_almanac;
+    return gnav_almanac[satellite_slot_number - 1];
 }
 
 
 bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
     bool flag_data_valid = false;
-    b_valid_ephemeris_set_flag = false;
-
-    // First Step:
-    // check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
-    // and check if the data have been filled (!=0)
-    if (d_TOW_F1 != 0 and d_TOW_F2 != 0 and d_TOW_F3 != 0)
-        {
-            if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!= -1)
-                {
-                    flag_data_valid = true;
-                    b_valid_ephemeris_set_flag = true;
-                }
-        }
-
+    bool b_valid_ephemeris_set_flag = false;
 
     if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
         {
             //if all ephemeris pages have the same IOD, then they belong to the same block
-            if ((gnav_ephemeris.d_t_b == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
+            if ((gnav_ephemeris.d_t_b == 0) )
                 {
-                    std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
                     flag_ephemeris_str_1 = false;// clear the flag
                     flag_ephemeris_str_2 = false;// clear the flag
                     flag_ephemeris_str_3 = false;// clear the flag
                     flag_ephemeris_str_4 = false;// clear the flag
                     flag_all_ephemeris = true;
-                    IOD_ephemeris = IOD_nav_1;
-                    std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
+                    // std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+                    // std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
                     return true;
                 }
             else
@@ -649,6 +652,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
 
 bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
 {
+    bool flag_utc_model = true;
     if (flag_utc_model == true)
         {
             flag_utc_model = false; // clear the flag
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index ebcb99156..18d9025f2 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -58,7 +58,7 @@ private:
     unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
     signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
     bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
-    bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code);
+    bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
 
     unsigned int get_frame_number(unsigned int satellite_slot_number);
 
@@ -135,7 +135,7 @@ public:
     /*
      * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
      */
-    Glonass_Gnav_Almanac get_almanac();
+    Glonass_Gnav_Almanac get_almanac(int satellite_slot_number);
 
     /*
      * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 36c5620d7..2f4df5220 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -61,7 +61,6 @@
 
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_almanac.h"
-#include "glonass_gnav_iono.h"
 #include "glonass_gnav_utc_model.h"
 
 using google::LogMessage;
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
index 650daa341..6c02311cf 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
@@ -43,18 +43,18 @@
 #include "glonass_gnav_almanac.h"
 
 // See A 3.2.3
-TEST(GlonassGnavEphemerisTest, SatellitePosition)
+TEST(GlonassGnavAlmanacTest, SatellitePosition)
 {
     double N_i = 615;           // [days]
-    double t_i = 33300.0        // [seconds]
+    double t_i = 33300.0;        // [seconds]
     double Xoi = 10947.021572;  // [km]
     double Yoi = 13078.978287;  // [km]
     double Zoi = 18922.063362;  // [km]
-    double Vxoi = -3.375497     // [m/s]
+    double Vxoi = -3.375497;     // [m/s]
     double Vyoi = -0.161453;    // [Кm/s]
     double Vzoi = 2.060844;     // [Кm/s]
 
-    Glonass_Gnav_Ephemeris gnav_almanac;
+    Glonass_Gnav_Almanac gnav_almanac;
 
     gnav_almanac.d_N_A              = 615;              // [days]
     gnav_almanac.d_lambda_n_A       = -0.189986229;     // [half cycles]

From fbd6b211eb01d771fe91600603ec084ed7424627 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 17 Jul 2017 20:09:10 -0700
Subject: [PATCH 252/379] Adding code for pvt computation

---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 291 +++++++++++++++++-
 src/algorithms/PVT/libs/nmea_printer.cc       |   3 -
 src/algorithms/PVT/libs/rtklib_solver.cc      |  77 ++++-
 src/algorithms/PVT/libs/rtklib_solver.h       |  13 +
 .../glonass_gnav_navigation_message.cc        |  11 +-
 src/core/system_parameters/gnss_satellite.cc  |   7 +-
 6 files changed, 386 insertions(+), 16 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 152fc6f1d..6ef870b65 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -180,7 +180,37 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     d_ls_pvt->galileo_almanac = *galileo_almanac;
                     DLOG(INFO) << "New Galileo Almanac has arrived ";
                 }
-
+            //**************** GLONASS GNAV Telemetry **************************
+            else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>) )
+                {
+                    // ### GLONASS GNAV EPHEMERIS ###
+                    std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
+                    glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
+                    // TODO Add GLONASS with gps week number and tow,
+                    // insert new ephemeris record
+                    DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->TOW_5
+                               << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->WN_5
+                               << " and Ephemeris IOD = " << glonass_gnav_eph->IOD_ephemeris;
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+                }
+            else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>) )
+                {
+                    // ### GLONASS GNAV UTC MODEL ###
+                    std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
+                    glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
+                    d_ls_pvt->glonass_gnav_utc_model = *glonass_gnav_utc_model;
+                    DLOG(INFO) << "New UTC record has arrived ";
+                }
+            else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>) )
+                {
+                    // ### GLONASS GNAV Almanac ###
+                    std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
+                    glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
+                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
+                }
             else
                 {
                     LOG(WARNING) << "msg_handler_telemetry unknown object type!";
@@ -403,6 +433,28 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
             LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
         }
 
+    //save GLONASS GNAV ephemeris to XML file
+    file_name = "eph_GLONASS_GNAV.xml";
+
+    if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
+        {
+            try
+            {
+                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
+                    ofs.close();
+                    LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
+            }
+            catch (std::exception& e)
+            {
+                    LOG(WARNING) << e.what();
+            }
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
+        }
     if (d_dump_file.is_open() == true)
         {
             try
@@ -455,6 +507,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
             bool flag_write_RINEX_nav_output = false;
             unsigned int gps_channel = 0;
             unsigned int gal_channel = 0;
+            unsigned int glo_channel = 0;
 
             gnss_observables_map.clear();
             const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
@@ -467,10 +520,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                             std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
+			    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
                             if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
                                     || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
                                     || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
-                                    || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0)))
+                                    || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))
+                                    || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
+                                    || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2C") == 0)))
                                 {
                                     // store valid observables in a map.
                                     gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch]));
@@ -497,6 +553,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                             d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
                                         }
                                 }
+                            if(d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
+                                {
+                                    if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                        {
+                                            d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+                                        }
+                                }
+
                         }
                 }
 
@@ -613,6 +677,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                      *    20   |  GPS L5 + Galileo E5b
                                      *    21   |  GPS L1 C/A + Galileo E1B + GPS L2C
                                      *    22   |  GPS L1 C/A + Galileo E1B + GPS L5
+                                     *    23   |  GLONASS L1 C/A
+                                     *    24   |  GLONASS L2 C/A
+                                     *    25   |  GLONASS L1 C/A + GLONASS L2 C/A
+                                     *    26   |  GLONASS L1 C/A + GPS L1 C/A
+                                     *    27   |  GLONASS L1 C/A + GPS L2C
+                                     *    28   |  GLONASS L1 C/A + GPS L5
+                                     *    29   |  GLONASS L1 C/A + Galileo E1B
+                                     *    30   |  GLONASS L1 C/A + Galileo E5a
+                                     *    31   |  GLONASS L1 C/A + Galileo E5b
                                      */
 
                                     // ####################### RINEX FILES #################
@@ -620,6 +693,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                     std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
                                     std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
                                     std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
+									std::map<int, Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter;
                                     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
 
                                     if (!b_rinex_header_written) //  & we have utc data in nav message!
@@ -627,6 +701,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                             galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
                                             gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
                                             gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
+											glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
 
                                             if(type_of_rx == 1) // GPS L1 C/A only
                                                 {
@@ -736,6 +811,87 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
+                                            if(type_of_rx == 23) // GLONASS L1 C/A only
+                                                {
+                                                    std::string signal("1C");
+                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+                                                        {
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
+                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+                                            if(type_of_rx == 24) // GLONASS L2 C/A only
+                                                {
+                                                    std::string signal("2C");
+                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+                                                        {
+                                                            rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
+                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+                                            if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
+                                                {
+                                                    std::string signal("1C 2C");
+                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+                                                        {
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
+                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+
+                                            if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
+                                                {
+                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
+                                                        {
+                                                            std::string gps_signal("1C 1C");
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+                                            if(type_of_rx == 27) //  GLONASS L1 C/A + GPS L2C
+                                                {
+                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
+                                                        {
+                                                            std::string gps_signal("1C 1C");
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+                                            if(type_of_rx == 29) //  GLONASS L1 C/A + Galileo E1B
+                                                {
+                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
+                                                        {
+                                                            std::string gal_signal("1C 1B");
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+                                            if(type_of_rx == 30) //  GLONASS L1 C/A + Galileo E5a
+                                                {
+                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
+                                                        {
+                                                            std::string gal_signal("1C 5X");
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
+                                            if(type_of_rx == 31) //  GLONASS L1 C/A + Galileo E5b
+                                                {
+                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
+                                                        {
+                                                            std::string gal_signal("1C 7X");
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                            b_rinex_header_written = true; // do not write header anymore
+                                                        }
+                                                }
                                         }
                                     if(b_rinex_header_written) // The header is already written, we can now log the navigation message data
                                         {
@@ -765,10 +921,27 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
                                                         }
+                                                    if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) //  GLONASS L1 C/A, GLONASS L2 C/A
+                                                        {
+                                                            rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
+                                                        }
+                                                    if((type_of_rx == 26)) //  GLONASS L1 C/A + GPS L1 C/A
+                                                        {
+                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_ephemeris_map);
+                                                        }
+                                                    if((type_of_rx == 27)) //  GLONASS L1 C/A + GPS L2C
+                                                        {
+                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_cnav_ephemeris_map);
+                                                        }
+                                                    if((type_of_rx == 29) || (type_of_rx == 30) || (type_of_rx == 31)) //  GLONASS L1 C/A + Galileo
+                                                        {
+                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
+                                                        }
                                                 }
                                             galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
                                             gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
                                             gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
+                                            glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
 
                                             // Log observables into the RINEX file
                                             if(flag_write_RINEX_obs_output)
@@ -890,6 +1063,120 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                     b_rinex_header_updated = true;
                                                                 }
                                                         }
+                                                    if(type_of_rx == 23) // GLONASS L1 C/A only
+                                                        {
+                                                            if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                {
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
+                                                                    b_rinex_header_updated = true;
+                                                                }
+                                                        }
+                                                    if(type_of_rx == 24) // GLONASS L2 C/A only
+                                                        {
+                                                            if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                {
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
+                                                                    b_rinex_header_updated = true;
+                                                                }
+                                                        }
+                                                    if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
+                                                        {
+                                                            if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                {
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
+                                                                    b_rinex_header_updated = true;
+                                                                }
+                                                        }
+                                                    if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
+                                                        {
+                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
+                                                                {
+                                                                    std::string gps_signal("1C 1C");
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
+
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
+                                                                    b_rinex_header_updated = true; // do not write header anymore
+                                                                }
+                                                        }
+                                                    if(type_of_rx == 27) // GLONASS L1 C/A + GPS L1 C/A
+                                                            {
+                                                                if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
+                                                                    {
+                                                                        std::string gps_signal("1C 2S");
+                                                                        rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gps_signal);
+
+                                                                    }
+                                                                if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                    {
+                                                                        rp->update_obs_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono,  d_ls_pvt->gps_cnav_utc_model);
+                                                                        rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono,  d_ls_pvt->gps_cnav_utc_model);
+                                                                        b_rinex_header_updated = true; // do not write header anymore
+                                                                    }
+                                                            }
+                                                    if(type_of_rx == 29) // GLONASS L1 C/A + Galileo E1B
+                                                        {
+                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
+                                                                {
+                                                                    std::string gal_signal("1C 1B");
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                                    b_rinex_header_updated = true; // do not write header anymore
+                                                                }
+                                                        }
+                                                    if(type_of_rx == 30) //  GLONASS L1 C/A + Galileo E5a
+                                                        {
+                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
+                                                                {
+                                                                    std::string gal_signal("1C 5X");
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                                    b_rinex_header_updated = true; // do not write header anymore
+                                                                }
+                                                        }
+                                                    if(type_of_rx == 31) //  GLONASS L1 C/A + Galileo E5b
+                                                        {
+                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
+                                                                {
+                                                                    std::string gal_signal("1C 7X");
+                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                                {
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                                    b_rinex_header_updated = true; // do not write header anymore
+                                                                }
+                                                        }
                                                 }
                                         }
 
diff --git a/src/algorithms/PVT/libs/nmea_printer.cc b/src/algorithms/PVT/libs/nmea_printer.cc
index 97ab793a7..b7d55d67f 100644
--- a/src/algorithms/PVT/libs/nmea_printer.cc
+++ b/src/algorithms/PVT/libs/nmea_printer.cc
@@ -727,6 +727,3 @@ std::string Nmea_Printer::get_GPGGA()
     return sentence_str.str();
     //$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A
 }
-
-
-
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 344888f67..b46fe7576 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -56,6 +56,7 @@
 #include "rtklib_conversions.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
+#include "GLONASS_L1_CA.h"
 
 
 using google::LogMessage;
@@ -114,6 +115,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
     std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
     std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
+	std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
 
     this->set_averaging_flag(flag_averaging);
 
@@ -131,7 +133,9 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
         {
             switch(gnss_observables_iter->second.System)
             {
-            case 'E':
+                // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+                galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
                 {
                     std::string sig_(gnss_observables_iter->second.Signal);
                     // Galileo E1
@@ -270,6 +274,76 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                         }
                     break;
                 }
+			case 'R': //TODO This should be using rtk lib nomenclature
+			{
+				std::string sig_(gnss_observables_iter->second.Signal);
+				// GLONASS GNAV L1
+				if(sig_.compare("1C") == 0)
+				{
+				    // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
+				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
+				    {
+				        //convert ephemeris from GNSS-SDR class to RTKLIB structure
+				        eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+				        //convert observation from GNSS-SDR class to RTKLIB structure
+				        obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+				        obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+				                gnss_observables_iter->second,
+				                glonass_gnav_ephemeris_iter->second.WN_5,
+				                0);//TODO are THESE VALUES OK
+				        valid_obs++;
+				    }
+				    else // the ephemeris are not available for this SV
+				    {
+				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+				    }
+
+				}
+				// GLONASS GNAV L2
+				if(sig_.compare("2C") == 0)
+				{
+				    // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
+				    {
+				        bool found_L1_obs=false;
+				        for (int i = 0; i < valid_obs; i++)
+				        {
+				            // TODO what is this?
+				            if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
+				            {
+				                obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+				                        gnss_observables_iter->second,
+				                        glonass_gnav_ephemeris_iter->second.WN_5,
+				                        2);//Band 3 (L5/E5)
+				                found_L1_obs=true;
+				                break;
+				            }
+				        }
+				        if (!found_L1_obs)
+				        {
+				            //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
+				            //convert ephemeris from GNSS-SDR class to RTKLIB structure
+				            eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+				            //convert observation from GNSS-SDR class to RTKLIB structure
+				            obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+				            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+				                    gnss_observables_iter->second,
+				                    galileo_ephemeris_iter->second.WN_5,
+				                    2); //Band 3 (L5/E5)
+				            valid_obs++;
+				        }
+				    }
+				    else // the ephemeris are not available for this SV
+				    {
+				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+				    }
+
+
+				}
+				break;
+			}
             default :
                 DLOG(INFO) << "Hybrid observables: Unknown GNSS";
                 break;
@@ -365,6 +439,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                             }
                         }
                 }
+            }
         }
     return this->is_valid_position();
 }
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 6f441f4a6..274289138 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -62,6 +62,7 @@
 #include "galileo_navigation_message.h"
 #include "gps_navigation_message.h"
 #include "gps_cnav_navigation_message.h"
+#include "glonass_gnav_navigation_message.h"
 #include "gnss_synchro.h"
 #include "pvt_solution.h"
 
@@ -86,6 +87,7 @@ public:
     std::map<int,Galileo_Ephemeris> galileo_ephemeris_map;   //!< Map storing new Galileo_Ephemeris
     std::map<int,Gps_Ephemeris> gps_ephemeris_map;           //!< Map storing new GPS_Ephemeris
     std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
+	std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;    //!< Map storing new GLONASS GNAV Ephmeris
 
     Galileo_Utc_Model galileo_utc_model;
     Galileo_Iono galileo_iono;
@@ -97,7 +99,18 @@ public:
     Gps_CNAV_Iono gps_cnav_iono;
     Gps_CNAV_Utc_Model gps_cnav_utc_model;
 
+    Glonass_Gnav_Utc_Model glonass_gnav_utc_model;      //!< GLONASS GNAV UTC Model
+    Glonass_Gnav_Almanac glonass_gnav_almanac;          //!< GLONASS GNAV Almanac Model
+
     int count_valid_position;
+
+    bool d_flag_dump_enabled;
+
+    sol_t pvt_sol;
+    rtk_t rtk_;
+
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
 };
 
 #endif
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index d7c059d7e..96608b736 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -449,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_7 = true;
               }
@@ -482,7 +482,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_9 = true;
               }
@@ -512,7 +512,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_11 = true;
               }
@@ -543,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_13 = true;
               }
@@ -582,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_15 = true;
               }
@@ -631,6 +631,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
             //if all ephemeris pages have the same IOD, then they belong to the same block
             if ((gnav_ephemeris.d_t_b == 0) )
                 {
+                    std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
                     flag_ephemeris_str_1 = false;// clear the flag
                     flag_ephemeris_str_2 = false;// clear the flag
                     flag_ephemeris_str_3 = false;// clear the flag
diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index b192224fb..6e0a6e4d8 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -157,7 +157,7 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
                     PRN = PRN_;
                 }
         }
-    else if (system.compare("Glonass") == 0)
+    else if (system.compare("GLONASS") == 0)
            {
                if (PRN_ < 1 or PRN_ > 24)
                    {
@@ -356,7 +356,7 @@ std::string Gnss_Satellite::what_block(const std::string& system_, unsigned int
         }
 
 
-    if (system_.compare("Glonass") == 0)
+    if (system_.compare("GLONASS") == 0)
         {
             switch ( PRN_ )
             {
@@ -557,6 +557,3 @@ void Gnss_Satellite::set_block(const std::string& system_, unsigned int PRN_)
 {
     block = what_block(system_, PRN_);
 }
-
-
-

From c445ac261b0e8f547a530720cfed15482d769400 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 17 Jul 2017 21:50:36 -0700
Subject: [PATCH 253/379] Developing interface code for RINEX printer

---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |  1 +
 src/algorithms/PVT/libs/rinex_printer.h       | 79 +++++++++++++++++++
 2 files changed, 80 insertions(+)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 6ef870b65..d3fa0af34 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -1181,6 +1181,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                         }
 
                                     // ####################### RTCM MESSAGES #################
+                                    //TODO Add RTCM logic for GLONASS satellites
                                     if(b_rtcm_writing_started)
                                         {
                                             if(type_of_rx == 1) // GPS L1 C/A
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index d9aee967e..c4029f868 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -61,8 +61,10 @@
 #include "gps_navigation_message.h"
 #include "gps_cnav_navigation_message.h"
 #include "galileo_navigation_message.h"
+#include "glonass_gnav_navigation_message.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
+#include "GLONASS_L1_CA.h"
 #include "gnss_synchro.h"
 
 class Sbas_Raw_Msg;
@@ -88,6 +90,7 @@ public:
     std::fstream navFile ; //<! Output file stream for RINEX navigation data file
     std::fstream sbsFile ; //<! Output file stream for RINEX SBAS raw data file
     std::fstream navGalFile ; //<! Output file stream for RINEX Galileo navigation data file
+    std::fstream navGloFile ; //<! Output file stream for RINEX GLONASS navigation data file
     std::fstream navMixFile ; //<! Output file stream for RINEX Mixed navigation data file
 
     /*!
@@ -110,6 +113,26 @@ public:
      */
     void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac);
 
+    /*!
+     *  \brief Generates the GLONASS L1, L2 C/A Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+
+    /*!
+     *  \brief Generates the Mixed (GLONASS/Galileo) Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac);
+
+    /*!
+     *  \brief Generates the Mixed (GLONASS L1, L2/GPS L1 C/A) Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model);
+
+    /*!
+     *  \brief Generates the Mixed (GLONASS L1, L2/GPS L2C ) Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Iono & gps_CNAV_iono, const Gps_CNAV_Utc_Model & gps_CNAV_utc_model);
+
     /*!
      *  \brief Generates the GPS Observation data header
      */
@@ -135,6 +158,26 @@ public:
      */
     void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B");
 
+    /*!
+     *  \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_CNAV_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string gps_bands = "1B");
+
     /*!
      *  \brief Generates the SBAS raw data header
      */
@@ -160,6 +203,11 @@ public:
      */
     boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time);
 
+    /*!
+     *  \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
+     */
+    boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
+
     /*!
      *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
      */
@@ -205,6 +253,26 @@ public:
      */
     void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
 
+    /*!
+     *  \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C");
+
+    /*!
+     *  \brief Writes Mixed GLONASS / GPS L1 C/A observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
+    /*!
+     *  \brief Writes Mixed GLONASS / GPS L2C observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_CNAV_Ephemeris & gps_CNAV_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
+    /*!
+     *  \brief Writes Mixed GLONASS / Galileo observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
     /*!
      * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
      */
@@ -223,12 +291,22 @@ public:
 
     void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac);
 
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono);
+
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Utc_Model & gps_CNAV_utc, const Gps_CNAV_Iono & gps_CNAV_iono);
+
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac);
+
     void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model);
 
     void update_obs_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model);
 
     void update_obs_header(std::fstream & out, const Galileo_Utc_Model & galileo_utc_model);
 
+    void update_obs_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
+
     std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
     std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
     std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors
@@ -238,6 +316,7 @@ public:
     std::string obsfilename;
     std::string sbsfilename;
     std::string navGalfilename;
+    std::string navGlofilename;
     std::string navMixfilename;
 
 private:

From 2d40780689d285a6a56bd917fd0c8c2984cd99d4 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 19 Jul 2017 07:45:54 -0700
Subject: [PATCH 254/379] Adding RINEX support for GLONASS GNAV processing

Adds RINEX v2 and v3 support for GLONASS satellites processing including
observation and navigation data records. Also adds conversion of
ephemeris records in GNSS-SDR format to RTKLib format
---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |  141 +-
 src/algorithms/PVT/libs/rinex_printer.cc      | 1445 ++++++++++++++++-
 src/algorithms/PVT/libs/rinex_printer.h       |   39 +-
 .../libs/rtklib/rtklib_conversions.cc         |   59 +
 .../libs/rtklib/rtklib_conversions.h          |    7 +
 .../glonass_gnav_ephemeris.h                  |    2 +-
 6 files changed, 1551 insertions(+), 142 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index d3fa0af34..1164380c8 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -365,7 +365,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
     msgctl(sysv_msqid, IPC_RMID, NULL);
 
     //save GPS L2CM ephemeris to XML file
-    std::string file_name = "eph_GPS_L2CM.xml";
+    std::string file_name="eph_GPS_L2CM.xml";
 
     if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
         {
@@ -377,7 +377,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
                     ofs.close();
                     LOG(INFO) << "Saved GPS L2CM Ephemeris map data";
             }
-            catch (const std::exception & e)
+            catch (std::exception& e)
             {
                     LOG(WARNING) << e.what();
             }
@@ -520,7 +520,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                             std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
-			    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
+							std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
                             if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
                                     || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
                                     || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
@@ -680,12 +680,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                      *    23   |  GLONASS L1 C/A
                                      *    24   |  GLONASS L2 C/A
                                      *    25   |  GLONASS L1 C/A + GLONASS L2 C/A
-                                     *    26   |  GLONASS L1 C/A + GPS L1 C/A
-                                     *    27   |  GLONASS L1 C/A + GPS L2C
-                                     *    28   |  GLONASS L1 C/A + GPS L5
-                                     *    29   |  GLONASS L1 C/A + Galileo E1B
-                                     *    30   |  GLONASS L1 C/A + Galileo E5a
-                                     *    31   |  GLONASS L1 C/A + Galileo E5b
+                                     *    26   |  GPS L1 C/A + GLONASS L1 C/A
+                                     *    27   |  Galileo E1B + GLONASS L1 C/A
                                      */
 
                                     // ####################### RINEX FILES #################
@@ -842,53 +838,23 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                 }
 
-                                            if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
-                                                {
-                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
-                                                        {
-                                                            std::string gps_signal("1C 1C");
-                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
-                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
-                                                            b_rinex_header_written = true; // do not write header anymore
-                                                        }
-                                                }
-                                            if(type_of_rx == 27) //  GLONASS L1 C/A + GPS L2C
+                                            if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
                                                 {
                                                     if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
                                                         {
-                                                            std::string gps_signal("1C 1C");
-                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
-                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
+                                                            std::string glo_signal("1C");
+                                                            rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
-                                            if(type_of_rx == 29) //  GLONASS L1 C/A + Galileo E1B
+                                            if(type_of_rx == 27) //  Galileo E1B + GLONASS L1 C/A
                                                 {
                                                     if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
                                                         {
-                                                            std::string gal_signal("1C 1B");
-                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
-                                                            rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
-                                                            b_rinex_header_written = true; // do not write header anymore
-                                                        }
-                                                }
-                                            if(type_of_rx == 30) //  GLONASS L1 C/A + Galileo E5a
-                                                {
-                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
-                                                        {
-                                                            std::string gal_signal("1C 5X");
-                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
-                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
-                                                            b_rinex_header_written = true; // do not write header anymore
-                                                        }
-                                                }
-                                            if(type_of_rx == 31) //  GLONASS L1 C/A + Galileo E5b
-                                                {
-                                                    if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
-                                                        {
-                                                            std::string gal_signal("1C 7X");
-                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
-                                                            rp->rinex_nav_header(rp->navMixFile,  d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                            std::string glo_signal("1C");
+                                                            rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
+                                                            rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
@@ -925,17 +891,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
-                                                    if((type_of_rx == 26)) //  GLONASS L1 C/A + GPS L1 C/A
+                                                    if((type_of_rx == 26)) //  GPS L1 C/A + GLONASS L1 C/A
                                                         {
-                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_ephemeris_map);
+                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
-                                                    if((type_of_rx == 27)) //  GLONASS L1 C/A + GPS L2C
+                                                    if((type_of_rx == 27)) //  Galileo E1B + GLONASS L1 C/A
                                                         {
-                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_cnav_ephemeris_map);
-                                                        }
-                                                    if((type_of_rx == 29) || (type_of_rx == 30) || (type_of_rx == 31)) //  GLONASS L1 C/A + Galileo
-                                                        {
-                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
+                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->galileo_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
                                                 }
                                             galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
@@ -1102,78 +1064,33 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                     b_rinex_header_updated = true;
                                                                 }
                                                         }
-                                                    if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
+                                                    if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
                                                         {
                                                             if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
                                                                 {
-                                                                    std::string gps_signal("1C 1C");
-                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
+                                                                    std::string glo_signal("1C");
+                                                                    rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
 
                                                                 }
-                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
                                                                 {
-                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
-                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model);
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
                                                                     b_rinex_header_updated = true; // do not write header anymore
                                                                 }
                                                         }
-                                                    if(type_of_rx == 27) // GLONASS L1 C/A + GPS L1 C/A
-                                                            {
-                                                                if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
-                                                                    {
-                                                                        std::string gps_signal("1C 2S");
-                                                                        rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gps_signal);
-
-                                                                    }
-                                                                if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
-                                                                    {
-                                                                        rp->update_obs_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono,  d_ls_pvt->gps_cnav_utc_model);
-                                                                        rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono,  d_ls_pvt->gps_cnav_utc_model);
-                                                                        b_rinex_header_updated = true; // do not write header anymore
-                                                                    }
-                                                            }
-                                                    if(type_of_rx == 29) // GLONASS L1 C/A + Galileo E1B
+                                                    if(type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
                                                         {
                                                             if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
                                                                 {
-                                                                    std::string gal_signal("1C 1B");
-                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+                                                                    std::string glo_signal("1C");
+                                                                    rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
 
                                                                 }
-                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
                                                                 {
-                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
-                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
-                                                                    b_rinex_header_updated = true; // do not write header anymore
-                                                                }
-                                                        }
-                                                    if(type_of_rx == 30) //  GLONASS L1 C/A + Galileo E5a
-                                                        {
-                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
-                                                                {
-                                                                    std::string gal_signal("1C 5X");
-                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
-
-                                                                }
-                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
-                                                                {
-                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
-                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
-                                                                    b_rinex_header_updated = true; // do not write header anymore
-                                                                }
-                                                        }
-                                                    if(type_of_rx == 31) //  GLONASS L1 C/A + Galileo E5b
-                                                        {
-                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
-                                                                {
-                                                                    std::string gal_signal("1C 7X");
-                                                                    rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
-
-                                                                }
-                                                            if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
-                                                                {
-                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
-                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono,  d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
                                                                     b_rinex_header_updated = true; // do not write header anymore
                                                                 }
                                                         }
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 4631270d2..4dfcbe4cc 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -58,12 +58,14 @@ Rinex_Printer::Rinex_Printer(int conf_version)
     sbsfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_SBAS");
     navGalfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_GAL_NAV");
     navMixfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_MIXED_NAV");
+    navGlofilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_GLO_NAV");
 
     Rinex_Printer::navFile.open(navfilename, std::ios::out | std::ios::in | std::ios::app);
     Rinex_Printer::obsFile.open(obsfilename, std::ios::out | std::ios::in | std::ios::app);
     Rinex_Printer::sbsFile.open(sbsfilename, std::ios::out | std::ios::app);
     Rinex_Printer::navGalFile.open(navGalfilename, std::ios::out | std::ios::in | std::ios::app);
     Rinex_Printer::navMixFile.open(navMixfilename, std::ios::out | std::ios::in | std::ios::app);
+    Rinex_Printer::navGloFile.open(navGlofilename, std::ios::out | std::ios::in | std::ios::app);
 
     // RINEX v3.02 codes
     satelliteSystem["GPS"] = "G";
@@ -200,10 +202,13 @@ Rinex_Printer::~Rinex_Printer()
     poss = sbsFile.tellp();
     posng = navGalFile.tellp();
     posmn = navMixFile.tellp();
+    posnr = navGalFile.tellp();
+
     Rinex_Printer::navFile.close();
     Rinex_Printer::obsFile.close();
     Rinex_Printer::sbsFile.close();
     Rinex_Printer::navGalFile.close();
+    Rinex_Printer::navGloFile.close();
     // If nothing written, erase the files.
     if (posn == 0)
         {
@@ -225,6 +230,10 @@ Rinex_Printer::~Rinex_Printer()
         {
             if(remove(navMixfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
         }
+    if (posnr == 0)
+        {
+            if(remove(navGlofilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+        }
 }
 
 
@@ -399,6 +408,226 @@ std::string Rinex_Printer::getLocalTime()
 }
 
 
+void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    std::string line;
+    stringVersion = "3.02";
+    version = 3;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += stringVersion;
+    line += std::string(11, ' ');
+    line += std::string("N: GNSS NAV DATA");
+    line += std::string(4, ' ');
+    line += std::string("R: GLONASS");
+    line += std::string(10, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("GLONASS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction
+    line.clear();
+    line += std::string("GLUT");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 2
+    line.clear();
+    line += std::string("GLGP");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+
+    // -------- Line 6 leap seconds
+    // For leap second information, see http://www.endruntechnologies.com/leap.htm
+    line.clear();
+    // TODO hOW TO MAKE THIS IN GLONASS, the leap second is internally given
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
+    line += std::string(36, ' ');
+    line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- End of Header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
+
+void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    std::string line;
+    stringVersion = "3.02";
+    version = 3;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += stringVersion;
+    line += std::string(11, ' ');
+    line += std::string("N: GNSS NAV DATA");
+    line += std::string(4, ' ');
+    line += std::string("M: MIXED");
+    line += std::string(12, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line ionospheric info 1
+    line.clear();
+    line += std::string("GPSA");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha0, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha1, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha2, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha3, 10, 2), 12);
+    line += std::string(7, ' ');
+    line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 1
+    line.clear();
+    line += std::string("GLUT");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 2
+    line.clear();
+    line += std::string("GLGP");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 3
+    line.clear();
+    line += std::string("GPUT");
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_t_OT), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_T + 1024), 5);  // valid until 2019
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+
+    // -------- Line 6 leap seconds
+    // For leap second information, see http://www.endruntechnologies.com/leap.htm
+    line.clear();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LS), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LSF), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_LSF), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_DN), 6);
+    line += std::string(36, ' ');
+    line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- End of Header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::string line;
@@ -1048,6 +1277,89 @@ void Rinex_Printer::rinex_sbs_header(std::fstream& out)
 }
 
 
+void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    std::vector<std::string> data;
+    std::string line_aux;
+
+    long pos = out.tellp();
+    out.seekp(0);
+    data.clear();
+
+    bool no_more_finds = false;
+    std::string line_str;
+
+    while(!out.eof())
+        {
+            std::getline(out, line_str);
+
+            if(!no_more_finds)
+                {
+                    line_aux.clear();
+
+                    if ((line_str.find("GLUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GLGP", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLGP");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
+                        {
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.Delta_tLS_6), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.Delta_tLSF_6), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.WN_LSF_6), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.DN_6), 6);
+                            line_aux += std::string(36, ' ');
+                            line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("END OF HEADER", 59) != std::string::npos)
+                        {
+                            data.push_back(line_str);
+                            no_more_finds = true;
+                        }
+                    else
+                        {
+                            data.push_back(line_str);
+                        }
+
+                }
+            else
+                {
+                    data.push_back(line_str);
+                }
+        }
+
+    out.close();
+    out.open(navGlofilename, std::ios::out | std::ios::trunc);
+    out.seekp(0);
+    for (int i = 0; i < static_cast<int>(data.size()) - 1; i++)
+        {
+            out << data[i] << std::endl;
+        }
+    out.close();
+    out.open(navGlofilename, std::ios::out | std::ios::app);
+    out.seekp(pos);
+    std::cout << "The RINEX Navigation file header has been updated with UTC info." << std::endl;
+}
+
+
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::vector<std::string> data;
@@ -1133,7 +1445,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
     out.close();
     out.open(navGalfilename, std::ios::out | std::ios::trunc);
     out.seekp(0);
-    for (int i = 0; i < static_cast<int>(data.size()) - 1; i++)
+    for (int i = 0; i < (int) data.size() - 1; i++)
         {
             out << data[i] << std::endl;
         }
@@ -1521,6 +1833,112 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
 }
 
 
+void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    std::vector<std::string> data;
+    std::string line_aux;
+
+    long pos = out.tellp();
+    out.seekp(0);
+    data.clear();
+
+    bool no_more_finds = false;
+    std::string line_str;
+
+    while(!out.eof())
+        {
+            std::getline(out, line_str);
+
+            if(!no_more_finds)
+                {
+                    line_aux.clear();
+
+                    if (line_str.find("GPSA", 0) != std::string::npos)
+                        {
+                            line_aux += std::string("GPSA");
+                            line_aux += std::string(1, ' ');
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha0, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha1, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha2, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha3, 10, 2), 12);
+                            line_aux += std::string(7, ' ');
+                            line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GPUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GPUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_t_OT), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_T + 1024), 5);  // valid until 2019
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GLUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GLGP", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLGP");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
+                        {
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LS), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LSF), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_LSF), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_DN), 6);
+                            line_aux += std::string(36, ' ');
+                            line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("END OF HEADER", 59) != std::string::npos)
+                        {
+                            data.push_back(line_str);
+                            no_more_finds = true;
+                        }
+                    else
+                        {
+                            data.push_back(line_str);
+                        }
+
+                }
+            else
+                {
+                    data.push_back(line_str);
+                }
+        }
+
+    out.close();
+    out.open(navMixfilename, std::ios::out | std::ios::trunc);
+    out.seekp(0);
+    for (int i = 0; i < (int) data.size() - 1; i++)
+        {
+            out << data[i] << std::endl;
+        }
+    out.close();
+    out.open(navMixfilename, std::ios::out | std::ios::app);
+    out.seekp(pos);
+    std::cout << "The RINEX Navigation file header has been updated with UTC and IONO info." << std::endl;
+}
+
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
 {
     std::string line;
@@ -2194,6 +2612,200 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
 }
 
 
+void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_Gnav_Ephemeris>& eph_map)
+{
+    std::string line;
+    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
+
+    for(glonass_gnav_ephemeris_iter = eph_map.begin();
+            glonass_gnav_ephemeris_iter != eph_map.end();
+            glonass_gnav_ephemeris_iter++)
+    {
+            // -------- SV / EPOCH / SV CLK
+            boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GLONASS_time(glonass_gnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second.d_Toc);
+            std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
+            std::string month (timestring, 4, 2);
+            std::string day (timestring, 6, 2);
+            std::string hour (timestring, 9, 2);
+            std::string minutes (timestring, 11, 2);
+            std::string seconds (timestring, 13, 2);
+            if (version == 2)
+                {
+                    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_ephemeris_iter->second.i_satellite_PRN), 2);
+                    line += std::string(1, ' ');
+                    std::string year (timestring, 2, 2);
+                    line += year;
+                    line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(month) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(month, 1, 1);
+                        }
+                    else
+                        {
+                            line += month;
+                        }
+                    line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(day) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(day, 1, 1);
+                        }
+                    else
+                        {
+                            line += day;
+                        }
+                    line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(hour) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(hour, 1, 1);
+                        }
+                    else
+                        {
+                            line += hour;
+                        }
+                    line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(minutes) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(minutes, 1, 1);
+                        }
+                    else
+                        {
+                            line += minutes;
+                        }
+                    line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(seconds) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(seconds, 1, 1);
+                        }
+                    else
+                        {
+                            line += seconds;
+                        }
+
+                    line += std::string(1, ' ');
+                    line += Rinex_Printer::doub2for(-glonass_gnav_ephemeris_iter->second.d_tau_c, 18, 2);
+                    line += std::string(1, ' ');
+                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
+                    line += std::string(1, ' ');
+                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k, 18, 2);
+                    line += std::string(1, ' ');
+                }
+            if (version == 3)
+                {
+                    line += satelliteSystem["GLONASS"];
+                    if (glonass_gnav_ephemeris_iter->second.i_satellite_PRN < 10)  line += std::string("0");
+                    line += boost::lexical_cast<std::string>(glonass_gnav_ephemeris_iter->second.i_satellite_PRN);
+                    std::string year (timestring, 0, 4);
+                    line += std::string(1, ' ');
+                    line += year;
+                    line += std::string(1, ' ');
+                    line += month;
+                    line += std::string(1, ' ');
+                    line += day;
+                    line += std::string(1, ' ');
+                    line += hour;
+                    line += std::string(1, ' ');
+                    line += minutes;
+                    line += std::string(1, ' ');
+                    line += seconds;
+                    line += std::string(1, ' ');
+                    line += Rinex_Printer::doub2for(-glonass_gnav_ephemeris_iter->second.d_tau_n, 18, 2);
+                    line += std::string(1, ' ');
+                    line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
+                    line += std::string(1, ' ');
+                    //TODO need to define this here. what is nd
+                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + nd*86400, 18, 2);
+                }
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+
+
+            // -------- BROADCAST ORBIT - 1
+            line.clear();
+            // TODO Why is this happening here?. The extra space maybe is intended to help with readability
+            if (version == 2)
+                {
+                    line += std::string(3, ' ');
+                }
+            if (version == 3)
+                {
+                    line += std::string(4, ' ');
+                }
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_Xn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_VXn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_AXn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_B_n, 18, 2);
+            if (version == 2)
+                {
+                    line += std::string(1, ' ');
+                }
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+
+
+            // -------- BROADCAST ORBIT - 2
+            line.clear();
+            if (version == 2)
+                {
+                    line += std::string(3, ' ');
+                }
+            if (version == 3)
+                {
+                    line += std::string(4, ' ');
+                }
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_Yn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_VYn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_ZYn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.i_satellite_freq_channel, 18, 2);
+            if (version == 2)
+                {
+                    line += std::string(1, ' ');
+                }
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+
+
+
+            // -------- BROADCAST ORBIT - 3
+            line.clear();
+            if (version == 2)
+                {
+                    line += std::string(3, ' ');
+                }
+            if (version == 3)
+                {
+                    line += std::string(4, ' ');
+                }
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_Zn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_VZn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_AZn, 18, 2);
+            line += std::string(1, ' ');
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_E_n, 18, 2);
+            if (version == 2)
+                {
+                    line += std::string(1, ' ');
+                }
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+}
+
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map)
 {
     version = 3;
@@ -2203,6 +2815,584 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Eph
 }
 
 
+void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
+{
+    version = 3;
+    stringVersion = "3.02";
+    Rinex_Printer::log_rinex_nav(out, gps_eph_map);
+    Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
+}
+
+
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation)
+{
+    std::string line;
+    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += stringVersion;
+    line += std::string(11, ' ');
+    line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
+    line += satelliteSystem["GLONASS"];
+    line += std::string(19, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    if (version == 2)
+        {
+            line += Rinex_Printer::leftJustify("BLANK OR G = GPS,  R = GLONASS,  E = GALILEO,  M = MIXED", 60);
+        }
+    if (version == 3)
+        {
+            line += Rinex_Printer::leftJustify("G = GPS  R = GLONASS  E = GALILEO  S = GEO  M = MIXED", 60);
+        }
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 3
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("GLONASS OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER NAME
+    line.clear();
+    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line OBSERVER / AGENCY
+    line.clear();
+    std::string username;
+    char c_username[20] = {0};
+    int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
+    if (nGet == 0)
+        {
+            username = c_username;
+        }
+    else
+        {
+            username = "UNKNOWN USER";
+        }
+    line += leftJustify(username, 20);
+    line += Rinex_Printer::leftJustify("CTTC", 40); // add flag and property
+    line += Rinex_Printer::leftJustify("OBSERVER / AGENCY", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line  REC / TYPE VERS
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
+    line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
+    //line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
+    if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 20);
+    line += Rinex_Printer::leftJustify("REC # / TYPE / VERS", 20);
+    lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("Antenna number", 20);  // add flag and property
+    line += Rinex_Printer::leftJustify("Antenna type", 20);  // add flag and property
+    line += std::string(20, ' ');
+    line += Rinex_Printer::leftJustify("ANT # / TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- APPROX POSITION  (optional for moving platforms)
+    // put here real data!
+    double antena_x = 0.0;
+    double antena_y = 0.0;
+    double antena_z = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA: DELTA H/E/N
+    // put here real data!
+    double antena_h = 0.0;
+    double antena_e = 0.0;
+    double antena_n = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_e, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("ANTENNA: DELTA H/E/N", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    if (version == 2)
+        {
+            // --------- WAVELENGHT FACTOR
+            // put here real data!
+            line.clear();
+            line +=Rinex_Printer::rightJustify("1",6);
+            line +=Rinex_Printer::rightJustify("1",6);
+            line += std::string(48, ' ');
+            line += Rinex_Printer::leftJustify("WAVELENGTH FACT L1/2", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+
+    if (version == 3)
+        {
+            // -------- SYS / OBS TYPES
+            // one line per available system
+            line.clear();
+            line += satelliteSystem["GLONASS"];
+            line += std::string(2, ' ');
+            std::stringstream strm;
+            numberTypesObservations = 4;
+            strm << numberTypesObservations;
+            line += Rinex_Printer::rightJustify(strm.str(), 3);
+            // per type of observation
+            // GLONASS L1 PSEUDORANGE
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            // GLONASS L1 PHASE
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G1_CA"];
+            // GLONASS DOPPLER L1
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G1_CA"];
+            // GLONASS L1 CA SIGNAL STRENGTH
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G1_CA"];
+
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+
+    if (version == 2)
+        {
+            // -------- SYS / OBS TYPES
+            line.clear();
+            std::stringstream strm;
+            strm << numberTypesObservations;
+            line += Rinex_Printer::rightJustify(strm.str(), 6);
+            // per type of observation
+            // GLONASS L1 C/A PSEUDORANGE
+            line += Rinex_Printer::rightJustify(observationType["PSEUDORANGE_CA_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            // GLONASS L1 PHASE
+            line += Rinex_Printer::rightJustify(observationType["CARRIER_PHASE_CA_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            // GLONASS DOPPLER L1
+            line += Rinex_Printer::rightJustify(observationType["DOPPLER_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            // GLONASS L1 SIGNAL STRENGTH
+            line += Rinex_Printer::rightJustify(observationType["SIGNAL_STRENGTH_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("# / TYPES OF OBSERV", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+
+    if (version == 3)
+        {
+            // -------- Signal Strength units
+            line.clear();
+            line += Rinex_Printer::leftJustify("DBHZ", 20);
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+
+    // -------- TIME OF FIRST OBS
+    line.clear();
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,d_TOW_first_observation);
+    std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
+    std::string year (timestring, 0, 4);
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+    double gps_t = d_TOW_first_observation;
+    double seconds = fmod(gps_t, 60);
+    line += Rinex_Printer::rightJustify(year, 6);
+    line += Rinex_Printer::rightJustify(month, 6);
+    line += Rinex_Printer::rightJustify(day, 6);
+    line += Rinex_Printer::rightJustify(hour, 6);
+    line += Rinex_Printer::rightJustify(minutes, 6);
+    line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
+    line += Rinex_Printer::rightJustify(std::string("GLO"), 8);
+    line += std::string(9, ' ');
+    line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- SYS /PHASE SHIFTS
+    // -------- GLONASS SLOT / FRQ #
+    line.clear();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3);
+    line += std::string(1, ' ');
+
+        // TODO Add this here, we need to know all satellites in system to get this done
+        line += satelliteSystem["GLONASS"];
+        line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+        line += std::string(1, ' ');
+        line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+        line += std::string(1, ' ');
+
+
+    line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- GLONASS CODE/PHS/BIS
+    // TODO This needs more study, not really suer on what those values are. Setting it to zero to advance in code.
+    line.clear();
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G1_CA"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G1_P"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G2_CA"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G2_P"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- END OF HEADER
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
+
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glonass_bands)
+{
+    std::string line;
+    version = 3;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += "3.02";
+    line += std::string(11, ' ');
+    line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
+    line += satelliteSystem["Mixed"];
+    line += std::string(19, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::leftJustify("G = GPS  R = GLONASS  E = GALILEO  S = GEO  M = MIXED", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 3
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("MIXED (GPS/GLONASS) OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER NAME
+    line.clear();
+    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line OBSERVER / AGENCY
+    line.clear();
+    std::string username;
+    char c_username[20] = {0};
+    int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
+    if (nGet == 0)
+        {
+            username = c_username;
+        }
+    else
+        {
+            username = "UNKNOWN USER";
+        }
+    line += leftJustify(username, 20);
+    line += Rinex_Printer::leftJustify("CTTC", 40); // add flag and property
+    line += Rinex_Printer::leftJustify("OBSERVER / AGENCY", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line  REC / TYPE VERS
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
+    line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
+    //line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
+    if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 20);
+    line += Rinex_Printer::leftJustify("REC # / TYPE / VERS", 20);
+    lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("Antenna number", 20);  // add flag and property
+    line += Rinex_Printer::leftJustify("Antenna type", 20);  // add flag and property
+    line += std::string(20, ' ');
+    line += Rinex_Printer::leftJustify("ANT # / TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- APPROX POSITION  (optional for moving platforms)
+    // put here real data!
+    double antena_x = 0.0;
+    double antena_y = 0.0;
+    double antena_z = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA: DELTA H/E/N
+    // put here real data!
+    double antena_h = 0.0;
+    double antena_e = 0.0;
+    double antena_n = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_e, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("ANTENNA: DELTA H/E/N", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- SYS / OBS TYPES
+    // one line per available system
+    line.clear();
+    line += satelliteSystem["GPS"];
+    line += std::string(2, ' ');
+    std::stringstream strm;
+    numberTypesObservations = 4;
+    strm << numberTypesObservations;
+    line += Rinex_Printer::rightJustify(strm.str(), 3);
+    // per type of observation
+    // GPS L1 PSEUDORANGE
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GPS_L1_CA"];
+    // GPS L1 PHASE
+    line += std::string(1, ' ');
+    line += observationType["CARRIER_PHASE"];
+    line += observationCode["GPS_L1_CA"];
+    // GPS DOPPLER L1
+    line += std::string(1, ' ');
+    line += observationType["DOPPLER"];
+    line += observationCode["GPS_L1_CA"];
+    // GPS L1 CA SIGNAL STRENGTH
+    line += std::string(1, ' ');
+    line += observationType["SIGNAL_STRENGTH"];
+    line += observationCode["GPS_L1_CA"];
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // Find GLONASS Signal in Mixed file
+    unsigned int number_of_observations_glo = 0;
+    std::string signal_("1C");
+    std::size_t found_1C = glonass_bands.find(signal_);
+    if(found_1C != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+    signal_ = "2C";
+    std::size_t found_2C = galileo_bands.find(signal_);
+    if(found_2C != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+
+    line.clear();
+    line += satelliteSystem["GLONASS"];
+    line += std::string(2, ' ');
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glO), 3);
+
+    if(found_1C != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G1_CA"];
+        }
+
+    if(found_2C != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G2_CA"];
+        }
+
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Signal Strength units
+    line.clear();
+    line += Rinex_Printer::leftJustify("DBHZ", 20);
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- TIME OF FIRST OBS
+    line.clear();
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, d_TOW_first_observation);
+    std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
+    std::string year (timestring, 0, 4);
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+    double gps_t = d_TOW_first_observation;
+    double seconds = fmod(gps_t, 60);
+    line += Rinex_Printer::rightJustify(year, 6);
+    line += Rinex_Printer::rightJustify(month, 6);
+    line += Rinex_Printer::rightJustify(day, 6);
+    line += Rinex_Printer::rightJustify(hour, 6);
+    line += Rinex_Printer::rightJustify(minutes, 6);
+    line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
+    line += Rinex_Printer::rightJustify(std::string("GPS"), 8);
+    line += std::string(9, ' ');
+    line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- end of header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
+
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation)
 {
     std::string line;
@@ -3651,6 +4841,249 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Galileo_Utc_Model
 }
 
 
+void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonassps_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables)
+{
+    // RINEX observations timestamps are GPS timestamps.
+    std::string line;
+
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, obs_time);
+    std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
+    //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
+    //double gps_t = eph.sv_clock_correction(obs_time);
+    double gps_t = obs_time;
+
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+
+    if (version == 2)
+        {
+            line.clear();
+            std::string year (timestring, 2, 2);
+            line += std::string(1, ' ');
+            line += year;
+            line += std::string(1, ' ');
+            if (month.compare(0, 1 , "0") == 0)
+                {
+                    line += std::string(1, ' ');
+                    line += month.substr(1, 1);
+                }
+            else
+                {
+                    line += month;
+                }
+            line += std::string(1, ' ');
+            if (day.compare(0, 1 , "0") == 0)
+                {
+                    line += std::string(1, ' ');
+                    line += day.substr(1, 1);
+                }
+            else
+                {
+                    line += day;
+                }
+            line += std::string(1, ' ');
+            line += hour;
+            line += std::string(1, ' ');
+            line += minutes;
+            line += std::string(1, ' ');
+            double second_ = fmod(gps_t, 60);
+            if (second_ < 10)
+                {
+                    line += std::string(1, ' ');
+                }
+            line += Rinex_Printer::asString(second_, 7);
+            line += std::string(2, ' ');
+            // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+            line += std::string(1, '0');
+            //Number of satellites observed in current epoch
+            int numSatellitesObserved = 0;
+            std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+            for(observables_iter = observables.begin();
+                    observables_iter != observables.end();
+                    observables_iter++)
+                {
+                    numSatellitesObserved++;
+                }
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+            for(observables_iter = observables.begin();
+                    observables_iter != observables.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+            // Receiver clock offset (optional)
+            //line += rightJustify(asString(clockOffset, 12), 15);
+            line += std::string(80 - line.size(), ' ');
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+
+
+            for(observables_iter = observables.begin();
+                    observables_iter != observables.end();
+                    observables_iter++)
+                {
+                    std::string lineObs;
+                    lineObs.clear();
+                    line.clear();
+                    // GPS L1 PSEUDORANGE
+                    line += std::string(2, ' ');
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GPS L1 CA PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GPS L1 CA DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    //GPS L1 SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+                    if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+                    out << lineObs << std::endl;
+                }
+        }
+
+    if (version == 3)
+        {
+            std::string year (timestring, 0, 4);
+            line += std::string(1, '>');
+            line += std::string(1, ' ');
+            line += year;
+            line += std::string(1, ' ');
+            line += month;
+            line += std::string(1, ' ');
+            line += day;
+            line += std::string(1, ' ');
+            line += hour;
+            line += std::string(1, ' ');
+            line += minutes;
+
+            line += std::string(1, ' ');
+            double seconds = fmod(gps_t, 60);
+            // Add extra 0 if seconds are < 10
+            if (seconds < 10)
+            {
+                line += std::string(1, '0');
+            }
+            line += Rinex_Printer::asString(seconds, 7);
+            line += std::string(2, ' ');
+            // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+            line += std::string(1, '0');
+
+            //Number of satellites observed in current epoch
+            int numSatellitesObserved = 0;
+            std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+            for(observables_iter = observables.begin();
+                    observables_iter != observables.end();
+                    observables_iter++)
+                {
+                    numSatellitesObserved++;
+                }
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+
+
+            // Receiver clock offset (optional)
+            //line += rightJustify(asString(clockOffset, 12), 15);
+
+            line += std::string(80 - line.size(), ' ');
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+
+            for(observables_iter = observables.begin();
+                    observables_iter != observables.end();
+                    observables_iter++)
+                {
+                    std::string lineObs;
+                    lineObs.clear();
+                    lineObs += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+                    lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                    //lineObs += std::string(2, ' ');
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS L1 CA PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GLONASS_TWO_PI, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS L1 CA DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    //GLONASS L1 SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+
+                    if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+                    out << lineObs << std::endl;
+                }
+        }
+}
+
+
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables)
 {
     // RINEX observations timestamps are GPS timestamps.
@@ -4909,6 +6342,16 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
 }
 
 
+boost::posix_time::ptime Rinex_Printer::compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
+{
+    // The RINEX v2.11 v3.00 format uses Galileo time for the observations epoch, not UTC time, thus, no leap seconds needed here.
+    // (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf)
+    // --??? No time correction here, since it will be done in the RINEX processor
+    double glonass_t = obs_time;
+    boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000); //
+    boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+    return p_time;
+}
 /*
 
 enum RINEX_enumMarkerType {
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index c4029f868..7264a32d2 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -119,19 +119,14 @@ public:
     void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     /*!
-     *  \brief Generates the Mixed (GLONASS/Galileo) Navigation Data header
+     *  \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
      */
-    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac);
+    void rinex_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     /*!
      *  \brief Generates the Mixed (GLONASS L1, L2/GPS L1 C/A) Navigation Data header
      */
-    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model);
-
-    /*!
-     *  \brief Generates the Mixed (GLONASS L1, L2/GPS L2C ) Navigation Data header
-     */
-    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Iono & gps_CNAV_iono, const Gps_CNAV_Utc_Model & gps_CNAV_utc_model);
+    void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     /*!
      *  \brief Generates the GPS Observation data header
@@ -166,17 +161,12 @@ public:
     /*!
      *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
      */
-    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
-
-    /*!
-     *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_CNAV_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
+    void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
 
     /*!
      *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
      */
-    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string gps_bands = "1B");
+    void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
 
     /*!
      *  \brief Generates the SBAS raw data header
@@ -259,19 +249,14 @@ public:
     void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C");
 
     /*!
-     *  \brief Writes Mixed GLONASS / GPS L1 C/A observables into the RINEX file
+     *  \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
      */
-    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+    void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
 
     /*!
-     *  \brief Writes Mixed GLONASS / GPS L2C observables into the RINEX file
+     *  \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
      */
-    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_CNAV_Ephemeris & gps_CNAV_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
-
-    /*!
-     *  \brief Writes Mixed GLONASS / Galileo observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+    void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
 
     /*!
      * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@@ -293,11 +278,9 @@ public:
 
     void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
-    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono);
+    void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
-    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Utc_Model & gps_CNAV_utc, const Gps_CNAV_Iono & gps_CNAV_iono);
-
-    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac);
+    void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model);
 
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index c5e673b9c..a2374a67d 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -51,6 +51,10 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
         case 'E':
             rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
             break;
+        case 'R':
+            rtklib_obs.sat = gnss_synchro.PRN;
+            break;
+
         default:
             rtklib_obs.sat = gnss_synchro.PRN;
     }
@@ -60,6 +64,61 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
     return rtklib_obs;
 }
 
+geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
+        0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
+
+    int iode;           /* IODE (0-6 bit of tb field) */
+    int frq;            /* satellite frequency number */
+    int svh,sva,age;    /* satellite health, accuracy, age of operation */
+    gtime_t toe;        /* epoch of epherides (gpst) */
+    gtime_t tof;        /* message frame time (gpst) */
+    double pos[3];      /* satellite position (ecef) (m) */
+    double vel[3];      /* satellite velocity (ecef) (m/s) */
+    double acc[3];      /* satellite acceleration (ecef) (m/s^2) */
+    double taun,gamn;   /* SV clock bias (s)/relative freq bias */
+    double dtaun;
+
+    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_PRN; /* satellite number */
+    rtklib_sat.iode   = glonass_gnav_eph.d_sqrt_A;
+    rtklib_sat.frq    = glonass_gnav_eph.;
+    rtklib_sat.svh    = glonass_gnav_eph.;
+    rtklib_sat.sva    = glonass_gnav_eph.
+    rtklib_sat.age    = glonass_gnav_eph.
+
+    rtklib_sat.toe    = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
+    rtklib_sat.toc    = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
+
+    rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn;
+    rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn;
+    rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn;
+
+    rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn;
+    rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn;
+    rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn;
+
+    rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn;
+    rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn;
+    rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn;
+
+    rtklib_sat.taun   = glonass_gnav_eph.d_tau_n;     /* SV clock bias (s) */
+    rtklib_sat.gann   = glonass_gnav_eph.d_gamma_n;   /* SV relative freq bias */
+    rtklib_sat.gann   = glonass_gnav_eph.d_gamma_n;
+
+    /* adjustment for week handover */
+    double tow, toc;
+    tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
+    toc = time2gpst(rtklib_sat.toc, NULL);
+    if      (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
+    else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
+    rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
+    rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
+    rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
+
+    return rtklib_sat;
+}
+
 eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.h b/src/algorithms/libs/rtklib/rtklib_conversions.h
index 18336754f..e620adaaa 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.h
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.h
@@ -36,10 +36,17 @@
 #include "galileo_ephemeris.h"
 #include "gps_ephemeris.h"
 #include "gps_cnav_ephemeris.h"
+#include "glonass_gnav_ephemeris.h"
 
 eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph);
 eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph);
 eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph);
+/*!
+ * \brief Transforms a Glonass_Gnav_Ephemeris to its RTKLIB counterpart
+ * \param glonass_gnav_eph GLONASS GNAV Ephemeris structure
+ * \return Ephemeris structure for RTKLIB parsing
+ */
+geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
 
 obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band);
 
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index d0edcc69b..6348270a8 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -68,7 +68,7 @@ private:
     double d_Jz_sun;            //!< Sun gravitational perturbation
 
 public:
-    unsigned int i_satellite_freq_channel; // SV Frequency Channel Number
+    int i_satellite_freq_channel; // SV Frequency Channel Number
     double d_m;               //!< String number within frame [dimensionless]
     double d_t_k;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
     double d_t_b;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]

From d34ec96ad2927b0629fbb4c2958d0856e76d8a52 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 23 Jul 2017 22:57:54 -0700
Subject: [PATCH 255/379] bugfix: Fixing bugs with RINEX support

Fixes compilation errors. Modifies GLONASS GNAV Ephemeris object to
contain fields relative to GPS time using the boost posix time object.
Adds unit tests to check existent and recently added code
---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |   21 +-
 src/algorithms/PVT/libs/rinex_printer.cc      | 1055 ++++++++++++++++-
 src/algorithms/PVT/libs/rinex_printer.h       |   21 +-
 src/algorithms/PVT/libs/rtklib_solver.cc      |    5 +-
 .../libs/rtklib/rtklib_conversions.cc         |   82 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |    8 +-
 .../system_parameters/glonass_gnav_almanac.cc |    1 +
 .../system_parameters/glonass_gnav_almanac.h  |    4 +-
 .../glonass_gnav_ephemeris.cc                 |   12 +
 .../glonass_gnav_ephemeris.h                  |  112 +-
 .../glonass_gnav_navigation_message.cc        |  226 ++--
 .../glonass_gnav_navigation_message.h         |   11 +-
 .../glonass_gnav_utc_model.h                  |    2 +-
 src/core/system_parameters/gps_ephemeris.h    |    1 +
 14 files changed, 1320 insertions(+), 241 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 1164380c8..e28e35b01 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -188,9 +188,9 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
                     // TODO Add GLONASS with gps week number and tow,
                     // insert new ephemeris record
-                    DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->TOW_5
-                               << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->WN_5
-                               << " and Ephemeris IOD = " << glonass_gnav_eph->IOD_ephemeris;
+                    DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
+                               << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN
+                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b);
                     // update/insert new ephemeris record to the global ephemeris map
                     d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
                 }
@@ -200,7 +200,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
                     glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
                     d_ls_pvt->glonass_gnav_utc_model = *glonass_gnav_utc_model;
-                    DLOG(INFO) << "New UTC record has arrived ";
+                    DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
                 }
             else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>) )
                 {
@@ -557,7 +557,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                 {
                                     if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
                                         {
-                                            d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+                                            //d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
                                         }
                                 }
 
@@ -853,7 +853,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                     if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
                                                         {
                                                             std::string glo_signal("1C");
-                                                            rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
+                                                            std::string gal_signal("1B");
+                                                            rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
                                                             rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
@@ -1068,9 +1069,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
                                                                 {
-                                                                    std::string glo_signal("1C");
-                                                                    rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
-
+                                                                    rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
                                                                 }
                                                             if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
                                                                 {
@@ -1081,10 +1080,10 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     if(type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
                                                         {
-                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
+                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
                                                                 {
                                                                     std::string glo_signal("1C");
-                                                                    rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
+                                                                    rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
 
                                                                 }
                                                             if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 4dfcbe4cc..7c51b8c95 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -196,13 +196,13 @@ Rinex_Printer::Rinex_Printer(int conf_version)
 Rinex_Printer::~Rinex_Printer()
 {
     // close RINEX files
-    long posn, poso, poss, posng, posmn;
+    long posn, poso, poss, posng, posmn, posnr;
     posn = navFile.tellp();
     poso = obsFile.tellp();
     poss = sbsFile.tellp();
     posng = navGalFile.tellp();
     posmn = navMixFile.tellp();
-    posnr = navGalFile.tellp();
+    posnr = navGloFile.tellp();
 
     Rinex_Printer::navFile.close();
     Rinex_Printer::obsFile.close();
@@ -628,6 +628,116 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
 }
 
 
+void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    std::string line;
+    stringVersion = "3.02";
+    version = 3;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += stringVersion;
+    line += std::string(11, ' ');
+    line += std::string("N: GNSS NAV DATA");
+    line += std::string(4, ' ');
+    line += std::string("M: MIXED");
+    line += std::string(12, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line ionospheric info 1
+    line.clear();
+    line += std::string("GAL ");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai0_5, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai1_5, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai2_5, 10, 2), 12);
+    double zero = 0.0;
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(zero, 10, 2), 12);
+    line += std::string(7, ' ');
+    line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+
+    // -------- Line system time correction
+    line.clear();
+    line += std::string("GAUT");
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_utc_model.A0_6, 16, 2), 18);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_utc_model.A1_6, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.t0t_6), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.WNot_6), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 1
+    line.clear();
+    line += std::string("GLUT");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 6 leap seconds
+    // For leap second information, see http://www.endruntechnologies.com/leap.htm
+    line.clear();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.Delta_tLS_6), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.Delta_tLSF_6), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.WN_LSF_6), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.DN_6), 6);
+    line += std::string(36, ' ');
+    line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- End of Header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::string line;
@@ -1319,16 +1429,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_
                             line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
                             data.push_back(line_aux);
                         }
-                    else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
-                        {
-                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.Delta_tLS_6), 6);
-                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.Delta_tLSF_6), 6);
-                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.WN_LSF_6), 6);
-                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.DN_6), 6);
-                            line_aux += std::string(36, ' ');
-                            line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
-                            data.push_back(line_aux);
-                        }
                     else if (line_str.find("END OF HEADER", 59) != std::string::npos)
                         {
                             data.push_back(line_str);
@@ -1939,6 +2039,102 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
 }
 
 
+void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    std::vector<std::string> data;
+    std::string line_aux;
+
+    long pos = out.tellp();
+    out.seekp(0);
+    data.clear();
+
+    bool no_more_finds = false;
+    std::string line_str;
+
+    while(!out.eof())
+        {
+            std::getline(out, line_str);
+
+            if(!no_more_finds)
+                {
+                    line_aux.clear();
+
+                    if ((line_str.find("GAL", 0) != std::string::npos) && (line_str.find("IONOSPHERIC CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GAL ");
+                            line_aux += std::string(1, ' ');
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai0_5, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai1_5, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai2_5, 10, 2), 12);
+                            double zero = 0.0;
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(zero, 10, 2), 12);
+                            line_aux += std::string(7, ' ');
+                            line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GAUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GAUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_utc_model.A0_6, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_utc_model.A1_6, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.t0t_6), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.WNot_6), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GLUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
+                        {
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.Delta_tLS_6), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.Delta_tLSF_6), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.WN_LSF_6), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.DN_6), 6);
+                            line_aux += std::string(36, ' ');
+                            line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("END OF HEADER", 59) != std::string::npos)
+                        {
+                            data.push_back(line_str);
+                            no_more_finds = true;
+                        }
+                    else
+                        {
+                            data.push_back(line_str);
+                        }
+
+                }
+            else
+                {
+                    data.push_back(line_str);
+                }
+        }
+
+    out.close();
+    out.open(navMixfilename, std::ios::out | std::ios::trunc);
+    out.seekp(0);
+    for (int i = 0; i < (int) data.size() - 1; i++)
+        {
+            out << data[i] << std::endl;
+        }
+    out.close();
+    out.open(navMixfilename, std::ios::out | std::ios::app);
+    out.seekp(pos);
+    std::cout << "The RINEX Navigation file header has been updated with UTC and IONO info." << std::endl;
+}
+
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
 {
     std::string line;
@@ -2622,7 +2818,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             glonass_gnav_ephemeris_iter++)
     {
             // -------- SV / EPOCH / SV CLK
-            boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GLONASS_time(glonass_gnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second.d_Toc);
+            boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GLONASS_time(glonass_gnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second.d_t_k);
             std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
             std::string month (timestring, 4, 2);
             std::string day (timestring, 6, 2);
@@ -2631,7 +2827,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             std::string seconds (timestring, 13, 2);
             if (version == 2)
                 {
-                    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_ephemeris_iter->second.i_satellite_PRN), 2);
+                    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(glonass_gnav_ephemeris_iter->second.i_satellite_PRN), 2);
                     line += std::string(1, ' ');
                     std::string year (timestring, 2, 2);
                     line += year;
@@ -2718,7 +2914,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                     line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
                     line += std::string(1, ' ');
                     //TODO need to define this here. what is nd
-                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + nd*86400, 18, 2);
+                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day()*86400, 18, 2);
                 }
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
@@ -2766,7 +2962,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             line += std::string(1, ' ');
             line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_VYn, 18, 2);
             line += std::string(1, ' ');
-            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_ZYn, 18, 2);
+            line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_AYn, 18, 2);
             line += std::string(1, ' ');
             line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.i_satellite_freq_channel, 18, 2);
             if (version == 2)
@@ -2824,7 +3020,16 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Eph
 }
 
 
-void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation)
+void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
+{
+    version = 3;
+    stringVersion = "3.02";
+    Rinex_Printer::log_rinex_nav(out, galileo_eph_map);
+    Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
+}
+
+
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
 {
     std::string line;
     std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
@@ -3054,7 +3259,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
 
     // -------- TIME OF FIRST OBS
     line.clear();
-    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,d_TOW_first_observation);
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GLONASS_time(eph,d_TOW_first_observation);
     std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
     std::string year (timestring, 0, 4);
     std::string month (timestring, 4, 2);
@@ -3131,6 +3336,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
 
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glonass_bands)
 {
+    if(glonass_gnav_eph.d_m){} // avoid warning, not needed
     std::string line;
     version = 3;
 
@@ -3305,7 +3511,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
             number_of_observations_glo = number_of_observations_glo + 4;
         }
     signal_ = "2C";
-    std::size_t found_2C = galileo_bands.find(signal_);
+    std::size_t found_2C = glonass_bands.find(signal_);
     if(found_2C != std::string::npos)
         {
             number_of_observations_glo = number_of_observations_glo + 4;
@@ -3314,7 +3520,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     line.clear();
     line += satelliteSystem["GLONASS"];
     line += std::string(2, ' ');
-    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glO), 3);
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
 
     if(found_1C != std::string::npos)
         {
@@ -3393,6 +3599,321 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 }
 
 
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands, const std::string glonass_bands)
+{
+    if(glonass_gnav_eph.d_m){} // avoid warning, not needed
+    std::string line;
+    version = 3;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += "3.02";
+    line += std::string(11, ' ');
+    line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
+    line += satelliteSystem["Mixed"];
+    line += std::string(19, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::leftJustify("G = GPS  R = GLONASS  E = GALILEO  S = GEO  M = MIXED", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 3
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("MIXED (GALILEO/GLONASS) OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER NAME
+    line.clear();
+    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER TYPE
+    //line.clear();
+    //line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    //line += std::string(40, ' ');
+    //line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    //Rinex_Printer::lengthCheck(line);
+    //out << line << std::endl;
+
+    // -------- Line OBSERVER / AGENCY
+    line.clear();
+    std::string username;
+    char c_username[20] = {0};
+    int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
+    if (nGet == 0)
+        {
+            username = c_username;
+        }
+    else
+        {
+            username = "UNKNOWN USER";
+        }
+    line += leftJustify(username, 20);
+    line += Rinex_Printer::leftJustify("CTTC", 40); // add flag and property
+    line += Rinex_Printer::leftJustify("OBSERVER / AGENCY", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line  REC / TYPE VERS
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
+    line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
+    //line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
+    if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 20);
+    line += Rinex_Printer::leftJustify("REC # / TYPE / VERS", 20);
+    lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("Antenna number", 20);  // add flag and property
+    line += Rinex_Printer::leftJustify("Antenna type", 20);  // add flag and property
+    line += std::string(20, ' ');
+    line += Rinex_Printer::leftJustify("ANT # / TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- APPROX POSITION  (optional for moving platforms)
+    // put here real data!
+    double antena_x = 0.0;
+    double antena_y = 0.0;
+    double antena_z = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA: DELTA H/E/N
+    // put here real data!
+    double antena_h = 0.0;
+    double antena_e = 0.0;
+    double antena_n = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_e, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("ANTENNA: DELTA H/E/N", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- SYS / OBS TYPES
+    line.clear();
+    unsigned int number_of_observations_gal = 0;
+    std::string signal_("1B");
+    std::size_t found_1B = galileo_bands.find(signal_);
+    if(found_1B != std::string::npos)
+        {
+            number_of_observations_gal = number_of_observations_gal + 4;
+        }
+    signal_ = "5X";
+    std::size_t found_5X = galileo_bands.find(signal_);
+    if(found_5X != std::string::npos)
+        {
+            number_of_observations_gal = number_of_observations_gal + 4;
+        }
+
+    line.clear();
+    signal_ = "7X";
+    std::size_t found_7X = galileo_bands.find(signal_);
+    if(found_7X != std::string::npos)
+        {
+            number_of_observations_gal = number_of_observations_gal + 4;
+        }
+
+
+    line += satelliteSystem["Galileo"];
+    line += std::string(2, ' ');
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_gal), 3);
+
+    if(found_1B != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GALILEO_E1_B"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GALILEO_E1_B"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GALILEO_E1_B"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GALILEO_E1_B"];
+        }
+
+    if(found_5X != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GALILEO_E5a_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GALILEO_E5a_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GALILEO_E5a_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GALILEO_E5a_IQ"];
+        }
+
+    if(found_7X != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GALILEO_E5b_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GALILEO_E5b_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GALILEO_E5b_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GALILEO_E5b_IQ"];
+        }
+
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    line.clear();
+    unsigned int number_of_observations_glo = 0;
+    signal_ = "1C";
+    std::size_t found_1C = glonass_bands.find(signal_);
+    if(found_1C != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+    signal_ = "2C";
+    std::size_t found_2C = glonass_bands.find(signal_);
+    if(found_2C != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+
+    line += satelliteSystem["GLONASS"];
+    line += std::string(2, ' ');
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+
+    if(found_1C != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_L1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_L1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_L1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_L1_CA"];
+        }
+
+    if(found_2C != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_L2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_L2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_L2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_L2_CA"];
+        }
+
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Signal Strength units
+    line.clear();
+    line += Rinex_Printer::leftJustify("DBHZ", 20);
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- TIME OF FIRST OBS
+    line.clear();
+    boost::posix_time::ptime p_galileo_time = Rinex_Printer::compute_Galileo_time(galileo_eph, d_TOW_first_observation);
+    std::string timestring=boost::posix_time::to_iso_string(p_galileo_time);
+    std::string year (timestring, 0, 4);
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+    double galileo_t = d_TOW_first_observation;
+    double seconds = fmod(galileo_t, 60);
+    line += Rinex_Printer::rightJustify(year, 6);
+    line += Rinex_Printer::rightJustify(month, 6);
+    line += Rinex_Printer::rightJustify(day, 6);
+    line += Rinex_Printer::rightJustify(hour, 6);
+    line += Rinex_Printer::rightJustify(minutes, 6);
+    line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
+    line += Rinex_Printer::rightJustify(std::string("Galileo"), 8);
+    line += std::string(9, ' ');
+    line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- end of header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
+
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation)
 {
     std::string line;
@@ -4638,6 +5159,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     out << line << std::endl;
 }
 
+void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
+{
+    if(utc_model.d_N_4)
+        {
+            
+        }
+}
+
 
 void Rinex_Printer::update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model)
 {
@@ -4841,16 +5370,16 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Galileo_Utc_Model
 }
 
 
-void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonassps_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables)
+void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables, const std::string glonass_band)
 {
     // RINEX observations timestamps are GPS timestamps.
     std::string line;
 
-    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, obs_time);
-    std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
+    boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_GLONASS_time(eph, obs_time);
+    std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
     //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
     //double gps_t = eph.sv_clock_correction(obs_time);
-    double gps_t = obs_time;
+    double glonass_t = obs_time;
 
     std::string month (timestring, 4, 2);
     std::string day (timestring, 6, 2);
@@ -4888,7 +5417,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonassps_Gnav_Epheme
             line += std::string(1, ' ');
             line += minutes;
             line += std::string(1, ' ');
-            double second_ = fmod(gps_t, 60);
+            double second_ = fmod(glonass_t, 60);
             if (second_ < 10)
                 {
                     line += std::string(1, ' ');
@@ -4992,7 +5521,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonassps_Gnav_Epheme
             line += minutes;
 
             line += std::string(1, ' ');
-            double seconds = fmod(gps_t, 60);
+            double seconds = fmod(glonass_t, 60);
             // Add extra 0 if seconds are < 10
             if (seconds < 10)
             {
@@ -5084,6 +5613,473 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonassps_Gnav_Epheme
 }
 
 
+void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph,  double gps_obs_time, const std::map<int,Gnss_Synchro>& observables)
+{
+    if(glonass_gnav_eph.d_m){} // avoid warning, not needed
+    std::string line;
+
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
+    std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
+    //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
+    //double gps_t = eph.sv_clock_correction(obs_time);
+    double gps_t = gps_obs_time;
+
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+
+    std::string year (timestring, 0, 4);
+    line += std::string(1, '>');
+    line += std::string(1, ' ');
+    line += year;
+    line += std::string(1, ' ');
+    line += month;
+    line += std::string(1, ' ');
+    line += day;
+    line += std::string(1, ' ');
+    line += hour;
+    line += std::string(1, ' ');
+    line += minutes;
+
+    line += std::string(1, ' ');
+    double seconds = fmod(gps_t, 60);
+    // Add extra 0 if seconds are < 10
+    if (seconds < 10)
+        {
+            line +=std::string(1, '0');
+        }
+    line += Rinex_Printer::asString(seconds, 7);
+    line += std::string(2, ' ');
+    // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+    line += std::string(1, '0');
+
+    //Number of satellites observed in current epoch
+
+    //Get maps with observations
+    std::map<int, Gnss_Synchro> observablesG1C;
+    std::map<int, Gnss_Synchro> observablesR1C;
+    std::map<int, Gnss_Synchro> observablesR2C;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
+
+    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+    std::set<unsigned int> available_glo_prns;
+    std::set<unsigned int>::iterator it;
+    for(observables_iter = observablesR1C.begin();
+            observables_iter != observablesR1C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
+
+    for(observables_iter = observablesR2C.begin();
+            observables_iter != observablesR2C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
+
+    int numGloSatellitesObserved = available_glo_prns.size();
+    int numGpsSatellitesObserved = observablesG1C.size();
+    int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+
+    // Receiver clock offset (optional)
+    //line += rightJustify(asString(clockOffset, 12), 15);
+
+    line += std::string(80 - line.size(), ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    std::string s;
+    std::string lineObs;
+    for(observables_iter = observablesG1C.begin();
+            observables_iter != observablesG1C.end();
+            observables_iter++)
+        {
+            lineObs.clear();
+
+            s.assign(1, observables_iter->second.System);
+            if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+            if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+            if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+
+            //Loss of lock indicator (LLI)
+            int lli = 0; // Include in the observation!!
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            else
+                {
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                }
+
+            // Signal Strength Indicator (SSI)
+            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+            // PHASE
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            else
+                {
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+            // DOPPLER
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            else
+                {
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+            // SIGNAL STRENGTH
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
+
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+    for(it = available_glo_prns.begin();
+            it != available_glo_prns.end();
+            it++)
+        {
+            lineObs.clear();
+            lineObs += satelliteSystem["GLONASS"];
+            if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+            ret = total_glo_map.equal_range(*it);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GALILEO_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+                }
+
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
+}
+
+
+void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int,Gnss_Synchro>& observables)
+{
+    if(glonass_gnav_eph.d_m){} // avoid warning, not needed
+    std::string line;
+
+    boost::posix_time::ptime p_galileo_time = Rinex_Printer::compute_Galileo_time(galileo_eph, galileo_obs_time);
+    std::string timestring = boost::posix_time::to_iso_string(p_galileo_time);
+    //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
+    //double gps_t = eph.sv_clock_correction(obs_time);
+    double galileo_t = galileo_obs_time;
+
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+
+    std::string year (timestring, 0, 4);
+    line += std::string(1, '>');
+    line += std::string(1, ' ');
+    line += year;
+    line += std::string(1, ' ');
+    line += month;
+    line += std::string(1, ' ');
+    line += day;
+    line += std::string(1, ' ');
+    line += hour;
+    line += std::string(1, ' ');
+    line += minutes;
+
+    line += std::string(1, ' ');
+    double seconds = fmod(galileo_t, 60);
+    // Add extra 0 if seconds are < 10
+    if (seconds < 10)
+        {
+            line +=std::string(1, '0');
+        }
+    line += Rinex_Printer::asString(seconds, 7);
+    line += std::string(2, ' ');
+    // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+    line += std::string(1, '0');
+
+    //Number of satellites observed in current epoch
+
+    //Get maps with observations
+    std::map<int, Gnss_Synchro> observablesE1B;
+    std::map<int, Gnss_Synchro> observablesR1C;
+    std::map<int, Gnss_Synchro> observablesR2C;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2C") == 0))
+                {
+                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("E") == 0) && (sig_.compare("1B") == 0))
+                {
+                    observablesE1B.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
+
+    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+    std::set<unsigned int> available_glo_prns;
+    std::set<unsigned int>::iterator it;
+    for(observables_iter = observablesR1C.begin();
+            observables_iter != observablesR1C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
+    for(observables_iter = observablesR2C.begin();
+            observables_iter != observablesR2C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
+
+    int numGloSatellitesObserved = available_glo_prns.size();
+    int numGalSatellitesObserved = observablesE1B.size();
+    int numSatellitesObserved = numGalSatellitesObserved + numGloSatellitesObserved;
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+
+    // Receiver clock offset (optional)
+    //line += rightJustify(asString(clockOffset, 12), 15);
+
+    line += std::string(80 - line.size(), ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    std::string s;
+    std::string lineObs;
+    for(observables_iter = observablesE1B.begin();
+            observables_iter != observablesE1B.end();
+            observables_iter++)
+        {
+            lineObs.clear();
+
+            s.assign(1, observables_iter->second.System);
+            if(s.compare("E") == 0) lineObs += satelliteSystem["Galileo"];
+            if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+            if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+
+            //Loss of lock indicator (LLI)
+            int lli = 0; // Include in the observation!!
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            else
+                {
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                }
+
+            // Signal Strength Indicator (SSI)
+            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+            // PHASE
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            else
+                {
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+            // DOPPLER
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            else
+                {
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+            // SIGNAL STRENGTH
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
+
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+    for(it = available_glo_prns.begin();
+            it != available_glo_prns.end();
+            it++)
+        {
+            lineObs.clear();
+            lineObs += satelliteSystem["Galileo"];
+            if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+            ret = total_glo_map.equal_range(*it);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // GLONASS SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+                }
+
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
+}
+
+
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables)
 {
     // RINEX observations timestamps are GPS timestamps.
@@ -6344,12 +7340,7 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
 
 boost::posix_time::ptime Rinex_Printer::compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
 {
-    // The RINEX v2.11 v3.00 format uses Galileo time for the observations epoch, not UTC time, thus, no leap seconds needed here.
-    // (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf)
-    // --??? No time correction here, since it will be done in the RINEX processor
-    double glonass_t = obs_time;
-    boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000); //
-    boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+    boost::posix_time::ptime p_time = eph.compute_GLONASS_time(obs_time);
     return p_time;
 }
 /*
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index 7264a32d2..901fd0a60 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -124,7 +124,7 @@ public:
     void rinex_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     /*!
-     *  \brief Generates the Mixed (GLONASS L1, L2/GPS L1 C/A) Navigation Data header
+     *  \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header
      */
     void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
@@ -166,7 +166,7 @@ public:
     /*!
      *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
      */
-    void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
+    void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
 
     /*!
      *  \brief Generates the SBAS raw data header
@@ -218,6 +218,21 @@ public:
      */
     void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Galileo_Ephemeris> & galileo_eph_map);
 
+    /*!
+     *  \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream & out, const std::map<int, Glonass_Gnav_Ephemeris> & eph_map);
+
+    /*!
+     *  \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map);
+
+    /*!
+     *  \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map);
+
     /*!
      *  \brief Writes GPS L1 observables into the RINEX file
      */
@@ -278,7 +293,7 @@ public:
 
     void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
-    void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+    void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index b46fe7576..b803a6c45 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -126,6 +126,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 
     obsd_t obs_data[MAXOBS];
     eph_t eph_data[MAXOBS];
+    geph_t geph_data[MAXOBS];
 
     for(gnss_observables_iter = gnss_observables_map.cbegin();
             gnss_observables_iter != gnss_observables_map.cend();
@@ -441,5 +442,5 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                 }
             }
         }
-    return this->is_valid_position();
-}
+        return b_valid_position;
+    }
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index a2374a67d..f7da4d8df 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -68,53 +68,49 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
     geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
         0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
+    gtime_t t_utc;
+    struct tm utcinfo;
 
-    int iode;           /* IODE (0-6 bit of tb field) */
-    int frq;            /* satellite frequency number */
-    int svh,sva,age;    /* satellite health, accuracy, age of operation */
-    gtime_t toe;        /* epoch of epherides (gpst) */
-    gtime_t tof;        /* message frame time (gpst) */
-    double pos[3];      /* satellite position (ecef) (m) */
-    double vel[3];      /* satellite velocity (ecef) (m/s) */
-    double acc[3];      /* satellite acceleration (ecef) (m/s^2) */
-    double taun,gamn;   /* SV clock bias (s)/relative freq bias */
-    double dtaun;
+    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;       /* satellite number */
+    rtklib_sat.iode   = glonass_gnav_eph.d_t_b;                         /* IODE (0-6 bit of tb field) */
+    rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;      /* satellite frequency number */
+    rtklib_sat.svh    = glonass_gnav_eph.d_l_n;                         /* satellite health*/
+    rtklib_sat.sva    = glonass_gnav_eph.d_F_T;                         /* satellite accuracy*/
+    rtklib_sat.age    = glonass_gnav_eph.d_E_n;                         /* satellite age*/
+    rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000;                     /* satellite position (ecef) (m) */
+    rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000;                     /* satellite position (ecef) (m) */
+    rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000;                     /* satellite position (ecef) (m) */
+    rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000;                    /* satellite velocity (ecef) (m/s) */
+    rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000;                    /* satellite velocity (ecef) (m/s) */
+    rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000;                    /* satellite velocity (ecef) (m/s) */
+    rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000;                    /* satellite acceleration (ecef) (m/s^2) */
+    rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000;                    /* satellite acceleration (ecef) (m/s^2) */
+    rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000;                    /* satellite acceleration (ecef) (m/s^2) */
+    rtklib_sat.taun   = glonass_gnav_eph.d_tau_n;                       /* SV clock bias (s) */
+    rtklib_sat.gamn   = glonass_gnav_eph.d_gamma_n;                     /* SV relative freq bias */
+    rtklib_sat.age    = glonass_gnav_eph.d_Delta_tau_n;                 /* delay between L1 and L2 (s) */
 
-    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_PRN; /* satellite number */
-    rtklib_sat.iode   = glonass_gnav_eph.d_sqrt_A;
-    rtklib_sat.frq    = glonass_gnav_eph.;
-    rtklib_sat.svh    = glonass_gnav_eph.;
-    rtklib_sat.sva    = glonass_gnav_eph.
-    rtklib_sat.age    = glonass_gnav_eph.
+    /* TODO: adjustment for week handover */
+    utcinfo.tm_mon  = 0;
+    utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
+    utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
+    utcinfo.tm_hour = 0;
+    utcinfo.tm_min  = 0;
+    utcinfo.tm_sec  = glonass_gnav_eph.d_t_b;
+    t_utc.time = mktime(&utcinfo);
+    t_utc.sec = 0.0;
+    rtklib_sat.toe    = utc2gpst(t_utc);      /* epoch of epherides (gpst) */
 
-    rtklib_sat.toe    = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
-    rtklib_sat.toc    = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
+    utcinfo.tm_mon  = 0;
+    utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
+    utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
+    utcinfo.tm_hour = 0;
+    utcinfo.tm_min  = 0;
+    utcinfo.tm_sec  = glonass_gnav_eph.d_t_k;
+    t_utc.time = mktime(&utcinfo);
+    t_utc.sec = 0.0;
+    rtklib_sat.tof    = utc2gpst(t_utc);      /* message frame time (gpst) */
 
-    rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn;
-    rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn;
-    rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn;
-
-    rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn;
-    rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn;
-    rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn;
-
-    rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn;
-    rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn;
-    rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn;
-
-    rtklib_sat.taun   = glonass_gnav_eph.d_tau_n;     /* SV clock bias (s) */
-    rtklib_sat.gann   = glonass_gnav_eph.d_gamma_n;   /* SV relative freq bias */
-    rtklib_sat.gann   = glonass_gnav_eph.d_gamma_n;
-
-    /* adjustment for week handover */
-    double tow, toc;
-    tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
-    toc = time2gpst(rtklib_sat.toc, NULL);
-    if      (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
-    else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
-    rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
-    rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
-    rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
 
     return rtklib_sat;
 }
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 33b21b18f..be05cc58a 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -103,8 +103,8 @@ const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
 const int GLONASS_GNAV_FRAME_BITS = 1725;       //!< Number of chips per frame in the GNAV message  15 strings*(85 data bits + 30 time mark bits)[bits]
 const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
 const int GLONASS_GNAV_FRAME_MS = 30000;        //!< Subframe duration [seconds]
-const int GLONASS_GNAV_STRING_BITS = 115;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
-const int GLONASS_GNAV_HAMMING_CODE_BITS = 115; //!< Number of bits in hamming code sequence of GNAV message
+const int GLONASS_GNAV_STRING_BITS = 85;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
+const int GLONASS_GNAV_HAMMING_CODE_BITS = 8; //!< Number of bits in hamming code sequence of GNAV message
 
 const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
 const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
@@ -124,7 +124,9 @@ const std::vector<std::pair<int,int>> STRING_ID({{2,4}});
 const std::vector<std::pair<int,int>> KX({{78,8}});
 //STRING 1
 const std::vector<std::pair<int,int>> P1({{8,2}});
-const std::vector<std::pair<int,int>> T_K({{10,12}});
+const std::vector<std::pair<int,int>> T_K_HR({{10,5}});
+const std::vector<std::pair<int,int>> T_K_MIN({{10,6}});
+const std::vector<std::pair<int,int>> T_K_SEC({{10,1}});
 const std::vector<std::pair<int,int>> X_N_DOT ({{22,24}});
 const std::vector<std::pair<int,int>> X_N_DOT_DOT ({{46,5}});
 const std::vector<std::pair<int,int>> X_N({{51,27}});
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index cdde02086..002324e94 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -53,6 +53,7 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
   d_KP = 0.0;
   d_tau_n_A = 0.0;
   d_C_n = 0.0;
+  d_l_n = 0.0;
 }
 
 void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 7bbf9fe41..1e1682e66 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -62,7 +62,8 @@ public:
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
-    double d_C_n;             //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    double d_C_n;               //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    double d_l_n;               //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // satellite positions
     double d_satpos_Xo;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
@@ -109,6 +110,7 @@ public:
         archive & make_nvp("d_KP", d_KP);
         archive & make_nvp("d_tau_n_A", d_tau_n_A);
         archive & make_nvp("d_C_n", d_C_n);
+        archive & make_nvp("d_l_n", d_l_n);
     }
 
     void satellite_position(double N_i, double t_i);
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 7f48c1051..1127751fe 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -34,6 +34,8 @@
 
 #include "glonass_gnav_ephemeris.h"
 #include <cmath>
+#include <boost/date_time/posix_time/posix_time.hpp>
+
 #include "GLONASS_L1_CA.h"
 #include "gnss_satellite.h"
 
@@ -77,6 +79,16 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 }
 
 
+boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
+{
+    boost::posix_time::time_duration t(0, 0, offset_time);
+    boost::gregorian::date d(d_yr, 1, d_N_T);
+    boost::posix_time::ptime glonass_time(d, t);
+
+    return glonass_time;
+}
+
+
 void Glonass_Gnav_Ephemeris::gravitational_perturbations()
 {
     double T = 0.0;
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 6348270a8..cd527717e 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -37,6 +37,7 @@
 #include <string>
 #include "boost/assign.hpp"
 #include <boost/serialization/nvp.hpp>
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 
 
@@ -59,62 +60,68 @@ private:
 
     void gravitational_perturbations();
 
-    double d_Jx_moon;           //!< Moon gravitational perturbation
-    double d_Jy_moon;           //!< Moon gravitational perturbation
-    double d_Jz_moon;           //!< Moon gravitational perturbation
+    double d_Jx_moon;         //!< Moon gravitational perturbation
+    double d_Jy_moon;         //!< Moon gravitational perturbation
+    double d_Jz_moon;         //!< Moon gravitational perturbation
 
-    double d_Jx_sun;            //!< Sun gravitational perturbation
-    double d_Jy_sun;            //!< Sun gravitational perturbation
-    double d_Jz_sun;            //!< Sun gravitational perturbation
+    double d_Jx_sun;          //!< Sun gravitational perturbation
+    double d_Jy_sun;          //!< Sun gravitational perturbation
+    double d_Jz_sun;          //!< Sun gravitational perturbation
 
 public:
-    int i_satellite_freq_channel; // SV Frequency Channel Number
-    double d_m;               //!< String number within frame [dimensionless]
-    double d_t_k;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
-    double d_t_b;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
-    double d_M;               //!< Type of satellite transmitting navigation signal [dimensionless]
-    double d_gamma_n;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
-    double d_tau_n;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+    double d_m;             //!< String number within frame [dimensionless]
+    double d_t_k;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
+    double d_t_b;           //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
+    double d_M;             //!< Type of satellite transmitting navigation signal [dimensionless]
+    double d_gamma_n;       //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+    double d_tau_n;         //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+    double d_Xn;            //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    double d_Yn;            //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    double d_Zn;            //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    double d_VXn;           //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_VYn;           //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_VZn;           //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    double d_AXn;           //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_AYn;           //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_AZn;           //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    double d_B_n;           //!< Health flag [dimensionless]
+    double d_P;             //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+    double d_N_T;           //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+    double d_F_T;           //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+    double d_n;             //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+    double d_Delta_tau_n;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+    double d_E_n;           //!< Characterises "age" of a current information [days]
+    double d_P_1;           //!< Flag of the immediate data updating [minutes]
+    double d_P_2;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    double d_P_3;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    double d_P_4;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    double d_l_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
-    // satellite positions
-    double d_Xn;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_Yn;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_Zn;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    double d_VXn;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_VYn;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_VZn;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-    // Satellite acceleration
-    double d_AXn;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_AYn;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_AZn;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    // Inmediate deliverables of ephemris information
+    int i_satellite_freq_channel;           //!< SV Frequency Channel Number
+    unsigned int i_satellite_PRN;           //!< SV PRN NUMBER
+    unsigned int i_satellite_slot_number;   //!< SV PRN NUMBER
+    double d_TOD;                           //!< Time of Day of the ephemeris set based in start of frame [s]
+    double d_D4Y;                           //!< Day of Year after latest leap year (4 year interval)
+    double d_yr;                            //!< Current year
+    double d_satClkDrift;                   //!< GLONASS clock error
+    double d_dtr;                           //!< relativistic clock correction term
+    double d_iode;                          //!< Issue of data, ephemeris (Bit 0-6 of tb)
+    double d_tau_c;
+    double d_TOW; // tow of the start of frame
+    double d_WN; //  week number of the start of frame
 
-    double d_B_n;             //!< Health flag [dimensionless]
-    double d_P;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
-    double d_N_T;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
-    double d_F_T;             //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
-    double d_n;               //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
-    double d_Delta_tau_n;     //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
-    double d_E_n;             //!< Characterises "age" of a current information [days]
-    double d_P_1;             //!< Flag of the immediate data updating.
-    double d_P_2;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-    double d_P_3;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-    double d_P_4;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    double d_l_n;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    // Need to add a way to compute the GPS week number and GPS TIME OF WEEK from GLONASS ephemeris
 
-    // clock terms derived from ephemeris data
-    double d_satClkDrift;    //!< GPS clock error
-    double d_dtr;            //!< relativistic clock correction term
-
-    // satellite positions
+    // satellite positions after RK4 Integration
     double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
     double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
     double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
+    // Satellite velocity after RK4 Integration
     double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
     double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
     double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-    // Satellite acceleration
+    // Satellite acceleration after RK4 Integration
     double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
     double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
     double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
@@ -136,6 +143,15 @@ public:
         archive & make_nvp("d_M", d_M);             //!< Type of satellite transmitting navigation signal [dimensionless]
         archive & make_nvp("d_gamma_n", d_gamma_n); //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
         archive & make_nvp("d_tau_n", d_tau_n);     //!< Correction to the nth satellite time (tn) relative to GLONASS time (te)
+        archive & make_nvp("d_Xn", d_Xn);           //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+        archive & make_nvp("d_Yn", d_Yn);           //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+        archive & make_nvp("d_Zn", d_Zn);           //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+        archive & make_nvp("d_VXn", d_VXn);         //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+        archive & make_nvp("d_VYn", d_VYn);         //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+        archive & make_nvp("d_VZn", d_VZn);         //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+        archive & make_nvp("d_AXn", d_AXn);         //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+        archive & make_nvp("d_AYn", d_AYn);         //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+        archive & make_nvp("d_AZn", d_AZn);         //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
         archive & make_nvp("d_B_n", d_B_n);         //!< Health flag [dimensionless]
         archive & make_nvp("d_P", d_P);             //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
         archive & make_nvp("d_N_T", d_N_T);         //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
@@ -172,7 +188,7 @@ public:
      * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
      *  (IS-GPS-200E,  20.3.3.3.3.1)
      */
-    double sv_clock_drift(double transmitTime);
+    double sv_clock_drift(double transmitTime, double timeCorrUTC);
 
     /*!
      * \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
@@ -181,6 +197,12 @@ public:
     double sv_clock_relativistic_term(double transmitTime);
 
 
+    /*!
+     *  \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
+     * \ param offset_time Is the start of day offset to compute the time
+     */
+    boost::posix_time::ptime compute_GLONASS_time(const double offset_time) const;
+
     /*!
      * Default constructor
      */
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 96608b736..ee76d31bf 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -104,7 +104,7 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
 }
 
 
-bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
+bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
 {
     int sum_bits;
     int sum_hamming;
@@ -118,7 +118,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
     int C_Sigma = 0;
 
     std::bitset<GLONASS_GNAV_STRING_BITS> data = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 0, 77);
-    std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 77, 8);
+    std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS>(bits.to_string(), 77, 8);
 
     std::istringstream dsb = std::istringstream( data.to_string() );
     std::istringstream hcb = std::istringstream( hamming_code.to_string() );
@@ -345,13 +345,14 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
 int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 {
     int string_ID = 0;
-    int frame_ID = 0;
+    int J = 0;
+    frame_ID = 0;
 
     // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
     std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>(std::string(frame_string));
     string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
 
-    _CRC_test(string_bits);
+    CRC_test(string_bits);
 
     // Decode all 15 string messages
     switch (string_ID)
@@ -359,11 +360,17 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 1:
             //--- It is string 1 -----------------------------------------------
             gnav_ephemeris.d_P_1 = static_cast<double>(read_navigation_unsigned(string_bits, P1));
-            gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K));
-            gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT));
-            gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT));
-            gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N));
+            gnav_ephemeris.d_t_k =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
+                                    static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
+                                    static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
+            gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
+            gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
+            gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
 
+            if(gnav_ephemeris.d_P_1 != 0)
+                {
+                    gnav_ephemeris.d_P_1 = (gnav_ephemeris.d_P_1 + 1)*15;
+                }
             flag_ephemeris_str_1 = true;
 
             break;
@@ -372,11 +379,12 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             //--- It is string 2 -----------------------------------------------
             gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
             gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
-            gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B));
-            gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT));
-            gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT));
-            gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N));
+            gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
+            gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
+            gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
+            gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * 2e-11;
 
+            gnav_ephemeris.d_iode   = read_navigation_unsigned(string_bits, T_B);
             flag_ephemeris_str_2 = true;
 
             break;
@@ -384,22 +392,21 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 3:
             // --- It is string 3 ----------------------------------------------
             gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
-            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N));
+            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * 2e-40;
             gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
             gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
-            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT));
-            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT));
-            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N));
+            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * 2e-20;
+            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * 2e-30;
+            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * 2e-11;
 
             flag_ephemeris_str_3 = true;
 
             break;
 
         case 4:
-            // --- It is subframe 4 --------------------------------------------
-            // TODO signed vs unsigned reading from datasheet
-            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N));
-            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N));
+            // --- It is string 4 ----------------------------------------------
+            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * 2e-30;
+            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * 2e-30;
             gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
             gnav_ephemeris.d_P_4 = static_cast<double>(read_navigation_unsigned(string_bits, P4));
             gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
@@ -407,33 +414,59 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
             gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
+            // Fill in ephemeris deliverables in the code
+            gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
+            gnav_ephemeris.d_D4Y = gnav_ephemeris.d_N_T;
+
             flag_ephemeris_str_4 = true;
 
             break;
 
         case 5:
             // --- It is string 5 ----------------------------------------------
-            // TODO signed vs unsigned reading from datasheet
             gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
+            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * 2e-31;
             gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
-            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
+            gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * 2e-30;
             gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+            // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
+            if(flag_ephemeris_str_4 == true)
+                {
+                    //Current year number J in the four-year interval is calculated:
+                    if(gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
+                        {
+                            J = 1;
+                        }
+                    else if ( gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
+                        {
+                            J = 2;
+                        }
+                    else if (gnav_ephemeris.d_N_T >= 732  && gnav_ephemeris.d_N_T <= 1096)
+                        {
+                            J = 3;
+                        }
+                    else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461)
+                        {
+                            J = 4;
+                        }
+                    // 2). Current year in common form is calculated by the following formula:
+                    gnav_ephemeris.d_yr = 1996 + 4.0*(gnav_utc_model.d_N_4  - 1.0) + (J - 1.0);
+                }
             break;
 
         case 6:
             // --- It is string 6 ----------------------------------------------
-            // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * 2e-18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
 
             flag_almanac_str_6 = true;
 
@@ -443,14 +476,17 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
               {
-                // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+                if(i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
+                    {
+                        gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A;
+                    }
                 flag_almanac_str_7 = true;
               }
 
@@ -458,15 +494,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             break;
         case 8:
             // --- It is string 8 ----------------------------------------------
-            // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            frame_ID = get_frame_number(i_satellite_slot_number);
+
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * 2e-18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
 
             flag_almanac_str_8 = true;
 
@@ -477,94 +514,95 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             if (flag_almanac_str_8 == true)
               {
                 // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_9 = true;
               }
         case 10:
-            // --- It is string 8 ----------------------------------------------
-            // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            // --- It is string 10 ---------------------------------------------
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            frame_ID = get_frame_number(i_satellite_slot_number);
+
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * 2e-18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
 
             flag_almanac_str_10 = true;
 
             break;
 
         case 11:
-            // --- It is string 9 ----------------------------------------------
+            // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
               {
-                // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A))  * 2e-15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A))  * 2e-5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A))  * 2e-9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A))  * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_11 = true;
               }
             break;
         case 12:
-            // --- It is string 8 ----------------------------------------------
-            // TODO signed vs unsigned reading from datasheet
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+            // --- It is string 12 ---------------------------------------------
+            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            frame_ID = get_frame_number(i_satellite_slot_number);
+
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A))  * 2e-18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
 
             flag_almanac_str_12 = true;
 
             break;
 
         case 13:
-            // --- It is string 9 ----------------------------------------------
+            // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
               {
-                // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_13 = true;
               }
         case 14:
-            // --- It is string 8 ----------------------------------------------
-            if( frame_number == 5)
+            // --- It is string 14 ---------------------------------------------
+            if( frame_ID == 5)
               {
                 gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
                 gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
               }
             else
               {
-                // TODO signed vs unsigned reading from datasheet
-                i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                frame_ID = get_frame_number(i_satellite_slot_number);
+
                 gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
                 gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, LAMBDA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_I_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A))  * 2e-18;
+                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
+                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
 
                 flag_almanac_str_14 = true;
               }
@@ -574,14 +612,13 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
         case 15:
             // --- It is string 9 ----------------------------------------------
-            if (frame_number != 5 and flag_almanac_str_14 == true )
+            if (frame_ID != 5 and flag_almanac_str_14 == true )
               {
-                // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
                 flag_almanac_str_15 = true;
@@ -631,7 +668,6 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
             //if all ephemeris pages have the same IOD, then they belong to the same block
             if ((gnav_ephemeris.d_t_b == 0) )
                 {
-                    std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
                     flag_ephemeris_str_1 = false;// clear the flag
                     flag_ephemeris_str_2 = false;// clear the flag
                     flag_ephemeris_str_3 = false;// clear the flag
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 18d9025f2..c93eda14c 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -58,13 +58,10 @@ private:
     unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
     signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
     bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
-    bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
-
-    unsigned int get_frame_number(unsigned int satellite_slot_number);
 
 public:
     bool flag_CRC_test;
-    unsigned int frame_number;
+    unsigned int frame_ID;
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;      //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;      //!< UTC model information
@@ -117,6 +114,10 @@ public:
     double d_dtr;            // Relativistic clock correction term
     double d_satClkDrift;    // Satellite clock drift
 
+    bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
+
+    unsigned int get_frame_number(unsigned int satellite_slot_number);
+
     /*!
      * \brief Reset GLONASS GNAV Navigation Information
      */
@@ -160,7 +161,7 @@ public:
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
      */
-    double utc_time(const double gpstime_corrected) const;
+    double utc_time(const double glonasstime_corrected) const;
 
     /*!
      * Default constructor
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.h b/src/core/system_parameters/glonass_gnav_utc_model.h
index 51d47f6c3..6aca883f4 100644
--- a/src/core/system_parameters/glonass_gnav_utc_model.h
+++ b/src/core/system_parameters/glonass_gnav_utc_model.h
@@ -48,7 +48,7 @@ public:
     double d_tau_c;             //!< GLONASS time scale correction to UTC(SU) time. [s]
     double d_tau_gps;           //!< Correction to GPS time to GLONASS time [day]
     double d_N_4;               //!< Four year interval number starting from 1996 [4 year interval]
-    double d_N_A;               //!< Calendar day number within the four-year period beginning since the leap year [days]
+    double d_N_A;               //!< Calendar day number within the four-year period beginning since the leap year for Almanac data [days]
     double d_B1;                //!< Coefficient  to  determine DeltaUT1 [s]
     double d_B2;                //!< Coefficient  to  determine DeltaUT1 [s/msd]
 
diff --git a/src/core/system_parameters/gps_ephemeris.h b/src/core/system_parameters/gps_ephemeris.h
index 0a413a927..a08f34400 100644
--- a/src/core/system_parameters/gps_ephemeris.h
+++ b/src/core/system_parameters/gps_ephemeris.h
@@ -37,6 +37,7 @@
 #include <string>
 #include "boost/assign.hpp"
 #include <boost/serialization/nvp.hpp>
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 
 

From 6669482e91250996fba3fad831d1477ae30f5a4b Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 1 Aug 2017 11:23:34 -0700
Subject: [PATCH 256/379] rtcm: Starting coding of RTCM standard

Starting to add GLONASS support for RTCM v3 messages while fixing bugs
with the RINEX parser. In addition, adding more unit tests in the code
---
 src/algorithms/PVT/adapters/rtklib_pvt.cc     |  56 +-
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.h       |  12 +-
 src/algorithms/PVT/libs/rtcm_printer.cc       |  61 +-
 src/algorithms/PVT/libs/rtcm_printer.h        |  62 +-
 .../glonass_gnav_ephemeris.h                  |   5 +-
 .../glonass_gnav_navigation_message.cc        | 108 +-
 src/core/system_parameters/rtcm.cc            | 922 +++++++++++++++++-
 src/core/system_parameters/rtcm.h             | 311 +++++-
 .../glonass_gnav_nav_message_test.cc          | 138 +++
 9 files changed, 1567 insertions(+), 108 deletions(-)
 create mode 100644 src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc

diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 8e1e9fbe0..9a4c0b899 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -138,38 +138,48 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
      *    20   |  GPS L5 + Galileo E5b
      *    21   |  GPS L1 C/A + Galileo E1B + GPS L2C
      *    22   |  GPS L1 C/A + Galileo E1B + GPS L5
+     *    23   |  GLONASS L1 C/A
+     *    24   |  GLONASS L2 C/A
+     *    25   |  GLONASS L1 C/A + GLONASS L2 C/A
+     *    26   |  GPS L1 C/A + GLONASS L1 C/A
+     *    27   |  Galileo E1B + GLONASS L1 C/A
      */
     int gps_1C_count = configuration->property("Channels_1C.count", 0);
     int gps_2S_count = configuration->property("Channels_2S.count", 0);
     int gal_1B_count = configuration->property("Channels_1B.count", 0);
     int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
     int gal_E5b_count = configuration->property("Channels_7X.count", 0);
+    int glo_1R_count = configuration->property("Channels_1R.count", 0);
 
     unsigned int type_of_receiver = 0;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 1;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 2;
 
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 4;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 5;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 6;
 
-    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
+    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 7;
     //if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 9;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 10;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 11;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 12;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 14;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 15;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 17;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 18;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
-    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
+    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 21;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
-
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 23;
+    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
+    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0) && (glo_1R_count != 0)) type_of_receiver = 25;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 26;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 27;
     //RTKLIB PVT solver options
     // Settings 1
     int positioning_mode = -1;
@@ -192,10 +202,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
         }
 
     int num_bands = 0;
-    if ((gps_1C_count > 0) || (gal_1B_count > 0)) num_bands = 1;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
+    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) num_bands = 1;
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
     int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
     if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
         {
@@ -207,6 +217,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
         {
             //warn user and set the default
+            LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
             elevation_mask = 15.0;
         }
 
@@ -214,6 +225,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     if( (dynamics_model < 0) || (dynamics_model > 2) )
         {
             //warn user and set the default
+            LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
             dynamics_model = 0;
         }
 
@@ -275,10 +287,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     int nsys = 0;
     if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
     if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
+    if ((glo_1R_count > 0)) nsys += SYS_GLO;
     int navigation_system = configuration->property(role + ".navigation_system", nsys);  /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
     if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1   SBAS: 2   GPS+SBAS: 3 Galileo: 8  Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
         {
             //warn user and set the default
+            LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
             navigation_system = nsys;
         }
 
@@ -305,6 +319,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) )
         {
             //warn user and set the default
+            LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
             integer_ambiguity_resolution_glo = 1;
         }
 
@@ -312,6 +327,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) )
         {
             //warn user and set the default
+            LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
             integer_ambiguity_resolution_bds = 1;
         }
 
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
index a188c5809..a46d26180 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
@@ -99,10 +99,12 @@ private:
     bool b_rinex_header_written;
     bool b_rinex_header_updated;
     bool b_rtcm_writing_started;
-    int d_rtcm_MT1045_rate_ms;
-    int d_rtcm_MT1019_rate_ms;
-    int d_rtcm_MT1077_rate_ms;
-    int d_rtcm_MT1097_rate_ms;
+    int d_rtcm_MT1045_rate_ms;    //!< Galileo Broadcast Ephemeris
+    int d_rtcm_MT1019_rate_ms;    //!< GPS Broadcast Ephemeris (orbits)
+    int d_rtcm_MT1020_rate_ms;    //!< GLONASS Broadcast Ephemeris (orbits)
+    int d_rtcm_MT1077_rate_ms;    //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
+    int d_rtcm_MT1087_rate_ms;    //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
+    int d_rtcm_MT1097_rate_ms;    //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
     int d_rtcm_MSM_rate_ms;
 
     int d_last_status_print_seg; //for status printer
@@ -122,8 +124,10 @@ private:
     double d_rx_time;
     double last_pvt_display_T_rx_s;
     double last_RTCM_1019_output_time;
+    double last_RTCM_1020_output_time;
     double last_RTCM_1045_output_time;
     double last_RTCM_1077_output_time;
+    double last_RTCM_1087_output_time;
     double last_RTCM_1097_output_time;
     double last_RTCM_MSM_output_time;
     double last_RINEX_obs_output_time;
diff --git a/src/algorithms/PVT/libs/rtcm_printer.cc b/src/algorithms/PVT/libs/rtcm_printer.cc
index aa80318ed..13873251d 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.cc
+++ b/src/algorithms/PVT/libs/rtcm_printer.cc
@@ -186,6 +186,38 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
 }
 
 
+bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+{
+    std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
+    Rtcm_Printer::Print_Message(m1009);
+    return true;
+}
+
+
+bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+{
+    std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
+    Rtcm_Printer::Print_Message(m1010);
+    return true;
+}
+
+
+bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+{
+    std::string m1011 = rtcm->print_MT1011(glonass_gnav_eph, obs_time, observables, station_id);
+    Rtcm_Printer::Print_Message(m1011);
+    return true;
+}
+
+
+bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+{
+    std::string m1012 = rtcm->print_MT1012(glonass_gnav_eph, obs_time, observables, station_id);
+    Rtcm_Printer::Print_Message(m1012);
+    return true;
+}
+
+
 bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
 {
     std::string m1019 = rtcm->print_MT1019(gps_eph);
@@ -194,6 +226,14 @@ bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
 }
 
 
+bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph);
+    Rtcm_Printer::Print_Message(m1020);
+    return true;
+}
+
+
 bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
 {
     std::string m1045 = rtcm->print_MT1045(gal_eph);
@@ -205,6 +245,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
 bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int clock_steering_indicator,
@@ -216,31 +257,31 @@ bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris &
     std::string msm;
     if(msm_number == 1)
         {
-            msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else if(msm_number == 2)
         {
-            msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else if(msm_number == 3)
         {
-            msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else if(msm_number == 4)
         {
-            msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else if(msm_number == 5)
         {
-            msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else if(msm_number == 6)
         {
-            msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else if(msm_number == 7)
         {
-            msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
+            msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
         }
     else
         {
@@ -348,3 +389,9 @@ unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_ti
 {
     return rtcm->lock_time(eph, obs_time, gnss_synchro);
 }
+
+
+unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro)
+{
+    return rtcm->lock_time(eph, obs_time, gnss_synchro);
+}
diff --git a/src/algorithms/PVT/libs/rtcm_printer.h b/src/algorithms/PVT/libs/rtcm_printer.h
index 0b59001e6..e2622d678 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.h
+++ b/src/algorithms/PVT/libs/rtcm_printer.h
@@ -59,12 +59,63 @@ public:
     bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
     bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
     bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    /*!
+     * \brief Prints L1-Only GLONASS RTK Observables
+     * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return true or false upon operation success
+     */
+    bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    /*!
+     * \brief Prints Extended L1-Only GLONASS RTK Observables
+     * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return true or false upon operation success
+     */
+    bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    /*!
+     * \brief Prints L1&L2 GLONASS RTK Observables
+     * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return true or false upon operation success
+     */
+    bool Print_Rtcm_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    /*!
+     * \brief Prints Extended L1&L2 GLONASS RTK Observables
+     * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return true or false upon operation success
+     */
+    bool Print_Rtcm_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+
     bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
     bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
+    /*!
+     * \brief Prints GLONASS GNAV Ephemeris
+     * \details This GLONASS message should be broadcast every 2 minutes
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \return true or false upon operation success
+     */
+    bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph);
 
-    bool Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph,
+    bool Print_Rtcm_MSM(unsigned int msm_number,
+            const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int clock_steering_indicator,
@@ -77,6 +128,15 @@ public:
     unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro);
     unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro);
     unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro);
+    /*!
+     * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return locked time during logging process
+     */
+    unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro);
 
 private:
     std::string rtcm_filename; // String with the RTCM log filename
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index cd527717e..8735d81cb 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -97,8 +97,9 @@ public:
     double d_P_4;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
     double d_l_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
-    // Inmediate deliverables of ephemris information
-    int i_satellite_freq_channel;           //!< SV Frequency Channel Number
+    // Inmediate deliverables of ephemeris information
+    //TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
+    unsigned int i_satellite_freq_channel;  //!< SV Frequency Channel Number
     unsigned int i_satellite_PRN;           //!< SV PRN NUMBER
     unsigned int i_satellite_slot_number;   //!< SV PRN NUMBER
     double d_TOD;                           //!< Time of Day of the ephemeris set based in start of frame [s]
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index ee76d31bf..1409eaa1d 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -363,9 +363,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_t_k =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
                                     static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
                                     static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
-            gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
-            gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
-            gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
+            gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * TWO_N20;
+            gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
+            gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
 
             if(gnav_ephemeris.d_P_1 != 0)
                 {
@@ -380,9 +380,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
             gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
             gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
-            gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
-            gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
-            gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * 2e-11;
+            gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
+            gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
+            gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
 
             gnav_ephemeris.d_iode   = read_navigation_unsigned(string_bits, T_B);
             flag_ephemeris_str_2 = true;
@@ -392,12 +392,12 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 3:
             // --- It is string 3 ----------------------------------------------
             gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
-            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * 2e-40;
+            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N30;
             gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
             gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
-            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * 2e-20;
-            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * 2e-30;
-            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * 2e-11;
+            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
+            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
+            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
 
             flag_ephemeris_str_3 = true;
 
@@ -405,8 +405,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
         case 4:
             // --- It is string 4 ----------------------------------------------
-            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * 2e-30;
-            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * 2e-30;
+            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
+            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
             gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
             gnav_ephemeris.d_P_4 = static_cast<double>(read_navigation_unsigned(string_bits, P4));
             gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
@@ -425,9 +425,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 5:
             // --- It is string 5 ----------------------------------------------
             gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * 2e-31;
+            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
             gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
-            gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * 2e-30;
+            gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
             gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
             // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
@@ -463,10 +463,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * 2e-18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_6 = true;
 
@@ -476,10 +476,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
               {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
@@ -500,10 +500,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * 2e-18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_8 = true;
 
@@ -514,10 +514,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             if (flag_almanac_str_8 == true)
               {
                 // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
@@ -531,10 +531,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * 2e-18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_10 = true;
 
@@ -544,10 +544,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
               {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A))  * 2e-15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A))  * 2e-5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A))  * 2e-9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A))  * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
@@ -562,10 +562,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A))  * 2e-18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
+            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_12 = true;
 
@@ -575,10 +575,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
               {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
@@ -599,10 +599,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
                 gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A))  * 2e-18;
-                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
-                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
+                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
                 flag_almanac_str_14 = true;
               }
@@ -614,10 +614,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             // --- It is string 9 ----------------------------------------------
             if (frame_ID != 5 and flag_almanac_str_14 == true )
               {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * 2e-14;
+                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 9999b3671..a621e4e5c 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -1080,6 +1080,410 @@ std::string Rtcm::print_MT1008(unsigned int ref_id, const std::string & antenna_
 }
 
 
+// ********************************************************
+//
+//   MESSAGE TYPE 1009 (GLONASS L1 Basic RTK Observables)
+//
+// ********************************************************
+std::bitset<61> Rtcm::get_MT1009_12_header(unsigned int msg_number, double obs_time, const std::map<int, Gnss_Synchro> & observables,
+        unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
+{
+    unsigned int reference_station_id = ref_id; // Max: 4095
+    const std::map<int, Gnss_Synchro> observables_ = observables;
+    bool synchronous_GNSS_flag = sync_flag;
+    bool divergence_free_smoothing_indicator = divergence_free;
+    unsigned int smoothing_interval = smooth_int;
+    Rtcm::set_DF002(msg_number);
+    Rtcm::set_DF003(reference_station_id);
+    Rtcm::set_DF034(obs_time);
+    Rtcm::set_DF005(synchronous_GNSS_flag);
+    Rtcm::set_DF035(observables_);
+    Rtcm::set_DF036(divergence_free_smoothing_indicator);
+    Rtcm::set_DF037(smoothing_interval);
+
+    std::string header = DF002.to_string() +
+            DF003.to_string() +
+            DF034.to_string() +
+            DF005.to_string() +
+            DF035.to_string() +
+            DF036.to_string() +
+            DF037.to_string();
+
+    std::bitset<61> header_msg(header);
+    return header_msg;
+}
+
+
+std::bitset<64> Rtcm::get_MT1009_sat_content(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
+{
+    bool code_indicator = false; // code indicator   0: C/A code   1: P(Y) code direct
+    Rtcm::set_DF038(gnss_synchro);
+    Rtcm::set_DF039(code_indicator);
+    Rtcm::set_DF040(eph.i_satellite_freq_channel);
+    Rtcm::set_DF041(gnss_synchro);
+    Rtcm::set_DF042(gnss_synchro);
+    Rtcm::set_DF043(eph, obs_time, gnss_synchro);
+
+    std::string content = DF038.to_string() +
+            DF039.to_string() +
+            DF040.to_string() +
+            DF041.to_string() +
+            DF042.to_string() +
+            DF043.to_string();
+
+    std::bitset<64> content_msg(content);
+    return content_msg;
+}
+
+
+std::string Rtcm::print_MT1009(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id)
+{
+    unsigned int ref_id = static_cast<unsigned int>(station_id);
+    unsigned int smooth_int = 0;
+    bool sync_flag = false;
+    bool divergence_free = false;
+
+    //Get a map with GLONASS L1 only observations
+    std::map<int, Gnss_Synchro> observablesL1;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesL1.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
+
+    std::bitset<61> header = Rtcm::get_MT1009_12_header(1009, obs_time, observablesL1, ref_id, smooth_int, sync_flag, divergence_free);
+    std::string data = header.to_string();
+
+    for(observables_iter = observablesL1.begin();
+            observables_iter != observablesL1.end();
+            observables_iter++)
+        {
+            std::bitset<64> content = Rtcm::get_MT1009_sat_content(glonass_gnav_eph, obs_time, observables_iter->second);
+            data += content.to_string();
+        }
+
+    std::string msg = build_message(data);
+    if(server_is_running)
+        {
+            rtcm_message_queue->push(msg);
+        }
+    return msg;
+}
+
+
+// ********************************************************
+//
+//   MESSAGE TYPE 1010 (EXTENDED GLONASS L1 OBSERVATIONS)
+//
+// ********************************************************
+
+std::string Rtcm::print_MT1010(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id)
+{
+    unsigned int ref_id = static_cast<unsigned int>(station_id);
+    unsigned int smooth_int = 0;
+    bool sync_flag = false;
+    bool divergence_free = false;
+
+    //Get a map with GPS L1 only observations
+    std::map<int, Gnss_Synchro> observablesL1;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesL1.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
+
+    std::bitset<61> header = Rtcm::get_MT1009_12_header(1010, obs_time, observablesL1, ref_id, smooth_int, sync_flag, divergence_free);
+    std::string data = header.to_string();
+
+    for(observables_iter = observablesL1.begin();
+            observables_iter != observablesL1.end();
+            observables_iter++)
+        {
+            std::bitset<79> content = Rtcm::get_MT1010_sat_content(glonass_gnav_eph, obs_time, observables_iter->second);
+            data += content.to_string();
+        }
+
+    std::string msg = build_message(data);
+    if(server_is_running)
+        {
+            rtcm_message_queue->push(msg);
+        }
+    return msg;
+}
+
+
+std::bitset<79> Rtcm::get_MT1010_sat_content(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
+{
+    bool code_indicator = false; // code indicator   0: C/A code   1: P(Y) code direct
+    Rtcm::set_DF038(gnss_synchro);
+    Rtcm::set_DF039(code_indicator);
+    Rtcm::set_DF040(eph.i_satellite_freq_channel);
+    Rtcm::set_DF041(gnss_synchro);
+    Rtcm::set_DF042(gnss_synchro);
+    Rtcm::set_DF043(eph, obs_time, gnss_synchro);
+    Rtcm::set_DF044(gnss_synchro);
+    Rtcm::set_DF045(gnss_synchro);
+
+    std::string content = DF038.to_string() +
+            DF039.to_string() +
+            DF040.to_string() +
+            DF041.to_string() +
+            DF042.to_string() +
+            DF043.to_string() +
+            DF044.to_string() +
+            DF045.to_string();
+
+    std::bitset<79> content_msg(content);
+    return content_msg;
+}
+
+
+
+// ********************************************************
+//
+//   MESSAGE TYPE 1011 (GLONASS L1 & L2 OBSERVATIONS)
+//
+// ********************************************************
+
+std::string Rtcm::print_MT1011(const Glonass_Gnav_Ephemeris & ephL1, const Glonass_Gnav_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id)
+{
+    unsigned int ref_id = static_cast<unsigned int>(station_id);
+    unsigned int smooth_int = 0;
+    bool sync_flag = false;
+    bool divergence_free = false;
+
+    //Get maps with GPS L1 and L2 observations
+    std::map<int, Gnss_Synchro> observablesL1;
+    std::map<int, Gnss_Synchro> observablesL2;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter2;
+
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesL1.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2C") == 0))
+                {
+                    observablesL2.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
+
+    // Get common observables
+    std::vector< std::pair< Gnss_Synchro, Gnss_Synchro > >  common_observables;
+    std::vector< std::pair< Gnss_Synchro, Gnss_Synchro > >::const_iterator common_observables_iter;
+    std::map<int, Gnss_Synchro> observablesL1_with_L2;
+
+    for(observables_iter = observablesL1.begin();
+            observables_iter != observablesL1.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            for(observables_iter2 = observablesL2.begin();
+                    observables_iter2 != observablesL2.end();
+                    observables_iter2++)
+                {
+                    if(observables_iter2->second.PRN == prn_)
+                        {
+                            std::pair<Gnss_Synchro, Gnss_Synchro> p;
+                            Gnss_Synchro pr1 = observables_iter->second;
+                            Gnss_Synchro pr2 = observables_iter2->second;
+                            p = std::make_pair(pr1, pr2);
+                            common_observables.push_back(p);
+                            observablesL1_with_L2.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                        }
+                }
+        }
+
+    std::bitset<61> header = Rtcm::get_MT1009_12_header(1011, obs_time, observablesL1_with_L2, ref_id, smooth_int, sync_flag, divergence_free);
+    std::string data = header.to_string();
+
+    for(common_observables_iter = common_observables.begin();
+            common_observables_iter != common_observables.end();
+            common_observables_iter++)
+        {
+            std::bitset<107> content = Rtcm::get_MT1011_sat_content(ephL1, ephL2, obs_time, common_observables_iter->first, common_observables_iter->second);
+            data += content.to_string();
+        }
+
+    std::string msg = build_message(data);
+    if(server_is_running)
+        {
+            rtcm_message_queue->push(msg);
+        }
+    return msg;
+}
+
+
+std::bitset<107> Rtcm::get_MT1011_sat_content(const Glonass_Gnav_Ephemeris & ephL1, const Glonass_Gnav_Ephemeris & ephL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2)
+{
+    bool code_indicator = false; // code indicator   0: C/A code   1: P(Y) code direct
+    Rtcm::set_DF038(gnss_synchroL1);
+    Rtcm::set_DF039(code_indicator);
+    Rtcm::set_DF040(ephL1.i_satellite_freq_channel);
+    Rtcm::set_DF041(gnss_synchroL1);
+    Rtcm::set_DF042(gnss_synchroL1);
+    Rtcm::set_DF043(ephL1, obs_time, gnss_synchroL1);
+    std::bitset<2> DF046_ = std::bitset<2>(0); // code indicator   0: C/A or L2C code   1: P(Y) code direct  2:P(Y) code cross-correlated    3: Correlated P/Y
+    Rtcm::set_DF047(gnss_synchroL1, gnss_synchroL2);
+    Rtcm::set_DF048(gnss_synchroL1, gnss_synchroL2);
+    Rtcm::set_DF049(ephL2, obs_time, gnss_synchroL2);
+
+    std::string content = DF038.to_string() +
+            DF039.to_string() +
+            DF040.to_string() +
+            DF041.to_string() +
+            DF042.to_string() +
+            DF043.to_string() +
+            DF046_.to_string() +
+            DF047.to_string() +
+            DF048.to_string() +
+            DF049.to_string();
+
+    std::bitset<107> content_msg(content);
+    return content_msg;
+}
+
+
+
+// ******************************************************************
+//
+//   MESSAGE TYPE 1004 (EXTENDED GLONASS L1 & L2 OBSERVATIONS)
+//
+// ******************************************************************
+
+std::string Rtcm::print_MT1012(const Glonass_Gnav_Ephemeris & ephL1, const Glonass_Gnav_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id)
+{
+    unsigned int ref_id = static_cast<unsigned int>(station_id);
+    unsigned int smooth_int = 0;
+    bool sync_flag = false;
+    bool divergence_free = false;
+
+    //Get maps with GLONASS L1 and L2 observations
+    std::map<int, Gnss_Synchro> observablesL1;
+    std::map<int, Gnss_Synchro> observablesL2;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter2;
+
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesL1.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2C") == 0))
+                {
+                    observablesL2.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
+
+    // Get common observables
+    std::vector< std::pair< Gnss_Synchro, Gnss_Synchro > >  common_observables;
+    std::vector< std::pair< Gnss_Synchro, Gnss_Synchro > >::const_iterator common_observables_iter;
+    std::map<int, Gnss_Synchro> observablesL1_with_L2;
+
+    for(observables_iter = observablesL1.begin();
+            observables_iter != observablesL1.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            for(observables_iter2 = observablesL2.begin();
+                    observables_iter2 != observablesL2.end();
+                    observables_iter2++)
+                {
+                    if(observables_iter2->second.PRN == prn_)
+                        {
+                            std::pair<Gnss_Synchro, Gnss_Synchro> p;
+                            Gnss_Synchro pr1 = observables_iter->second;
+                            Gnss_Synchro pr2 = observables_iter2->second;
+                            p = std::make_pair(pr1, pr2);
+                            common_observables.push_back(p);
+                            observablesL1_with_L2.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                        }
+                }
+        }
+
+    std::bitset<61> header = Rtcm::get_MT1009_12_header(1012, obs_time, observablesL1_with_L2, ref_id, smooth_int, sync_flag, divergence_free);
+    std::string data = header.to_string();
+
+    for(common_observables_iter = common_observables.begin();
+            common_observables_iter != common_observables.end();
+            common_observables_iter++)
+        {
+            std::bitset<130> content = Rtcm::get_MT1012_sat_content(ephL1, ephL2, obs_time, common_observables_iter->first, common_observables_iter->second);
+            data += content.to_string();
+        }
+
+    std::string msg = build_message(data);
+    if(server_is_running)
+        {
+            rtcm_message_queue->push(msg);
+        }
+    return msg;
+}
+
+
+std::bitset<130> Rtcm::get_MT1012_sat_content(const Glonass_Gnav_Ephemeris & ephL1, const Glonass_Gnav_Ephemeris & ephL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2)
+{
+    bool code_indicator = false; // code indicator   0: C/A code   1: P(Y) code direct
+    Rtcm::set_DF038(gnss_synchroL1);
+    Rtcm::set_DF039(code_indicator);
+    Rtcm::set_DF040(ephL1.i_satellite_freq_channel);
+    Rtcm::set_DF041(gnss_synchroL1);
+    Rtcm::set_DF042(gnss_synchroL1);
+    Rtcm::set_DF043(ephL1, obs_time, gnss_synchroL1);
+    Rtcm::set_DF044(gnss_synchroL1);
+    Rtcm::set_DF045(gnss_synchroL1);
+    std::bitset<2> DF046_ = std::bitset<2>(0); // code indicator   0: C/A or L2C code   1: P(Y) code direct  2:P(Y) code cross-correlated    3: Correlated P/Y
+    Rtcm::set_DF047(gnss_synchroL1, gnss_synchroL2);
+    Rtcm::set_DF048(gnss_synchroL1, gnss_synchroL2);
+    Rtcm::set_DF049(ephL2, obs_time, gnss_synchroL2);
+    Rtcm::set_DF050(gnss_synchroL2);
+
+    std::string content = DF038.to_string() +
+            DF039.to_string() +
+            DF040.to_string() +
+            DF041.to_string() +
+            DF042.to_string() +
+            DF043.to_string() +
+            DF044.to_string() +
+            DF045.to_string() +
+            DF046_.to_string() +
+            DF047.to_string() +
+            DF048.to_string() +
+            DF049.to_string() +
+            DF050.to_string();
+
+    std::bitset<130> content_msg(content);
+    return content_msg;
+}
+
+
 // ********************************************************
 //
 //   MESSAGE TYPE 1019 (GPS EPHEMERIS)
@@ -1299,6 +1703,254 @@ int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
 }
 
 
+// ********************************************************
+//
+//   MESSAGE TYPE 1020 (GLONASS EPHEMERIS)
+//
+// ********************************************************
+
+std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int msg_number = 1020;
+
+    Rtcm::set_DF002(msg_number);
+    Rtcm::set_DF038(glonass_gnav_eph);
+    Rtcm::set_DF040(glonass_gnav_eph);
+    Rtcm::set_DF104(glonass_gnav_eph);
+    Rtcm::set_DF105(glonass_gnav_eph);
+    Rtcm::set_DF106(glonass_gnav_eph);
+    Rtcm::set_DF107(glonass_gnav_eph);
+    Rtcm::set_DF108(glonass_gnav_eph);
+    Rtcm::set_DF109(glonass_gnav_eph);
+    Rtcm::set_DF110(glonass_gnav_eph);
+    Rtcm::set_DF111(glonass_gnav_eph);
+    Rtcm::set_DF112(glonass_gnav_eph);
+    Rtcm::set_DF113(glonass_gnav_eph);
+    Rtcm::set_DF114(glonass_gnav_eph);
+    Rtcm::set_DF115(glonass_gnav_eph);
+    Rtcm::set_DF116(glonass_gnav_eph);
+    Rtcm::set_DF117(glonass_gnav_eph);
+    Rtcm::set_DF118(glonass_gnav_eph);
+    Rtcm::set_DF119(glonass_gnav_eph);
+    Rtcm::set_DF120(glonass_gnav_eph);
+    Rtcm::set_DF121(glonass_gnav_eph);
+    Rtcm::set_DF122(glonass_gnav_eph);
+    Rtcm::set_DF123(glonass_gnav_eph);
+    Rtcm::set_DF124(glonass_gnav_eph);
+    Rtcm::set_DF125(glonass_gnav_eph);
+    Rtcm::set_DF126(glonass_gnav_eph);
+    Rtcm::set_DF127(glonass_gnav_eph);
+    Rtcm::set_DF128(glonass_gnav_eph);
+    Rtcm::set_DF129(glonass_gnav_eph);
+    Rtcm::set_DF130(glonass_gnav_eph);
+    Rtcm::set_DF131(glonass_gnav_eph);
+    Rtcm::set_DF132(glonass_gnav_eph);
+    Rtcm::set_DF133(glonass_gnav_eph);
+    Rtcm::set_DF134(glonass_gnav_eph);
+    Rtcm::set_DF135(glonass_gnav_eph);
+    Rtcm::set_DF136(glonass_gnav_eph);
+
+    std::string data;
+    data.clear();
+    data =  DF002.to_string() +
+            DF038.to_string() +
+            DF040.to_string() +
+            DF104.to_string() +
+            DF105.to_string() +
+            DF106.to_string() +
+            DF107.to_string() +
+            DF108.to_string() +
+            DF109.to_string() +
+            DF110.to_string() +
+            DF111.to_string() +
+            DF112.to_string() +
+            DF113.to_string() +
+            DF114.to_string() +
+            DF115.to_string() +
+            DF116.to_string() +
+            DF117.to_string() +
+            DF118.to_string() +
+            DF119.to_string() +
+            DF120.to_string() +
+            DF121.to_string() +
+            DF122.to_string() +
+            DF123.to_string() +
+            DF124.to_string() +
+            DF125.to_string() +
+            DF126.to_string() +
+            DF127.to_string() +
+            DF128.to_string() +
+            DF129.to_string() +
+            DF130.to_string() +
+            DF131.to_string() +
+            DF132.to_string() +
+            DF133.to_string() +
+            DF134.to_string() +
+            DF135.to_string() +
+            DF136.to_string() +
+            DF137.to_string();
+
+    if (data.length() != 360)
+        {
+            LOG(WARNING) << "Bad-formatted RTCM MT1020 (360 bits expected, found " <<  data.length() << ")";
+        }
+
+    std::string msg = build_message(data);
+    if(server_is_running)
+        {
+            rtcm_message_queue->push(msg);
+        }
+    return msg;
+}
+
+
+int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    // Convert message to binary
+    std::string message_bin = Rtcm::binary_data_to_bin(message);
+
+    if(!Rtcm::check_CRC(message) )
+        {
+            LOG(WARNING) << " Bad CRC detected in RTCM message MT1020";
+            return 1;
+        }
+
+    unsigned int preamble_length = 8;
+    unsigned int reserved_field_length = 6;
+    unsigned int index = preamble_length + reserved_field_length;
+
+    unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    index += 10;
+
+    if (read_message_length != 61)
+        {
+            LOG(WARNING) << " Message MT1020 seems too long (61 bytes expected, " << read_message_length << " received)";
+            return 1;
+        }
+
+    // Check than the message number is correct
+    unsigned int read_msg_number = Rtcm::bin_to_uint(message_bin.substr(index, 12));
+    index += 12;
+
+    if (1020 != read_msg_number)
+        {
+            LOG(WARNING) << " This is not a MT1020 message";
+            return 1;
+        }
+
+    // Fill Gps Ephemeris with message data content
+    glonass_gnav_eph.i_satellite_slot_number = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    index += 6;
+
+    glonass_gnav_eph.i_satellite_freq_channel = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
+    index += 5;
+
+    glonass_gnav_eph.i_almanac_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.i_alamanac_health_indi = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_P_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    index += 2;
+
+    glonass_gnav_eph.d_t_k = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 1)))*30
+    static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600 +
+                             static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6)))*60
+                             ;
+    index += 12;
+
+    glonass_gnav_eph.d_B_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*15.0*60.0;
+    index += 7;
+
+    // TODO Check for type spec for intS24
+    glonass_gnav_eph.d_VXn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
+    index += 24;
+
+    glonass_gnav_eph.d_Xn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
+    index += 27;
+
+    glonass_gnav_eph.d_AXn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
+    index += 5;
+
+    glonass_gnav_eph.d_VYn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
+    index += 24;
+
+    glonass_gnav_eph.d_Yn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
+    index += 27;
+
+    glonass_gnav_eph.d_AYn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
+    index += 5;
+
+    glonass_gnav_eph.d_VZn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
+    index += 24;
+
+    glonass_gnav_eph.d_Zn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
+    index += 27;
+
+    glonass_gnav_eph.d_AZn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
+    index += 5;
+
+    glonass_gnav_eph.d_P_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_gamma_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)))*TWO_N30;
+    index += 11;
+
+    glonass_gnav_eph.d_P = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    index += 2;
+
+    glonass_gnav_eph.d_l_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 22)))* TWO_N30;
+    index += 22;
+
+    glonass_gnav_eph.d_Delta_tau_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))* TWO_N30;
+    index += 5;
+
+    glonass_gnav_eph.d_E_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
+    index += 5;
+
+    glonass_gnav_eph.d_P_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_F_T = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
+    index += 4;
+
+    glonass_gnav_eph.d_N_T = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
+    index += 11;
+
+    glonass_gnav_eph.d_M = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    index += 2;
+
+    glonass_gnav_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    index += 1;
+
+    glonass_gnav_eph.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
+    index += 11;
+
+    glonass_gnav_eph.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
+    index += 32;
+
+    glonass_gnav_eph.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
+    index += 5;
+
+    glonass_gnav_eph.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
+    index += 22;
+
+    glonass_gnav_eph.d_l_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+
+    return 0;
+}
+
+
 // ********************************************************
 //
 //   MESSAGE TYPE 1029 (UNICODE TEXT STRING)
@@ -1582,6 +2234,7 @@ int Rtcm::read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph)
 std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -1747,6 +2400,7 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro
 std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -1782,7 +2436,7 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
 
     std::string sat_data = Rtcm::get_MSM_1_content_sat_data(observables);
 
-    std::string signal_data = Rtcm::get_MSM_2_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables);
+    std::string signal_data = Rtcm::get_MSM_2_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables);
 
     std::string message = build_message(header + sat_data + signal_data);
     if(server_is_running)
@@ -1794,7 +2448,12 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
 }
 
 
-std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV,
+        const Gps_CNAV_Ephemeris & ephCNAV,
+        const Galileo_Ephemeris & ephFNAV,
+        const Glonass_Gnav_Ephemeris & ephGNAV,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & observables)
 {
     std::string signal_data;
     std::string first_data_type;
@@ -1842,6 +2501,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, co
 std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -1877,7 +2537,7 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
 
     std::string sat_data = Rtcm::get_MSM_1_content_sat_data(observables);
 
-    std::string signal_data = Rtcm::get_MSM_3_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables);
+    std::string signal_data = Rtcm::get_MSM_3_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables);
 
     std::string message = build_message(header + sat_data + signal_data);
     if(server_is_running)
@@ -1889,7 +2549,12 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
 }
 
 
-std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV,
+        const Gps_CNAV_Ephemeris & ephCNAV,
+        const Galileo_Ephemeris & ephFNAV,
+        const Glonass_Gnav_Ephemeris & ephGNAV,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & observables)
 {
     std::string signal_data;
     std::string first_data_type;
@@ -1939,6 +2604,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, co
 std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -1974,7 +2640,7 @@ std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
 
     std::string sat_data = Rtcm::get_MSM_4_content_sat_data(observables);
 
-    std::string signal_data = Rtcm::get_MSM_4_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables);
+    std::string signal_data = Rtcm::get_MSM_4_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables);
 
     std::string message = build_message(header + sat_data + signal_data);
     if(server_is_running)
@@ -2026,7 +2692,12 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> &
 }
 
 
-std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV,
+        const Gps_CNAV_Ephemeris & ephCNAV,
+        const Galileo_Ephemeris & ephFNAV,
+        const Glonass_Gnav_Ephemeris & ephGNAV,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & observables)
 {
     std::string signal_data;
     std::string first_data_type;
@@ -2079,6 +2750,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, co
 std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -2114,7 +2786,7 @@ std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
 
     std::string sat_data = Rtcm::get_MSM_5_content_sat_data(observables);
 
-    std::string signal_data = Rtcm::get_MSM_5_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables);
+    std::string signal_data = Rtcm::get_MSM_5_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables);
 
     std::string message = build_message(header + sat_data + signal_data);
     if(server_is_running)
@@ -2172,7 +2844,12 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> &
 }
 
 
-std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV,
+        const Gps_CNAV_Ephemeris & ephCNAV,
+        const Galileo_Ephemeris & ephFNAV,
+        const Glonass_Gnav_Ephemeris & ephGNAV,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & observables)
 {
     std::string signal_data;
     std::string first_data_type;
@@ -2229,6 +2906,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, co
 std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -2264,7 +2942,7 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
 
     std::string sat_data = Rtcm::get_MSM_4_content_sat_data(observables);
 
-    std::string signal_data = Rtcm::get_MSM_6_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables);
+    std::string signal_data = Rtcm::get_MSM_6_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables);
 
     std::string message = build_message(header + sat_data + signal_data);
     if(server_is_running)
@@ -2276,7 +2954,12 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
 }
 
 
-std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV,
+        const Gps_CNAV_Ephemeris & ephCNAV,
+        const Galileo_Ephemeris & ephFNAV,
+        const Glonass_Gnav_Ephemeris & ephGNAV,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & observables)
 {
     std::string signal_data;
     std::string first_data_type;
@@ -2330,6 +3013,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, co
 std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
         const Gps_CNAV_Ephemeris & gps_cnav_eph,
         const Galileo_Ephemeris & gal_eph,
+        const Glonass_Gnav_Ephemeris & glo_gnav_eph,
         double obs_time,
         const std::map<int, Gnss_Synchro> & observables,
         unsigned int ref_id,
@@ -2365,7 +3049,7 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
 
     std::string sat_data = Rtcm::get_MSM_5_content_sat_data(observables);
 
-    std::string signal_data = Rtcm::get_MSM_7_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables);
+    std::string signal_data = Rtcm::get_MSM_7_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables);
 
     std::string message = build_message(header + sat_data + signal_data);
     if(server_is_running)
@@ -2377,7 +3061,12 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
 }
 
 
-std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV,
+        const Gps_CNAV_Ephemeris & ephCNAV,
+        const Galileo_Ephemeris & ephFNAV,
+        const Glonass_Gnav_Ephemeris & ephGNAV,
+        double obs_time,
+        const std::map<int, Gnss_Synchro> & observables)
 {
     std::string signal_data;
     std::string first_data_type;
@@ -3028,6 +3717,215 @@ int Rtcm::set_DF031(unsigned int antenna_setup_id)
 }
 
 
+int Rtcm::set_DF034(double obs_time)
+{
+    // TOW in milliseconds from the beginning of the GLONASS day, measured in GLONASS time
+    unsigned long int tk = static_cast<unsigned long int>(std::round(obs_time * 1000));
+    if(tk > 86400999)
+        {
+            LOG(WARNING) << "To large GLONASS Epoch Time (tk)! Set to the last millisecond of the day";
+            tow = 86400999;
+        }
+    DF034 = std::bitset<27>(tk);
+    return 0;
+}
+
+
+int Rtcm::set_DF035(const std::map<int, Gnss_Synchro> & observables)
+{
+    //Number of satellites observed in current epoch
+    unsigned short int nsats = 0;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            nsats++;
+        }
+    if (nsats > 31)
+        {
+            LOG(WARNING) << "The number of processed GLONASS satellites must be between 0 and 31, but it seems that you are processing " << nsats;
+            nsats = 31;
+        }
+    DF035 = std::bitset<5>(nsats);
+    return 0;
+}
+
+
+int Rtcm::set_DF036(bool divergence_free_smoothing_indicator)
+{
+    // 0 - Divergence-free smoothing not used 1 - Divergence-free smoothing used
+    DF036 = std::bitset<1>(divergence_free_smoothing_indicator);
+    return 0;
+}
+
+
+int Rtcm::set_DF037(short int smoothing_interval)
+{
+    DF037 = std::bitset<3>(smoothing_interval);
+    return 0;
+}
+
+
+int Rtcm::set_DF038(const Gnss_Synchro & gnss_synchro)
+{
+    unsigned int prn_ = gnss_synchro.PRN;
+    if(prn_ > 24)
+        {
+            LOG(WARNING) << "GLONASS satellite ID (Slot Number) must be between 1 and 24, but PRN " << prn_ << " was found";
+        }
+    DF038 = std::bitset<6>(prn_);
+    return 0;
+}
+
+
+int Rtcm::set_DF038(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int prn_ = glonass_gnav_eph.i_satellite_slot_number;
+    if(prn_ > 24)
+        {
+            LOG(WARNING) << "GLONASS satellite ID (Slot Number) must be between 0 and 24, but PRN " << prn_ << " was found";
+        }
+    DF038 = std::bitset<6>(prn_);
+    return 0;
+}
+
+
+int Rtcm::set_DF039(bool code_indicator)
+{
+    DF039 = std::bitset<1>(code_indicator);
+    return 0;
+}
+
+
+int Rtcm::set_DF040(unsigned short frequency_channel_number)
+{
+    unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel;
+    if(prn_ > 20)
+        {
+            LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
+        }
+
+    DF040 = std::bitset<5>(freq_);
+    return 0;
+}
+
+
+int Rtcm::set_DF041(const Gnss_Synchro & gnss_synchro)
+{
+    double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
+    unsigned long int glonass_L1_pseudorange = static_cast<unsigned long int>(std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 ));
+    DF041 = std::bitset<25>(glonass_L1_pseudorange);
+    return 0;
+}
+
+//TODO Need to fix the lambda value since it needs to include frequency channel
+int Rtcm::set_DF042(const Gnss_Synchro & gnss_synchro)
+{
+    const double lambda = GLONASS_C_m_s / GLONASS_L1_FREQ_HZ;
+    double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
+    double glonass_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
+    double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 299792.458;
+    double L1_phaserange_c = gnss_synchro.Carrier_phase_rads / GLONASS_TWO_PI;
+    double L1_phaserange_c_r = std::fmod(L1_phaserange_c - glonass_L1_pseudorange_c / lambda + 1500.0, 3000.0) - 1500.0;
+    long int glonass_L1_phaserange_minus_L1_pseudorange = static_cast<long int>(std::round(L1_phaserange_c_r * lambda / 0.0005 ));
+    DF042 = std::bitset<20>(glonass_L1_phaserange_minus_L1_pseudorange);
+    return 0;
+}
+
+
+int Rtcm::set_DF043(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
+{
+    unsigned int lock_time_indicator;
+    unsigned int lock_time_period_s = Rtcm::lock_time(eph, obs_time, gnss_synchro);
+    lock_time_indicator = Rtcm::lock_time_indicator(lock_time_period_s);
+    DF043 = std::bitset<7>(lock_time_indicator);
+    return 0;
+}
+
+
+int Rtcm::set_DF044(const Gnss_Synchro & gnss_synchro)
+{
+    unsigned int glonass_L1_pseudorange_ambiguity = static_cast<unsigned int>(std::floor(gnss_synchro.Pseudorange_m / 599584.916));
+    DF044 = std::bitset<7>(glonass_L1_pseudorange_ambiguity);
+    return 0;
+}
+
+
+int Rtcm::set_DF045(const Gnss_Synchro & gnss_synchro)
+{
+    double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
+    if (CN0_dB_Hz_est > 63.75)
+        {
+            LOG(WARNING) << "GLONASS L1 CNR must be between 0 and 63.75, but CNR " << CN0_dB_Hz_est << " was found. Setting to 63.75 dB-Hz";
+            CN0_dB_Hz_est = 63.75;
+        }
+    unsigned int CN0_dB_Hz = static_cast<unsigned int>(std::round(CN0_dB_Hz_est / 0.25 ));
+    DF045 = std::bitset<8>(CN0_dB_Hz);
+    return 0;
+}
+
+
+int Rtcm::set_DF047(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2)
+{
+    double ambiguity = std::floor( gnss_synchroL1.Pseudorange_m / 599584.92 );
+    double glonass_L1_pseudorange = std::round(( gnss_synchroL1.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
+    double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 599584.92;
+
+    double l2_l1_pseudorange = gnss_synchroL2.Pseudorange_m - glonass_L1_pseudorange_c;
+    int pseudorange_difference = 0xFFFFE000; // invalid value;
+    if(std::fabs(l2_l1_pseudorange) <= 163.82)
+        {
+            pseudorange_difference = static_cast<int>(std::round(l2_l1_pseudorange / 0.02));
+        }
+    DF047 = std::bitset<14>(pseudorange_difference);
+    return 0;
+}
+
+//TODO Need to consider frequency channel in this fields
+int Rtcm::set_DF048(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2)
+{
+    const double lambda2 = GLONASS_C_m_s / GLONASS_L2_FREQ_HZ;
+    int l2_phaserange_minus_l1_pseudorange = 0xFFF80000;
+    double ambiguity = std::floor( gnss_synchroL1.Pseudorange_m / 599584.92 );
+    double glonass_L1_pseudorange = std::round(( gnss_synchroL1.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
+    double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 599584.92;
+    double L2_phaserange_c = gnss_synchroL2.Carrier_phase_rads / GLONASS_TWO_PI;
+    double L1_phaserange_c_r = std::fmod(L2_phaserange_c - glonass_L1_pseudorange_c / lambda2 + 1500.0, 3000.0) - 1500.0;
+
+    if (std::fabs(L1_phaserange_c_r * lambda2) <= 262.1435 )
+        {
+            l2_phaserange_minus_l1_pseudorange = static_cast<int>(std::round(L1_phaserange_c_r * lambda2 / 0.0005));
+        }
+
+    DF048 = std::bitset<20>(l2_phaserange_minus_l1_pseudorange);
+    return 0;
+}
+
+
+int Rtcm::set_DF049(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
+{
+    unsigned int lock_time_indicator;
+    unsigned int lock_time_period_s = Rtcm::lock_time(eph, obs_time, gnss_synchro);
+    lock_time_indicator = Rtcm::lock_time_indicator(lock_time_period_s);
+    DF049 = std::bitset<7>(lock_time_indicator);
+    return 0;
+}
+
+
+int Rtcm::set_DF050(const Gnss_Synchro & gnss_synchro)
+{
+    double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
+    if (CN0_dB_Hz_est > 63.75)
+        {
+            CN0_dB_Hz_est = 63.75;
+        }
+    unsigned int CN0_dB_Hz = static_cast<unsigned int>(std::round(CN0_dB_Hz_est / 0.25 ));
+    DF050 = std::bitset<8>(CN0_dB_Hz);
+    return 0;
+}
+
+
 int Rtcm::set_DF051(const Gps_Ephemeris & gps_eph, double obs_time)
 {
     const double gps_t = obs_time;
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 8b3333ffe..d3b84beb1 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -49,6 +49,7 @@
 #include "galileo_fnav_message.h"
 #include "gps_navigation_message.h"
 #include "gps_cnav_navigation_message.h"
+#include "glonass_gnav_navigation_message.h"
 
 
 /*!
@@ -56,7 +57,7 @@
  * defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
  *
  * Generation of the following Message Types:
- *   1001, 1002, 1003, 1004, 1005, 1006, 1008, 1019, 1029, 1045
+ *   1001, 1002, 1003, 1004, 1005, 1006, 1008, 1019, 1020, 1029, 1045
  *
  * Decoding of the following Message Types:
  *   1019, 1045
@@ -128,6 +129,47 @@ public:
      */
     std::string print_MT1008(unsigned int ref_id, const std::string & antenna_descriptor, unsigned int antenna_setup_id, const std::string & antenna_serial_number);
 
+    /*!
+     * \brief Prints L1-Only GLONASS RTK Observables
+     * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return string with message contents
+     */
+    std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
+    /*!
+     * \brief Prints Extended L1-Only GLONASS RTK Observables
+     * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return string with message contents
+     */
+    std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
+    /*!
+     * \brief Prints L1&L2 GLONASS RTK Observables
+     * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return string with message contents
+     */
+    std::string print_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
+    /*!
+     * \brief Prints Extended L1&L2 GLONASS RTK Observables
+     * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return string with message contents
+     */
+    std::string print_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
+
     /*!
      * \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
      * the IODC does not match the IODE, and every 2 minutes.
@@ -139,6 +181,23 @@ public:
      */
     int read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph);
 
+   /*!
+    * \brief Prints message type 1020 (GLONASS Ephemeris).
+    * \note Code added as part of GSoC 2017 program
+    * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+    * \return Returns message type as a string type
+    */
+    std::string print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    /*!
+     * \brief Verifies and reads messages of type 1020 (GLONASS Ephemeris).
+     * \note Code added as part of GSoC 2017 program
+     * \param message Message to read as a string type
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \return Returns 1 if anything goes wrong, 0 otherwise.
+     */
+    int read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
     /*!
      * \brief Prints message type 1029 (Unicode Text String)
      */
@@ -160,6 +219,7 @@ public:
     std::string print_MSM_1( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -175,6 +235,7 @@ public:
     std::string print_MSM_2( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -190,6 +251,7 @@ public:
     std::string print_MSM_3( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -205,6 +267,7 @@ public:
     std::string print_MSM_4( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -220,6 +283,7 @@ public:
     std::string print_MSM_5( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -235,6 +299,7 @@ public:
     std::string print_MSM_6( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -250,6 +315,7 @@ public:
     std::string print_MSM_7( const Gps_Ephemeris & gps_eph,
             const Gps_CNAV_Ephemeris & gps_cnav_eph,
             const Galileo_Ephemeris & gal_eph,
+            const Glonass_Gnav_Ephemeris & glo_gnav_eph,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
             unsigned int ref_id,
@@ -262,6 +328,15 @@ public:
     unsigned int lock_time(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);      //<! Returns the time period in which GPS L1 signals have been continually tracked.
     unsigned int lock_time(const Gps_CNAV_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); //<! Returns the time period in which GPS L2 signals have been continually tracked.
     unsigned int lock_time(const Galileo_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);  //<! Returns the time period in which Galileo signals have been continually tracked.
+    /*!
+     * \brief Locks time period in which GLONASS signals have been continually tracked.
+     * \note Code added as part of GSoC 2017 program
+     * \params eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return Returns the time period in which GLONASS signals have been continually tracked.
+     */
+    unsigned int lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
 
     std::string bin_to_hex(const std::string & s) const;        //<! Returns a string of hexadecimal symbols from a string of binary symbols
     std::string hex_to_bin(const std::string & s) const;        //<! Returns a string of binary symbols from a string of hexadecimal symbols
@@ -270,7 +345,8 @@ public:
     std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
 
     unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
-    long int bin_to_int(const std::string & s) const;           //<! Returns a long int from a string of binary symbols
+    long int bin_to_int(const std::string & s) const;
+    long int bin_to_sint(const std::string & s) const;         //<! Returns a long int from a string of binary symbols
     double bin_to_double(const std::string & s) const;          //<! Returns double from a string of binary symbols
 
     unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
@@ -303,6 +379,70 @@ private:
 
     std::bitset<152> get_MT1005_test();
 
+    /*!
+     * \brief Generates contents of message header for types 1009, 1010, 1011 and 1012. GLONASS RTK Message
+     * \note Code added as part of GSoC 2017 program
+     * \param msg_number Message type number, acceptable options include 1009 to 1012
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
+     * \param ref_id
+     * \param smooth_int
+     * \param divergence_free
+     * \return Returns the message header content as set of bits
+     */
+    std::bitset<61> get_MT1009_12_header(unsigned int msg_number,
+            double obs_time,
+            const std::map<int, Gnss_Synchro> & observables,
+            unsigned int ref_id,
+            unsigned int smooth_int,
+            bool sync_flag,
+            bool divergence_free);
+
+    /*!
+     * \brief Get the contents of the satellite specific portion of a type 1009 Message (GLONASS Basic RTK, L1 Only)
+     * \details Contents generated for each satellite. See table 3.5-11
+     * \note Code added as part of GSoC 2017 program
+     * \param ephGNAV Ephemeris for GLONASS GNAV in L1 satellites
+     * \param obs_time Time of observation at the moment of printing
+     * \param gnss_synchro Information generated by channels while processing the satellite
+     * \return Returns the message content as set of bits
+     */
+    std::bitset<64> get_MT1009_sat_content(const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
+    /*!
+     * \brief Get the contents of the satellite specific portion of a type 1010 Message (GLONASS Extended RTK, L1 Only)
+     * \details Contents generated for each satellite. See table 3.5-12
+     * \note Code added as part of GSoC 2017 program
+     * \param ephGNAV Ephemeris for GLONASS GNAV in L1 satellites
+     * \param obs_time Time of observation at the moment of printing
+     * \param gnss_synchro Information generated by channels while processing the satellite
+     * \return Returns the message content as set of bits
+     */
+    std::bitset<79> get_MT1010_sat_content(const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
+    /*!
+     * \brief Get the contents of the satellite specific portion of a type 1011 Message (GLONASS Basic RTK, L1 & L2)
+     * \details Contents generated for each satellite. See table 3.5-13
+     * \note Code added as part of GSoC 2017 program
+     * \param ephGNAVL1 Ephemeris for GLONASS GNAV in L1 satellites
+     * \param ephGNAVL2 Ephemeris for GLONASS GNAV in L2 satellites
+     * \param obs_time Time of observation at the moment of printing
+     * \param gnss_synchroL1 Information generated by channels while processing the GLONASS GNAV L1 satellite
+     * \param gnss_synchroL2 Information generated by channels while processing the GLONASS GNAV L2 satellite
+     * \return Returns the message content as set of bits
+     */
+    std::bitset<107> get_MT1011_sat_content(const Glonass_Gnav_Ephemeris & ephGNAVL1, const Glonass_Gnav_Ephemeris & ephGNAVL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
+    /*!
+     * \brief Get the contents of the satellite specific portion of a type 1012 Message (GLONASS Extended RTK, L1 & L2)
+     * \details Contents generated for each satellite. See table 3.5-14
+     * \note Code added as part of GSoC 2017 program
+     * \param ephGNAVL1 Ephemeris for GLONASS GNAV in L1 satellites
+     * \param ephGNAVL2 Ephemeris for GLONASS GNAV in L2 satellites
+     * \param obs_time Time of observation at the moment of printing
+     * \param gnss_synchroL1 Information generated by channels while processing the GLONASS GNAV L1 satellite
+     * \param gnss_synchroL2 Information generated by channels while processing the GLONASS GNAV L2 satellite
+     * \return Returns the message content as set of bits
+     */
+    std::bitset<130> get_MT1012_sat_content(const Glonass_Gnav_Ephemeris & ephGNAVL1, const Glonass_Gnav_Ephemeris & ephGNAVL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
+
     std::string get_MSM_header(unsigned int msg_number,
             double obs_time,
             const std::map<int, Gnss_Synchro> & observables,
@@ -318,12 +458,12 @@ private:
     std::string get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & observables);
 
     std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & observables);
-    std::string get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
-    std::string get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
-    std::string get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
-    std::string get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
-    std::string get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
-    std::string get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    std::string get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    std::string get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    std::string get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    std::string get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    std::string get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    std::string get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
 
     //
     // Utilities
@@ -335,10 +475,13 @@ private:
     boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
     boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time) const;
     boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
+    boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, double obs_time) const;
     boost::posix_time::ptime gps_L1_last_lock_time[64];
     boost::posix_time::ptime gps_L2_last_lock_time[64];
     boost::posix_time::ptime gal_E1_last_lock_time[64];
     boost::posix_time::ptime gal_E5_last_lock_time[64];
+    boost::posix_time::ptime glo_L1_last_lock_time[64];
+    boost::posix_time::ptime glo_L2_last_lock_time[64];
     unsigned int lock_time_indicator(unsigned int lock_time_period_s);
     unsigned int msm_lock_time_indicator(unsigned int lock_time_period_s);
     unsigned int msm_extended_lock_time_indicator(unsigned int lock_time_period_s);
@@ -870,6 +1013,59 @@ private:
 
     std::bitset<8> DF032;
 
+    std::bitset<27> DF034;      //!< GLONASS Epoch Time (tk)
+    int set_DF034(double obs_time);
+
+    std::bitset<5> DF035;       //!< No. of GLONASS Satellite Signals Processed
+    int set_DF035(const std::map<int, Gnss_Synchro> & observables);
+
+    std::bitset<1> DF036;       //!< GLONASS Divergence-free Smoothing Indicator
+    int set_DF036(bool divergence_free_smoothing_indicator);
+
+    std::bitset<3> DF037;       //!< GLONASS Smoothing Interval
+    int set_DF037(unsigned short smoothing_interval);
+
+    std::bitset<6> DF038;       //!< GLONASS Satellite ID (Satellite Slot Number)
+    int set_DF038(const Gnss_Synchro & gnss_synchro);
+    int set_DF038(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF039;       //!< GLONASS L1 Code Indicator
+    int set_DF039(bool code_indicator);
+
+    std::bitset<5> DF040;       //!< GLONASS Satellite Frequency Number
+    int set_DF040(unsigned int frequency_channel_number);
+    int set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<25> DF041;      //!< GLONASS L1 Pseudorange
+    int set_DF041(const Gnss_Synchro & gnss_synchro);
+
+    std::bitset<20> DF042;      //!< GLONASS L1 PhaseRange - L1 Pseudorange
+    int set_DF042(const Gnss_Synchro & gnss_synchro);
+
+    std::bitset<7> DF043;      //!< GLONASS L1 Lock Time Indicator
+    int set_DF043(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
+
+    std::bitset<7> DF044;      //!< GLONASS Integer L1 Pseudorange Modulus Ambiguity
+    int set_DF044(const Gnss_Synchro & gnss_synchro);
+
+    std::bitset<8> DF045;      //!< GLONASS L1 CNR
+    int set_DF045(const Gnss_Synchro & gnss_synchro);
+
+    std::bitset<2> DF046;      //!< GLONASS L2 code indicator
+    int set_DF046(unsigned short code_indicator);
+
+    std::bitset<14> DF047;      //!< GLONASS L2 - L1 Pseudorange Difference
+    int set_DF047(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
+
+    std::bitset<20> DF048;      //!< GLONASS L2 PhaseRange - L1 Pseudorange
+    int set_DF048(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
+
+    std::bitset<7> DF049;      //!< GLONASS L2 Lock Time Indicator
+    int set_DF049(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
+
+    std::bitset<8> DF050;      //!< GLONASS L2 CNR
+    int set_DF050(const Gnss_Synchro & gnss_synchro);
+
     std::bitset<16> DF051;
     int set_DF051(const Gps_Ephemeris & gps_eph, double obs_time);
 
@@ -964,6 +1160,105 @@ private:
     std::bitset<1> DF103;
     int set_DF103(const Gps_Ephemeris & gps_eph);
 
+    std::bitset<1> DF104;       //!< GLONASS Almanac Health
+    int set_DF104(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF105;       //!< GLONASS Almanac Health Availability Indicator
+    int set_DF105(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<2> DF106;       //!< GLONASS P1 Word
+    int set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<12> DF107;       //!< GLONASS Epoch (tk)
+    int set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF108;       //!< GLONASS MSB of Bn Word
+    int set_DF108(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF109;       //!< GLONASS P2 Word
+    int set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<7> DF110;       //!< GLONASS Ephmeris Epoch (tb)
+    int set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<24> DF111;       //!< GLONASS Xn first derivative
+    int set_DF111(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<27> DF112;       //!< GLONASS Xn
+    int set_DF112(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<5> DF113;       //!< GLONASS Xn second derivative
+    int set_DF113(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<24> DF114;       //!< GLONASS Yn first derivative
+    int set_DF114(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<27> DF115;       //!< GLONASS Yn
+    int set_DF115(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<5> DF116;       //!< GLONASS Yn second derivative
+    int set_DF116(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<24> DF117;       //!< GLONASS Zn first derivative
+    int set_DF117(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<27> DF118;       //!< GLONASS Zn
+    int set_DF118(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<5> DF119;       //!< GLONASS Zn second derivative
+    int set_DF119(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF120;       //!< GLONASS P3
+    int set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<11> DF121;       //!< GLONASS GAMMA_N
+    int set_DF121(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<2> DF122;       //!< GLONASS P
+    int set_DF122(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF123;       //!< GLONASS ln (third string)
+    int set_DF123(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<22> DF124;       //!< GLONASS TAU_N
+    int set_DF124(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<5> DF125;       //!< GLONASS DELTA_TAU_N
+    int set_DF125(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<5> DF126;       //!< GLONASS Eccentricity
+    int set_DF126(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF127;       //!< GLONASS P4
+    int set_DF127(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<4> DF128;       //!< GLONASS F_T
+    int set_DF128(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF129;       //!< GLONASS N_T
+    int set_DF129(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<2> DF130;       //!< GLONASS M
+    int set_DF130(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF131;       //!< GLONASS Availability of additional data
+    int set_DF131(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<11> DF132;       //!< GLONASS N_A
+    int set_DF132(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<32> DF133;       //!< GLONASS TAU_C
+    int set_DF133(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<5> DF134;       //!< GLONASS N_4
+    int set_DF134(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<22> DF135;       //!< GLONASS TAU_GPS
+    int set_DF135(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
+    std::bitset<1> DF136;       //!< GLONASS L_N (FIFTH STRING)
+    int set_DF136(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+
     std::bitset<1> DF137;
     int set_DF137(const Gps_Ephemeris & gps_eph);
 
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
new file mode 100644
index 000000000..b67b2a696
--- /dev/null
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -0,0 +1,138 @@
+/*!
+ * \file glonass_gnav_navigation_message_test.cc
+ * \brief  This file implements tests for the decoding of the GLONASS GNAV navigation message
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <complex>
+#include <ctime>
+#include <complex>
+#include <ctime>
+#include "gnss_signal_processing.h"
+#include "glonass_gnav_navigation_message.h"
+
+/*!
+ * \brief Testing CRC computation for GLONASS GNAV data bits of a string
+ * \test The provided string was generated with a version of MATLAB GNSS-SDR that
+ * the author coded to perform proper decoding of GLONASS GNAV signals.
+ */
+TEST(GlonassGnavNavigationMessageTest, CRCTest)
+{
+    // Variables declarations in code
+    bool test_result;
+    std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    gnav_nav_message.reset();
+
+    // Call function to test
+    test_result = gnav_nav_message.CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> (str5));
+
+    // Check results in unit test assetions
+    ASSERT_TRUE(test_result);
+}
+
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, String1Decoder)
+{
+    // Variable declarations
+    std::string str1("0000100000001000011001000011111011010101110100000010101011000100011010101011000101111");
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Ephemeris gnav_ephemeris;
+
+    // Fill out ephemeris values for truth
+    gnav_ephemeris.d_P_1    = static_cast<double>(read_navigation_unsigned(string_bits, P1));
+    gnav_ephemeris.d_t_k    =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
+    gnav_ephemeris.d_VXn    = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
+    gnav_ephemeris.d_AXn    = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
+    gnav_ephemeris.d_Xn     = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
+
+    // Call target test method
+    gnav_nav_message.string_decoder(str1.c_str());
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Xn -  gnav_nav_message.gnav_ephemeris.d_Xn < DBL_EPSILON );
+}
+
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, String2Decoder)
+{
+    // Variable declarations
+    std::string str2("0001000010001001000001010101100001011001011000000010101100110000001011110000110011110");
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Ephemeris gnav_ephemeris;
+
+    // Fill out ephemeris values for truth
+    gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
+    gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
+    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
+    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
+    gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
+    gnav_ephemeris.d_Yn  = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
+
+    // Call target test method
+    gnav_nav_message.string_decoder(str2.c_str())
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_P_2 - gnav_nav_message.gnav_ephemeris.d_P_2 < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_t_b - gnav_nav_message.gnav_ephemeris.d_t_b < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VYn -  gnav_nav_message.gnav_ephemeris.d_VYn < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AYn - gnav_nav_message.gnav_ephemeris.d_AYn < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Yn -  gnav_nav_message.gnav_ephemeris.d_Yn < DBL_EPSILON );
+}
+
+std::string str2("0001000010001001000001010101100001011001011000000010101100110000001011110000110011110");
+std::string str3("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
+std::string str4("0010010000101011100100000100000100000000000000000000011000100100001100101010100011101");
+std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
+std::string str6("0011010100110100001100111100011100001101011000000110101111001000000101100011111011001");
+std::string str7("0011101101010001000010000110101111110000101101001011111110101110100010111100010001101");
+std::string str8("0100010100111000000001111110001101000000110000001000100111011100001010101111010011010");
+std::string str9("0100111010001001011100010000010100010101111101001011111110101011100010100101000110101");
+std::string str10("0101010101000000000011101111111101111001011000001000101010001100001111000110101111110");
+std::string str11("0101110111011011011100011001111011101111001101001011111111000110100100000110010001111");
+std::string str12("0110010101001100000011110110100110100100010100001000111110000100001110001010111000001");
+std::string str13("0110111011100100111110100001000110100010011101001011111110100100101010011010001101001");
+std::string str14("0111010101010000000100011000011110100110111100001110110100001000001111001101010000101");
+std::string str15("0111101110101010001110101010100111101100001101001011111111100010101010011001010011101");

From e58cd5450d754d714b65c2c71d99cf07896c38d8 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 8 Aug 2017 13:02:59 -0700
Subject: [PATCH 257/379] Adding RTCM Data Fields for GLONASS processing

Adds GLONASS related data fields (DFxxx) for RTCM messages including
MS1020, MS1087 and general MSM message types
---
 .../libs/rtklib/rtklib_conversions.cc         |   2 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   2 +
 .../glonass_gnav_ephemeris.cc                 |   3 +-
 .../glonass_gnav_ephemeris.h                  |   6 +-
 .../glonass_gnav_navigation_message.cc        |   4 +-
 src/core/system_parameters/rtcm.cc            | 491 +++++++++++++++---
 src/core/system_parameters/rtcm.h             |  32 +-
 7 files changed, 453 insertions(+), 87 deletions(-)

diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index f7da4d8df..f4ffafae8 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -74,7 +74,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;       /* satellite number */
     rtklib_sat.iode   = glonass_gnav_eph.d_t_b;                         /* IODE (0-6 bit of tb field) */
     rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;      /* satellite frequency number */
-    rtklib_sat.svh    = glonass_gnav_eph.d_l_n;                         /* satellite health*/
+    rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                         /* satellite health*/
     rtklib_sat.sva    = glonass_gnav_eph.d_F_T;                         /* satellite accuracy*/
     rtklib_sat.age    = glonass_gnav_eph.d_E_n;                         /* satellite age*/
     rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000;                     /* satellite position (ecef) (m) */
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index be05cc58a..7532ceb3a 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -78,6 +78,8 @@ const double GLONASS_SUN_SEMI_MAJOR_AXIS    = 1.49598e8;            //!< Semi-ma
 const double GLONASS_SUN_ECCENTRICITY       = 0.016719;             //!< Eccentricity of solar orbit
 
 // carrier and code frequencies
+const double GLONASS_L2_FREQ_HZ              = FREQ2_GLO;     //!< L1 [Hz]
+
 const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO;     //!< L1 [Hz]
 const double GLONASS_L1_DFREQ_HZ             = DFRQ1_GLO;     //!< Freq Bias for GLONASS L1 [Hz]
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;       //!< GLONASS L1 C/A code rate [chips/s]
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 1127751fe..ba376b620 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -71,7 +71,8 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
     d_P_2 = 0.0;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
     d_P_3 = 0.0;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
     d_P_4 = 0.0;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    d_l_n = 0.0;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    d_l3rd_n = 0.0;          //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    d_l5th_n = 0.0;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // clock terms derived from ephemeris data
     d_satClkDrift = 0.0;    //!< GLONASS clock error
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 8735d81cb..153f5b5b1 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -95,7 +95,8 @@ public:
     double d_P_2;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
     double d_P_3;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
     double d_P_4;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    double d_l_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    double d_l3rd_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    double d_l5th_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Inmediate deliverables of ephemeris information
     //TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
@@ -164,7 +165,8 @@ public:
         archive & make_nvp("d_P_2", d_P_2);         //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
         archive & make_nvp("d_P_3", d_P_3);         //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
         archive & make_nvp("d_P_4", d_P_4);         //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-        archive & make_nvp("d_l_n", d_l_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+        archive & make_nvp("d_l3rd_n", d_l3rd_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+        archive & make_nvp("d_l5th_n", d_l5th_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
     }
 
     /*!
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 1409eaa1d..7cdbec768 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -394,7 +394,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
             gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N30;
             gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
-            gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
+            gnav_ephemeris.d_l3rd_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
             gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
             gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
             gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
@@ -428,7 +428,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
             gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
             gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
-            gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+            gnav_ephemeris.d_l5th_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
             // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
             if(flag_ephemeris_str_4 == true)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index a621e4e5c..446c8f667 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -1709,15 +1709,18 @@ int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
 //
 // ********************************************************
 
-std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
 {
     unsigned int msg_number = 1020;
+    unsigned int glonass_gnav_alm_health = 0;
+    unsigned int glonass_gnav_alm_health_ind = 0;
+    unsigned int fifth_str_additional_data_ind = 1;
 
     Rtcm::set_DF002(msg_number);
     Rtcm::set_DF038(glonass_gnav_eph);
     Rtcm::set_DF040(glonass_gnav_eph);
-    Rtcm::set_DF104(glonass_gnav_eph);
-    Rtcm::set_DF105(glonass_gnav_eph);
+    Rtcm::set_DF104(glonass_gnav_alm_health);
+    Rtcm::set_DF105(glonass_gnav_alm_health_ind);
     Rtcm::set_DF106(glonass_gnav_eph);
     Rtcm::set_DF107(glonass_gnav_eph);
     Rtcm::set_DF108(glonass_gnav_eph);
@@ -1743,11 +1746,11 @@ std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     Rtcm::set_DF128(glonass_gnav_eph);
     Rtcm::set_DF129(glonass_gnav_eph);
     Rtcm::set_DF130(glonass_gnav_eph);
-    Rtcm::set_DF131(glonass_gnav_eph);
-    Rtcm::set_DF132(glonass_gnav_eph);
-    Rtcm::set_DF133(glonass_gnav_eph);
-    Rtcm::set_DF134(glonass_gnav_eph);
-    Rtcm::set_DF135(glonass_gnav_eph);
+    Rtcm::set_DF131(fifth_str_additional_data_ind);
+    Rtcm::set_DF132(glonass_gnav_utc_model);
+    Rtcm::set_DF133(glonass_gnav_utc_model);
+    Rtcm::set_DF134(glonass_gnav_utc_model);
+    Rtcm::set_DF135(glonass_gnav_utc_model);
     Rtcm::set_DF136(glonass_gnav_eph);
 
     std::string data;
@@ -1804,10 +1807,13 @@ std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 }
 
 
-int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph, Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
 {
     // Convert message to binary
     std::string message_bin = Rtcm::binary_data_to_bin(message);
+    int glonass_gnav_alm_health;
+    int glonass_gnav_alm_health_ind;
+    int fifth_str_additional_data_ind;
 
     if(!Rtcm::check_CRC(message) )
         {
@@ -1845,20 +1851,21 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.i_satellite_freq_channel = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
     index += 5;
 
-    glonass_gnav_eph.i_almanac_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    glonass_gnav_alm_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.i_alamanac_health_indi = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    glonass_gnav_alm_health_ind = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
     glonass_gnav_eph.d_P_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
     index += 2;
 
-    glonass_gnav_eph.d_t_k = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 1)))*30
-    static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600 +
-                             static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6)))*60
-                             ;
-    index += 12;
+    glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600;
+    index += 5;
+    glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6)))*60;
+    index += 6;
+    glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 1)))*30;
+    index += 1;
 
     glonass_gnav_eph.d_B_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
@@ -1906,7 +1913,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.d_P = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
     index += 2;
 
-    glonass_gnav_eph.d_l_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    glonass_gnav_eph.d_l3rd_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
     glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 22)))* TWO_N30;
@@ -1930,22 +1937,22 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.d_M = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
     index += 2;
 
-    glonass_gnav_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    fifth_str_additional_data_ind = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
+    glonass_gnav_utc_model.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
     index += 11;
 
-    glonass_gnav_eph.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
+    glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
     index += 32;
 
-    glonass_gnav_eph.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
+    glonass_gnav_utc_model.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
     index += 5;
 
-    glonass_gnav_eph.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
+    glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
     index += 22;
 
-    glonass_gnav_eph.d_l_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    glonass_gnav_eph.d_l5th_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
 
     return 0;
 }
@@ -2247,8 +2254,9 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1071;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1071;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1081;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1091;
-    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -2293,9 +2301,10 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
         bool divergence_free,
         bool more_messages)
 {
+    std::string sys(&observables.second.System, 1);
     Rtcm::set_DF002(msg_number);
     Rtcm::set_DF003(ref_id);
-    Rtcm::set_DF004(obs_time);
+
     Rtcm::set_DF393(more_messages);
     Rtcm::set_DF409(0); // Issue of Data Station. 0: not utilized
     std::bitset<7> DF001_ = std::bitset<7>("0000000");
@@ -2308,7 +2317,20 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
     Rtcm::set_DF395(observables);
 
     std::string header = DF002.to_string() + DF003.to_string();
-    header += DF004.to_string();
+    // GNSS Epoch Time Specific to each constellation
+    if((sys.compare("R") == 0 ))
+      {
+        // GLONASS Epoch Time
+        Rtcm::set_DF034(obs_time);
+        header += DF034.to_string();
+      }
+    else
+      {
+        // GPS, Galileo Epoch Time
+        Rtcm::set_DF004(obs_time);
+        header += DF004.to_string();
+      }
+
     header = header + DF393.to_string() +
             DF409.to_string() +
             DF001_.to_string() +
@@ -2413,8 +2435,9 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1072;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1072;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1082;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1092;
-    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -2479,7 +2502,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV,
     for(unsigned int cell = 0; cell < Ncells ; cell++)
         {
             Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
-            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
             first_data_type += DF401.to_string();
             second_data_type += DF402.to_string();
@@ -2514,8 +2537,9 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1073;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1073;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1083;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1093;
-    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -2582,7 +2606,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV,
         {
             Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
-            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
             first_data_type += DF400.to_string();
             second_data_type += DF401.to_string();
@@ -2617,8 +2641,9 @@ std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1074;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1074;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1084;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1094;
-    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -2726,7 +2751,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV,
         {
             Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
-            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
             first_data_type += DF400.to_string();
@@ -2763,8 +2788,9 @@ std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1075;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1075;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1085;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1095;
-    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -2879,7 +2905,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV,
         {
             Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
-            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+            Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
@@ -2919,8 +2945,9 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1076;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1076;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1086;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1096;
-    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -2988,7 +3015,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV,
         {
             Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
-            Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+            Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
             first_data_type += DF405.to_string();
@@ -3026,8 +3053,9 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
     unsigned int msg_number = 0;
     if(gps_eph.i_satellite_PRN != 0) msg_number = 1077;
     if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1077;
+    if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1087;
     if(gal_eph.i_satellite_PRN != 0) msg_number = 1097;
-    if(((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
+    if(((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0) ) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
         }
@@ -3096,7 +3124,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV,
         {
             Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
-            Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
+            Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
             Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
@@ -3724,7 +3752,7 @@ int Rtcm::set_DF034(double obs_time)
     if(tk > 86400999)
         {
             LOG(WARNING) << "To large GLONASS Epoch Time (tk)! Set to the last millisecond of the day";
-            tow = 86400999;
+            tk = 86400999;
         }
     DF034 = std::bitset<27>(tk);
     return 0;
@@ -3798,10 +3826,23 @@ int Rtcm::set_DF039(bool code_indicator)
 }
 
 
-int Rtcm::set_DF040(unsigned short frequency_channel_number)
+int Rtcm::set_DF040(unsigned int frequency_channel_number)
+{
+    unsigned int freq_ = frequency_channel_number;
+    if(freq_ > 20)
+        {
+            LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
+        }
+
+    DF040 = std::bitset<5>(freq_);
+    return 0;
+}
+
+
+int Rtcm::set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
     unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel;
-    if(prn_ > 20)
+    if(freq_ > 20)
         {
             LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
         }
@@ -4186,6 +4227,264 @@ int Rtcm::set_DF103(const Gps_Ephemeris & gps_eph)
 }
 
 
+int Rtcm::set_DF104(unsigned int glonass_gnav_alm_health)
+{
+    DF104 = std::bitset<1>(glonass_gnav_alm_health);
+    return 0;
+}
+
+
+int Rtcm::set_DF105(unsigned int glonass_gnav_alm_health_ind)
+{
+    DF105 = std::bitset<1>(glonass_gnav_alm_health_ind);
+    return 0;
+}
+
+
+int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int P_1 = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_1));
+    DF106 = std::bitset<2>(P_1);
+    return 0;
+}
+
+
+int Rtcm::set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    // TODO Need to fix this here, bit position has a given order
+    DF107 = std::bitset<12>(glonass_gnav_eph.d_t_k);
+    return 0;
+}
+
+
+int Rtcm::set_DF108(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    DF108 = std::bitset<1>(glonass_gnav_eph.d_B_n);
+    return 0;
+}
+
+
+int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    DF109 = std::bitset<1>(glonass_gnav_eph.d_P_2);
+    return 0;
+}
+
+
+int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b));
+    DF110 = std::bitset<7>(t_b);
+    return 0;
+}
+
+
+int Rtcm::set_DF111(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int VXn = static_cast<int>(std::round(glonass_gnav_eph.d_VXn/TWO_N20));
+    DF111 = std::bitset<24>(VXn);
+    return 0;
+}
+
+
+int Rtcm::set_DF112(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int Xn = static_cast<int>(std::round(glonass_gnav_eph.d_Xn/TWO_N11));
+    DF112 = std::bitset<27>(Xn);
+    return 0;
+}
+
+
+int Rtcm::set_DF113(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int AXn = static_cast<int>(std::round(glonass_gnav_eph.d_AXn/TWO_N11));
+    DF113 = std::bitset<5>(AXn);
+    return 0;
+}
+
+
+int Rtcm::set_DF114(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int VYn = static_cast<int>(std::round(glonass_gnav_eph.d_VYn/TWO_N20));
+    DF114 = std::bitset<24>(VYn);
+    return 0;
+}
+
+
+int Rtcm::set_DF115(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int Yn = static_cast<int>(std::round(glonass_gnav_eph.d_Yn/TWO_N11));
+    DF115 = std::bitset<27>(Yn);
+    return 0;
+}
+
+
+int Rtcm::set_DF116(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int AYn = static_cast<int>(std::round(glonass_gnav_eph.d_AYn/TWO_N11));
+    DF116 = std::bitset<5>(AYn);
+    return 0;
+}
+
+
+int Rtcm::set_DF117(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int VZn = static_cast<int>(std::round(glonass_gnav_eph.d_VZn/TWO_N20));
+    DF117 = std::bitset<24>(VZn);
+    return 0;
+}
+
+
+int Rtcm::set_DF118(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int Zn = static_cast<int>(std::round(glonass_gnav_eph.d_Zn/TWO_N11));
+    DF118 = std::bitset<27>(Zn);
+    return 0;
+}
+
+
+int Rtcm::set_DF119(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int AZn = static_cast<int>(std::round(glonass_gnav_eph.d_AZn/TWO_N11));
+    DF119 = std::bitset<5>(AZn);
+    return 0;
+}
+
+
+int Rtcm::set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int P3 = static_cast<int>(std::round(glonass_gnav_eph.d_P_3/TWO_N11));
+    DF120 = std::bitset<1>(P3);
+    return 0;
+}
+
+
+int Rtcm::set_DF121(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int gamma_n = static_cast<int>(std::round(glonass_gnav_eph.d_gamma_n/TWO_N40));
+    DF121 = std::bitset<11>(gamma_n);
+    return 0;
+}
+
+
+int Rtcm::set_DF122(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int P = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P));
+    DF122 = std::bitset<2>(P);
+    return 0;
+}
+
+
+int Rtcm::set_DF123(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int ln = static_cast<unsigned int>((glonass_gnav_eph.d_l3rd_n));
+    DF123 = std::bitset<1>(ln);
+    return 0;
+}
+
+
+int Rtcm::set_DF124(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_tau_n/TWO_N30));
+    DF124 = std::bitset<22>(tau_n);
+    return 0;
+}
+
+
+int Rtcm::set_DF125(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    int delta_tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_Delta_tau_n));
+    DF125 = std::bitset<5>(delta_tau_n);
+    return 0;
+}
+
+
+int Rtcm::set_DF126(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int ecc = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_E_n));
+    DF126 = std::bitset<5>(ecc);
+    return 0;
+}
+
+
+int Rtcm::set_DF127(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int P4= static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_4));
+    DF127 = std::bitset<1>(P4);
+    return 0;
+}
+
+
+int Rtcm::set_DF128(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int F_t = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_F_T));
+    DF128 = std::bitset<4>(F_t);
+    return 0;
+}
+
+
+int Rtcm::set_DF129(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int N_t = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_N_T));
+    DF129 = std::bitset<11>(N_t);
+    return 0;
+}
+
+
+int Rtcm::set_DF130(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int M = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_M));
+    DF130 = std::bitset<2>(M);
+    return 0;
+}
+
+
+int Rtcm::set_DF131(unsigned int fifth_str_additional_data_ind)
+{
+    unsigned int fith_str_data = static_cast<unsigned int>(fifth_str_additional_data_ind);
+    DF131 = std::bitset<1>(fith_str_data);
+    return 0;
+}
+
+
+int Rtcm::set_DF132(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
+{
+    unsigned int N_A = static_cast<unsigned int>(std::round(glonass_gnav_utc_model.d_N_A));
+    DF132 = std::bitset<11>(N_A);
+    return 0;
+}
+
+
+int Rtcm::set_DF133(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
+{
+    int tau_c = static_cast<int>(std::round(glonass_gnav_utc_model.d_tau_c/TWO_N31));
+    DF133 = std::bitset<32>(tau_c);
+    return 0;
+}
+
+
+int Rtcm::set_DF134(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
+{
+    unsigned int N_4 = static_cast<unsigned int>(std::round(glonass_gnav_utc_model.d_N_4));
+    DF134 = std::bitset<11>(N_4);
+    return 0;
+}
+
+
+int Rtcm::set_DF135(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
+{
+    int tau_gps = static_cast<int>(std::round(glonass_gnav_utc_model.d_tau_gps)/TWO_N30);
+    DF135 = std::bitset<22>(tau_gps);
+    return 0;
+}
+
+
+int Rtcm::set_DF136(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+{
+    unsigned int l_n = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_l5th_n));
+    DF136 = std::bitset<1>(l_n);
+    return 0;
+}
 
 
 int Rtcm::set_DF137(const Gps_Ephemeris & gps_eph)
@@ -4526,6 +4825,16 @@ int Rtcm::set_DF395(const std::map<int, Gnss_Synchro> & gnss_synchro)
                     mask_position = 32 - 16;
                     DF395.set(mask_position, true);
                 }
+            if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ) )
+                {
+                    mask_position = 32 - 2;
+                    DF395.set(mask_position, true);
+                }
+            if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ) )
+                {
+                    mask_position = 32 - 8;
+                    DF395.set(mask_position, true);
+                }
         }
 
     return 0;
@@ -4786,27 +5095,38 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
     double lambda = 0.0;
     std::string sig_(gnss_synchro.Signal);
     std::string sig = sig_.substr(0,2);
+    std::string sys(&gnss_synchro.System, 1);
 
-    if (sig.compare("1C") == 0 )
+    if ((sig.compare("1C") == 0) && (sys.compare("G") == 0 ))
         {
             lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
         }
-    if (sig.compare("2S") == 0 )
+    if ((sig.compare("2S")) == 0 && (sys.compare("G") == 0 ))
         {
             lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
         }
-    if (sig.compare("5X") == 0 )
+    if ((sig.compare("5X")) == 0 && (sys.compare("E") == 0 ))
         {
             lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
         }
-    if (sig.compare("1B") == 0 )
+    if ((sig.compare("1B")) == 0 && (sys.compare("E") == 0 ))
         {
             lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
         }
-    if (sig.compare("7X") == 0 )
+    if ((sig.compare("7X")) == 0 && (sys.compare("E") == 0 ))
         {
             lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
         }
+      if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
+          {
+              // TODO Need to add slot number and freq number to gnss_syncro
+              lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
+          }
+      if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
+          {
+              // TODO Need to add slot number and freq number to gnss_syncro
+              lambda = GLONASS_C_m_s / (GLONASS_L2_FREQ_HZ);
+          }
 
     phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
 
@@ -4837,23 +5157,33 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
 }
 
 
-int Rtcm::set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
+int Rtcm::set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
 {
     unsigned int lock_time_period_s = 0;
     unsigned int lock_time_indicator;
     std::string sig_(gnss_synchro.Signal);
-    if(sig_.compare("1C"))
+    std::string sys(&gnss_synchro.System, 1);
+    if ((sig_.compare("1C") == 0) && (sys.compare("G") == 0 ))
         {
             lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
         }
-    if(sig_.compare("2S"))
+    if ((sig_.compare("2S") == 0) && (sys.compare("G") == 0 ))
         {
             lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
         }
+    // TODO Should add system for galileo satellites
     if(sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X"))
         {
             lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
         }
+    if ((sig_.compare("1C") == 0) && (sys.compare("R") == 0 ))
+        {
+            lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
+        }
+    if ((sig_.compare("2C") == 0) && (sys.compare("R") == 0 ))
+        {
+            lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
+        }
     lock_time_indicator = Rtcm::msm_lock_time_indicator(lock_time_period_s);
     DF402 = std::bitset<4>(lock_time_indicator);
     return 0;
@@ -4875,28 +5205,38 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
     std::string sig_(gnss_synchro.Signal);
     std::string sig = sig_.substr(0,2);
     int fine_phaserange_rate;
+    std::string sys_(&gnss_synchro.System, 1);
 
-    if (sig.compare("1C") == 0 )
+    if ((sig_.compare("1C") == 0) && (sys_.compare("G") == 0 ))
         {
             lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
         }
-    if (sig.compare("2S") == 0 )
+    if ((sig_.compare("2S") == 0) && (sys_.compare("G") == 0 ))
         {
             lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
         }
-    if (sig.compare("5X") == 0 )
+    if ((sig_.compare("5X") == 0) && (sys_.compare("E") == 0 ))
         {
             lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
         }
-    if (sig.compare("1B") == 0 )
+    if ((sig_.compare("1B") == 0) && (sys_.compare("E") == 0 ))
         {
             lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
         }
-    if (sig.compare("7X") == 0 )
+    if ((sig_.compare("7X") == 0 ) && (sys_.compare("E") == 0 ))
         {
             lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
         }
-
+    if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
+        {
+            //TODO Need to add slot number and freq number to gnss syncro
+            lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
+        }
+    if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
+        {
+            //TODO Need to add slot number and freq number to gnss syncro
+            lambda = GLONASS_C_m_s / (GLONASS_L2_FREQ_HZ);
+        }
     double rough_phase_range_rate = std::round(- gnss_synchro.Carrier_Doppler_hz * lambda );
     double phrr = (- gnss_synchro.Carrier_Doppler_hz * lambda - rough_phase_range_rate);
 
@@ -4953,29 +5293,39 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
     double phrng_m;
     double lambda = 0.0;
     std::string sig_(gnss_synchro.Signal);
-    std::string sig = sig_.substr(0,2);
+    sig_ = sig_.substr(0,2);
+    std::string sys_(&gnss_synchro.System, 1);
 
-    if (sig.compare("1C") == 0 )
+    if ((sig_.compare("1C") == 0) && (sys_.compare("G") == 0 ) )
         {
             lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
         }
-    if (sig.compare("2S") == 0 )
+    if ((sig_.compare("2S") == 0) && (sys_.compare("G") == 0 ) )
         {
             lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
         }
-    if (sig.compare("5X") == 0 )
+    if ((sig_.compare("5X") == 0) && (sys_.compare("E") == 0 ) )
         {
             lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
         }
-    if (sig.compare("1B") == 0 )
+    if ((sig_.compare("1B") == 0) && (sys_.compare("E") == 0 ) )
         {
             lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
         }
-    if (sig.compare("7X") == 0 )
+    if ((sig_.compare("7X") == 0 ) && (sys_.compare("E") == 0 ) )
         {
             lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
         }
-
+    if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
+        {
+            //TODO Need to add slot number and freq number to gnss syncro
+            lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
+        }
+    if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
+        {
+            //TODO Need to add slot number and freq number to gnss syncro
+            lambda = GLONASS_C_m_s / (GLONASS_L2_FREQ_HZ);
+        }
     phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
 
     /* Substract phase - pseudorange integer cycle offset */
@@ -5005,24 +5355,33 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
 }
 
 
-int Rtcm::set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
+int Rtcm::set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
 {
     unsigned int lock_time_indicator;
     unsigned int lock_time_period_s = 0;
 
     std::string sig_(gnss_synchro.Signal);
-    if(sig_.compare("1C"))
+    std::string sys_(&gnss_synchro.System, 1);
+    if((sig_.compare("1C")) && (sys_.compare("G") == 0 ))
         {
             lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
         }
-    if(sig_.compare("2S"))
+    if((sig_.compare("2S")) && (sys_.compare("G") == 0 ))
         {
             lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
         }
-    if(sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X"))
+    if((sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X") ) && (sys_.compare("E") == 0 ))
         {
             lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
         }
+    if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
+        {
+            lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
+        }
+    if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
+        {
+            lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
+        }
     lock_time_indicator = Rtcm::msm_extended_lock_time_indicator(lock_time_period_s);
     DF407 = std::bitset<10>(lock_time_indicator);
     return 0;
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index d3b84beb1..ed4369923 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -158,7 +158,7 @@ public:
      * \params observables Set of observables as defined by the platform
      * \return string with message contents
      */
-    std::string print_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
+    std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
     /*!
      * \brief Prints Extended L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
@@ -168,7 +168,7 @@ public:
      * \params observables Set of observables as defined by the platform
      * \return string with message contents
      */
-    std::string print_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
+    std::string print_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
 
     /*!
      * \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
@@ -185,18 +185,20 @@ public:
     * \brief Prints message type 1020 (GLONASS Ephemeris).
     * \note Code added as part of GSoC 2017 program
     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+    * \param glonass_gnav_utc_model GLONASS GNAV Clock Information
     * \return Returns message type as a string type
     */
-    std::string print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    std::string print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
 
     /*!
      * \brief Verifies and reads messages of type 1020 (GLONASS Ephemeris).
      * \note Code added as part of GSoC 2017 program
      * \param message Message to read as a string type
      * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param glonass_gnav_utc_model GLONASS GNAV Clock Information
      * \return Returns 1 if anything goes wrong, 0 otherwise.
      */
-    int read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph, Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
 
     /*!
      * \brief Prints message type 1029 (Unicode Text String)
@@ -1023,7 +1025,7 @@ private:
     int set_DF036(bool divergence_free_smoothing_indicator);
 
     std::bitset<3> DF037;       //!< GLONASS Smoothing Interval
-    int set_DF037(unsigned short smoothing_interval);
+    int set_DF037(short int smoothing_interval);
 
     std::bitset<6> DF038;       //!< GLONASS Satellite ID (Satellite Slot Number)
     int set_DF038(const Gnss_Synchro & gnss_synchro);
@@ -1161,10 +1163,10 @@ private:
     int set_DF103(const Gps_Ephemeris & gps_eph);
 
     std::bitset<1> DF104;       //!< GLONASS Almanac Health
-    int set_DF104(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF104(unsigned int glonass_gnav_alm_health);
 
     std::bitset<1> DF105;       //!< GLONASS Almanac Health Availability Indicator
-    int set_DF105(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF105(unsigned int glonass_gnav_alm_health_ind);
 
     std::bitset<2> DF106;       //!< GLONASS P1 Word
     int set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
@@ -1235,26 +1237,26 @@ private:
     std::bitset<4> DF128;       //!< GLONASS F_T
     int set_DF128(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
 
-    std::bitset<1> DF129;       //!< GLONASS N_T
+    std::bitset<11> DF129;       //!< GLONASS N_T
     int set_DF129(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
 
     std::bitset<2> DF130;       //!< GLONASS M
     int set_DF130(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
 
     std::bitset<1> DF131;       //!< GLONASS Availability of additional data
-    int set_DF131(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF131(unsigned int fifth_str_additional_data_ind);
 
     std::bitset<11> DF132;       //!< GLONASS N_A
-    int set_DF132(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF132(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
 
     std::bitset<32> DF133;       //!< GLONASS TAU_C
-    int set_DF133(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF133(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
 
     std::bitset<5> DF134;       //!< GLONASS N_4
-    int set_DF134(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF134(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
 
     std::bitset<22> DF135;       //!< GLONASS TAU_GPS
-    int set_DF135(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+    int set_DF135(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
 
     std::bitset<1> DF136;       //!< GLONASS L_N (FIFTH STRING)
     int set_DF136(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
@@ -1387,7 +1389,7 @@ private:
     int set_DF401(const Gnss_Synchro & gnss_synchro);
 
     std::bitset<4> DF402;
-    int set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
+    int set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
 
     std::bitset<6> DF403;
     int set_DF403(const Gnss_Synchro & gnss_synchro);
@@ -1402,7 +1404,7 @@ private:
     int set_DF406(const Gnss_Synchro & gnss_synchro);
 
     std::bitset<10> DF407;
-    int set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
+    int set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
 
     std::bitset<10> DF408;
     int set_DF408(const Gnss_Synchro & gnss_synchro);

From f720ddf20876ad7d1c7b504719e8d5c7a48127bc Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 13 Aug 2017 09:58:35 -0700
Subject: [PATCH 258/379] Adding RTCM messages for GLONASS support

Adds code for RTCM in GLONASS processing. The commit includes legacy
messages (MS1009-MS1012) and integrated messages for GNSS fields.
A couple of bug fixes are included and addition of ephemeris fields
is completed.
---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 20 +++++------
 src/algorithms/PVT/libs/rinex_printer.cc      |  9 ++++-
 src/algorithms/PVT/libs/rtcm_printer.cc       | 12 +++----
 src/algorithms/PVT/libs/rtcm_printer.h        | 35 ++++++++++---------
 src/core/system_parameters/MATH_CONSTANTS.h   |  1 +
 .../glonass_gnav_navigation_message.h         |  4 +--
 src/core/system_parameters/rtcm.cc            | 34 ++++++++++--------
 7 files changed, 66 insertions(+), 49 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index e28e35b01..cbc13813a 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -1116,7 +1116,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
 
                                                             if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                 {
-                                                                    d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                    d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                 }
                                                         }
                                                 }
@@ -1135,7 +1135,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
                                                             if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
                                                                 {
-                                                                    d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                    d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                 }
                                                         }
                                                 }
@@ -1156,7 +1156,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
                                                             if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()) )
                                                                 {
-                                                                    d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                    d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                 }
                                                         }
                                                 }
@@ -1214,14 +1214,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
 
                                                                     if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
                                                                         {
-                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
                                                                 }
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
                                                                     if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                         {
-                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
                                                                 }
                                                         }
@@ -1241,7 +1241,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
 
                                                     if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                         {
-                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
@@ -1257,7 +1257,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
 
                                                     if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
                                                         {
-                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
@@ -1273,7 +1273,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
 
                                                     if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
                                                         {
-                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
@@ -1326,12 +1326,12 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
 
                                                     if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0))
                                                         {
-                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
 
                                                     if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0) )
                                                         {
-                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 7c51b8c95..362b6f289 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -410,6 +410,7 @@ std::string Rinex_Printer::getLocalTime()
 
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
+    if(glonass_gnav_almanac.i_satellite_freq_channel){}
     std::string line;
     stringVersion = "3.02";
     version = 3;
@@ -508,6 +509,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
 
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
     std::string line;
     stringVersion = "3.02";
     version = 3;
@@ -630,6 +632,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
 
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
     std::string line;
     stringVersion = "3.02";
     version = 3;
@@ -1389,6 +1392,7 @@ void Rinex_Printer::rinex_sbs_header(std::fstream& out)
 
 void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
     std::vector<std::string> data;
     std::string line_aux;
 
@@ -1935,6 +1939,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
 
 void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
     std::vector<std::string> data;
     std::string line_aux;
 
@@ -2041,6 +2046,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
 
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
     std::vector<std::string> data;
     std::string line_aux;
 
@@ -3031,6 +3037,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
 
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
 {
+    if(eph.d_m){} //Avoid compiler warning
     std::string line;
     std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
 
@@ -5163,7 +5170,7 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_
 {
     if(utc_model.d_N_4)
         {
-            
+
         }
 }
 
diff --git a/src/algorithms/PVT/libs/rtcm_printer.cc b/src/algorithms/PVT/libs/rtcm_printer.cc
index 13873251d..9bd55b6c1 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.cc
+++ b/src/algorithms/PVT/libs/rtcm_printer.cc
@@ -202,17 +202,17 @@ bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_
 }
 
 
-bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables)
 {
-    std::string m1011 = rtcm->print_MT1011(glonass_gnav_eph, obs_time, observables, station_id);
+    std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
     Rtcm_Printer::Print_Message(m1011);
     return true;
 }
 
 
-bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
+bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables)
 {
-    std::string m1012 = rtcm->print_MT1012(glonass_gnav_eph, obs_time, observables, station_id);
+    std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
     Rtcm_Printer::Print_Message(m1012);
     return true;
 }
@@ -226,9 +226,9 @@ bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
 }
 
 
-bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
 {
-    std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph);
+    std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
     Rtcm_Printer::Print_Message(m1020);
     return true;
 }
diff --git a/src/algorithms/PVT/libs/rtcm_printer.h b/src/algorithms/PVT/libs/rtcm_printer.h
index e2622d678..21fdaeddf 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.h
+++ b/src/algorithms/PVT/libs/rtcm_printer.h
@@ -63,9 +63,9 @@ public:
      * \brief Prints L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return true or false upon operation success
      */
     bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
@@ -73,9 +73,9 @@ public:
      * \brief Prints Extended L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return true or false upon operation success
      */
     bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
@@ -83,22 +83,24 @@ public:
      * \brief Prints L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_ephL1 GLONASS L1 GNAV Broadcast Ephemeris for satellite
+     * \param glonass_gnav_ephL2 GLONASS L2 GNAV Broadcast Ephemeris for satellite
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return true or false upon operation success
      */
-    bool Print_Rtcm_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables);
     /*!
      * \brief Prints Extended L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_ephL1 GLONASS L1 GNAV Broadcast Ephemeris for satellite
+     * \param glonass_gnav_ephL2 GLONASS L2 GNAV Broadcast Ephemeris for satellite
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return true or false upon operation success
      */
-    bool Print_Rtcm_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
+    bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables);
 
     bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
     bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
@@ -106,10 +108,11 @@ public:
      * \brief Prints GLONASS GNAV Ephemeris
      * \details This GLONASS message should be broadcast every 2 minutes
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param utc_model GLONASS GNAV Clock Information broadcast in string 5
      * \return true or false upon operation success
      */
-    bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph);
+    bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Utc_Model & utc_model);
 
     bool Print_Rtcm_MSM(unsigned int msm_number,
             const Gps_Ephemeris & gps_eph,
diff --git a/src/core/system_parameters/MATH_CONSTANTS.h b/src/core/system_parameters/MATH_CONSTANTS.h
index 9be1a41cf..63db089c7 100644
--- a/src/core/system_parameters/MATH_CONSTANTS.h
+++ b/src/core/system_parameters/MATH_CONSTANTS.h
@@ -65,6 +65,7 @@ const double TWO_N14 = (0.00006103515625);        //!< 2^-14
 const double TWO_N15 = (0.00003051757813);        //!< 2^-15
 const double TWO_N16 = (0.0000152587890625);      //!< 2^-16
 const double TWO_N17 = (7.629394531250000e-006);  //!< 2^-17
+const double TWO_N18 = (3.814697265625000e-006);  //!< 2^-18
 const double TWO_N19 = (1.907348632812500e-006);  //!< 2^-19
 const double TWO_N20 = (9.536743164062500e-007);  //!< 2^-20
 const double TWO_N21 = (4.768371582031250e-007);  //!< 2^-21
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index c93eda14c..8fbb30e22 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -69,8 +69,8 @@ public:
 
     //!< Satellite Identification
     int i_channel_ID;               //!< Channel ID assigned by the receiver
-    int i_satellite_freq_channel;   //!< SV Frequency Slot Number
-    int i_satellite_slot_number;    //!< SV Orbit Slot Number
+    unsigned int i_satellite_freq_channel;   //!< SV Frequency Slot Number
+    unsigned int i_satellite_slot_number;    //!< SV Orbit Slot Number
 
     //!< Ephmeris Flags
     bool flag_all_ephemeris;  //!< Flag indicating that all strings containing ephemeris have been received
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 446c8f667..7e11062a8 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -1811,9 +1811,9 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
 {
     // Convert message to binary
     std::string message_bin = Rtcm::binary_data_to_bin(message);
-    int glonass_gnav_alm_health;
-    int glonass_gnav_alm_health_ind;
-    int fifth_str_additional_data_ind;
+    int glonass_gnav_alm_health = 0;
+    int glonass_gnav_alm_health_ind = 0;
+    int fifth_str_additional_data_ind = 0;
 
     if(!Rtcm::check_CRC(message) )
         {
@@ -1853,9 +1853,11 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
 
     glonass_gnav_alm_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
+    if(glonass_gnav_alm_health){} //Avoid comiler warning
 
     glonass_gnav_alm_health_ind = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
+    if(glonass_gnav_alm_health_ind){} //Avoid comiler warning
 
     glonass_gnav_eph.d_P_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
     index += 2;
@@ -1940,19 +1942,22 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     fifth_str_additional_data_ind = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_utc_model.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
-    index += 11;
+    if(fifth_str_additional_data_ind == true)
+        {
+            glonass_gnav_utc_model.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
+            index += 11;
 
-    glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
-    index += 32;
+            glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
+            index += 32;
 
-    glonass_gnav_utc_model.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
-    index += 5;
+            glonass_gnav_utc_model.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
+            index += 5;
 
-    glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
-    index += 22;
+            glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
+            index += 22;
 
-    glonass_gnav_eph.d_l5th_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+            glonass_gnav_eph.d_l5th_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+        }
 
     return 0;
 }
@@ -2301,7 +2306,8 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
         bool divergence_free,
         bool more_messages)
 {
-    std::string sys(&observables.second.System, 1);
+    std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
+    std::string sys(gnss_synchro_iter->second.System, 1);
     Rtcm::set_DF002(msg_number);
     Rtcm::set_DF003(ref_id);
 
@@ -4466,7 +4472,7 @@ int Rtcm::set_DF133(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
 int Rtcm::set_DF134(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
 {
     unsigned int N_4 = static_cast<unsigned int>(std::round(glonass_gnav_utc_model.d_N_4));
-    DF134 = std::bitset<11>(N_4);
+    DF134 = std::bitset<5>(N_4);
     return 0;
 }
 

From bc8d0bbe64ac87759212beba5aa36ed11fa1fc11 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 13 Aug 2017 20:42:24 -0700
Subject: [PATCH 259/379] Adds unit test for RINEX and RTCM messages printer

Adds set of unit test to check functionality of GLONASS processing for
RINEX and RTCM messages. It also fixes a couple of bug fixes with
formatting in existing code.
---
 .../glonass_gnav_ephemeris.h                  |   4 +-
 src/core/system_parameters/rtcm.cc            |  50 ++++
 .../pvt/rinex_printer_test.cc                 | 249 ++++++++++++++++++
 .../signal-processing-blocks/pvt/rtcm_test.cc |  57 +++-
 4 files changed, 350 insertions(+), 10 deletions(-)

diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 153f5b5b1..3f8fa699c 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -95,8 +95,8 @@ public:
     double d_P_2;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
     double d_P_3;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
     double d_P_4;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    double d_l3rd_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-    double d_l5th_n;           //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    double d_l3rd_n;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    double d_l5th_n;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Inmediate deliverables of ephemeris information
     //TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 7e11062a8..3a82d5647 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -3310,6 +3310,13 @@ boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris & ep
 }
 
 
+boost::posix_time::ptime Rtcm::compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, double obs_time) const
+{
+    boost::posix_time::ptime p_time = eph.compute_GLONASS_time(obs_time);
+    return p_time;
+}
+
+
 unsigned int Rtcm::lock_time(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
 {
     unsigned int lock_time_in_seconds;
@@ -3385,6 +3392,49 @@ unsigned int Rtcm::lock_time(const Galileo_Ephemeris & eph, double obs_time, con
 }
 
 
+unsigned int Rtcm::lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
+{
+    unsigned int lock_time_in_seconds;
+    boost::posix_time::ptime current_time = Rtcm::compute_GLONASS_time(eph, obs_time);
+
+    boost::posix_time::ptime last_lock_time;
+    std::string sig_(gnss_synchro.Signal);
+    if(sig_.compare("1C") == 0)
+        {
+            last_lock_time = Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN];
+        }
+    if(sig_.compare("2C") == 0)
+        {
+            last_lock_time = Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN];
+        }
+
+    if(last_lock_time.is_not_a_date_time() )// || CHECK LLI!!......)
+        {
+            if(sig_.compare("1C") == 0)
+                {
+                    Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN] = current_time;
+                }
+            if(sig_.compare("2C") == 0)
+                {
+                    Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN] = current_time;
+                }
+        }
+
+    boost::posix_time::time_duration lock_duration = current_time - current_time;
+    if(sig_.compare("1C") == 0)
+        {
+            lock_duration = current_time - Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN];
+        }
+    if(sig_.compare("2C") == 0)
+        {
+            lock_duration = current_time - Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN];
+        }
+
+    lock_time_in_seconds = static_cast<unsigned int>(lock_duration.total_seconds());
+    return lock_time_in_seconds;
+}
+
+
 unsigned int Rtcm::lock_time_indicator(unsigned int lock_time_period_s)
 {
     // Table 3.4-2
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
index fdf1d7d2c..33ed3965c 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
@@ -87,6 +87,35 @@ TEST(RinexPrinterTest, GalileoObsHeader)
 }
 
 
+TEST(RinexPrinterTest, GlonassObsHeader)
+{
+    std::string line_aux;
+    std::string line_str;
+    bool no_more_finds = false;
+    const Glonass_Gnav_Ephemeris eph = Glonass_Gnav_Ephemeris();
+
+    std::shared_ptr<Rinex_Printer> rp1;
+    rp1 = std::make_shared<Rinex_Printer>();
+    rp1->rinex_obs_header(rp1->obsFile, eph, 0.0);
+    rp1->obsFile.seekp(0);
+
+    while(!rp1->obsFile.eof())
+        {
+            std::getline(rp1->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
+                        {
+                            no_more_finds = true;
+                            line_aux = std::string(line_str);
+                        }
+                }
+        }
+    std::string expected_str("R    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES ");
+    EXPECT_EQ(0, expected_str.compare(line_aux));
+    if(remove(rp1->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+    line_aux.clear();
+}
 
 
 TEST(RinexPrinterTest, MixedObsHeader)
@@ -133,6 +162,50 @@ TEST(RinexPrinterTest, MixedObsHeader)
 }
 
 
+TEST(RinexPrinterTest, MixedObsHeaderGpsGlo)
+{
+    std::string line_aux;
+    std::string line_aux2;
+    std::string line_str;
+    bool no_more_finds = false;
+    const Glonass_Gnav_Ephemeris eph_glo = Glonass_Gnav_Ephemeris();
+    const Gps_Ephemeris eph_gps = Gps_Ephemeris();
+
+    std::shared_ptr<Rinex_Printer> rp1;
+    rp1 = std::make_shared<Rinex_Printer>();
+    rp1->rinex_obs_header(rp1->obsFile, eph_gps, eph_glo, 0.0, "1C");
+    rp1->obsFile.seekp(0);
+    int systems_found = 0;
+
+    while(!rp1->obsFile.eof())
+        {
+            std::getline(rp1->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
+                        {
+                            systems_found++;
+                            if(systems_found == 1)
+                                {
+                                    line_aux = std::string(line_str);
+                                }
+                            if(systems_found == 2)
+                                {
+                                    line_aux2 = std::string(line_str);
+                                    no_more_finds = true;
+                                }
+                        }
+                }
+        }
+
+    std::string expected_str("G    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES ");
+    std::string expected_str2("R    8 C1C L1C D1C S1C                                      SYS / # / OBS TYPES ");
+    EXPECT_EQ(0, expected_str.compare(line_aux));
+    EXPECT_EQ(0, expected_str2.compare(line_aux2));
+    if(remove(rp1->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+}
+
+
 TEST(RinexPrinterTest, GalileoObsLog)
 {
     std::string line_aux;
@@ -201,6 +274,74 @@ TEST(RinexPrinterTest, GalileoObsLog)
 }
 
 
+TEST(RinexPrinterTest, GlonassObsLog)
+{
+    std::string line_aux;
+    std::string line_str;
+    bool no_more_finds = false;
+    const Glonass_Gnav_Ephemeris eph = Glonass_Gnav_Ephemeris();
+
+    std::shared_ptr<Rinex_Printer> rp;
+    rp = std::make_shared<Rinex_Printer>();
+    rp->rinex_obs_header(rp->obsFile, eph, 0.0);
+
+    std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
+
+    Gnss_Synchro gs1 = Gnss_Synchro();
+    Gnss_Synchro gs2 = Gnss_Synchro();
+    Gnss_Synchro gs3 = Gnss_Synchro();
+    Gnss_Synchro gs4 = Gnss_Synchro();
+
+    std::string sys = "R";
+    gs1.System = *sys.c_str();
+    gs2.System = *sys.c_str();
+    gs3.System = *sys.c_str();
+    gs4.System = *sys.c_str();
+
+    std::string sig = "1C";
+    std::memcpy((void*)gs1.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs2.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
+
+    gs1.PRN = 3;
+    gs2.PRN = 8;
+    gs3.PRN = 10;
+    gs4.PRN = 22;
+
+    gs4.Pseudorange_m = 22000000;
+    gs4.Carrier_phase_rads = 23.4;
+    gs4.Carrier_Doppler_hz = 1534;
+    gs4.CN0_dB_hz = 42;
+
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(1,gs1) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(2,gs2) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
+
+    rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map);
+    rp->obsFile.seekp(0);
+
+    while(!rp->obsFile.eof())
+        {
+            std::getline(rp->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("R22", 0) != std::string::npos)
+                        {
+                            no_more_finds = true;
+                            line_aux = std::string(line_str);
+                        }
+                }
+        }
+
+    std::string expected_str("R22  22000000.000 7         3.724 7      1534.000 7        42.000               ");
+    EXPECT_EQ(0, expected_str.compare(line_aux));
+
+    if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+}
+
+
 TEST(RinexPrinterTest, GpsObsLogDualBand)
 {
     std::string line_aux;
@@ -473,3 +614,111 @@ TEST(RinexPrinterTest, MixedObsLog)
 
     if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
 }
+
+
+TEST(RinexPrinterTest, MixedObsLogGpsGlo)
+{
+    std::string line_aux;
+    std::string line_str;
+    bool no_more_finds = false;
+    const Glonass_Gnav_Ephemeris eph_glo = Glonass_Gnav_Ephemeris();
+    const Gps_Ephemeris eph_gps = Gps_Ephemeris();
+
+    std::shared_ptr<Rinex_Printer> rp;
+    rp = std::make_shared<Rinex_Printer>();
+    rp->rinex_obs_header(rp->obsFile, eph_gps, eph_glo, 0.0, "1C");
+
+    std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
+
+    Gnss_Synchro gs1 = Gnss_Synchro();
+    Gnss_Synchro gs2 = Gnss_Synchro();
+    Gnss_Synchro gs3 = Gnss_Synchro();
+    Gnss_Synchro gs4 = Gnss_Synchro();
+    Gnss_Synchro gs5 = Gnss_Synchro();
+    Gnss_Synchro gs6 = Gnss_Synchro();
+    Gnss_Synchro gs7 = Gnss_Synchro();
+    Gnss_Synchro gs8 = Gnss_Synchro();
+
+    std::string sys = "G";
+    gs1.System = *sys.c_str();
+    gs2.System = *sys.c_str();
+    gs3.System = *sys.c_str();
+    gs4.System = *sys.c_str();
+
+    sys = "R";
+    gs5.System = *sys.c_str();
+    gs6.System = *sys.c_str();
+    gs7.System = *sys.c_str();
+    gs8.System = *sys.c_str();
+
+    std::string sig = "1C";
+    std::memcpy((void*)gs1.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs2.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
+
+    sig = "1C";
+    std::memcpy((void*)gs5.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs6.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs7.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs8.Signal, sig.c_str(), 3);
+
+    gs1.PRN = 3;
+    gs2.PRN = 8;
+    gs3.PRN = 14;
+    gs4.PRN = 16;
+    gs5.PRN = 3;
+    gs6.PRN = 16;
+    gs7.PRN = 14;
+    gs8.PRN = 16;
+
+    gs2.Pseudorange_m = 22000002.1;
+    gs2.Carrier_phase_rads = 45.4;
+    gs2.Carrier_Doppler_hz = 321;
+    gs2.CN0_dB_hz = 39;
+
+    gs4.Pseudorange_m = 22000000;
+    gs4.Carrier_phase_rads = 23.4;
+    gs4.Carrier_Doppler_hz = -1534;
+    gs4.CN0_dB_hz = 40;
+
+    gs6.Pseudorange_m = 22000000;
+    gs6.Carrier_phase_rads = 52.1;
+    gs6.Carrier_Doppler_hz = 1534;
+    gs6.CN0_dB_hz = 41;
+
+    gs8.Pseudorange_m = 22000000;
+    gs8.Carrier_phase_rads = 0.8;
+    gs8.Carrier_Doppler_hz = -20;
+    gs8.CN0_dB_hz = 42;
+
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(1,gs1) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(2,gs2) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(5,gs5) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(6,gs6) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(7,gs7) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(8,gs8) );
+
+    rp->log_rinex_obs(rp->obsFile, eph_gps, eph_glo, 0.0, gnss_pseudoranges_map);
+
+    rp->obsFile.seekp(0);
+
+    while(!rp->obsFile.eof())
+        {
+            std::getline(rp->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("R16", 0) != std::string::npos)
+                        {
+                            no_more_finds = true;
+                            line_aux = std::string(line_str);
+                        }
+                }
+        }
+    std::string expected_str("R16  22000000.000 7         0.127 7       -20.000 7        42.000  22000000.000 6         8.292 6      1534.000 6        41.000");
+    EXPECT_EQ(0, expected_str.compare(line_aux));
+
+    if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 11bd5d7cc..2f8307ee4 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -276,6 +276,33 @@ TEST(RtcmTest, MT1019)
 }
 
 
+TEST(RtcmTest, MT1020)
+{
+    auto rtcm = std::make_shared<Rtcm>();
+    bool expected_true = true;
+
+    Glonass_Gnav_Ephemeris glonass_gnav_eph = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Utc_Model glonass_gnav_utc_model = Glonass_Gnav_Utc_Model();
+    Glonass_Gnav_Ephemeris glonass_gnav_eph_read = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Utc_Model glonass_gnav_utc_model_read = Glonass_Gnav_Utc_Model();
+
+    glonass_gnav_eph.i_satellite_PRN    = 3;
+    glonass_gnav_eph.d_t_b              = 4;
+    glonass_gnav_eph.d_E_n              = 2.0 * E_LSB;
+    glonass_gnav_eph.d_l3rd_n           = true;
+    glonass_gnav_utc_model.d_tau_gps    = 5;
+    std::string tx_msg                  = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
+
+    EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, glonass_gnav_eph_read, glonass_gnav_utc_model_read));
+    EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_PRN);
+    EXPECT_DOUBLE_EQ(4, glonass_gnav_eph_read.d_t_b);
+    EXPECT_DOUBLE_EQ( 2.0 * E_LSB, glonass_gnav_eph_read.d_E_n);
+    EXPECT_DOUBLE_EQ( 5, glonass_gnav_utc_model_read.d_tau_gps);
+    EXPECT_EQ(expected_true, glonass_gnav_eph_read.d_l3rd_n);
+    EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), glonass_gnav_eph_read, glonass_gnav_utc_model_read));
+}
+
+
 TEST(RtcmTest, MT1029)
 {
     auto rtcm = std::make_shared<Rtcm>();
@@ -321,6 +348,7 @@ TEST(RtcmTest, MSMCell)
     auto rtcm = std::make_shared<Rtcm>();
     Gps_Ephemeris gps_eph = Gps_Ephemeris();
     Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
+    Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
     std::map<int, Gnss_Synchro> pseudoranges;
 
     Gnss_Synchro gnss_synchro;
@@ -328,15 +356,18 @@ TEST(RtcmTest, MSMCell)
     Gnss_Synchro gnss_synchro3;
     Gnss_Synchro gnss_synchro4;
     Gnss_Synchro gnss_synchro5;
+    Gnss_Synchro gnss_synchro6;
 
     gnss_synchro.PRN = 4;
     gnss_synchro2.PRN = 8;
     gnss_synchro3.PRN = 32;
     gnss_synchro4.PRN = 10;
     gnss_synchro5.PRN = 10;
+    gnss_synchro6.PRN = 10;
 
     std::string gps = "G";
     std::string gal = "E";
+    std::string glo = "R";
 
     std::string c1 = "1C";
     std::string s2 = "2S";
@@ -347,24 +378,28 @@ TEST(RtcmTest, MSMCell)
     gnss_synchro3.System = *gps.c_str();
     gnss_synchro4.System = *gal.c_str();
     gnss_synchro5.System = *gps.c_str();
+    gnss_synchro6.System = *glo.c_str();
 
     std::memcpy(static_cast<void*>(gnss_synchro.Signal), x5.c_str(), 3);
     std::memcpy(static_cast<void*>(gnss_synchro2.Signal), s2.c_str(), 3);
     std::memcpy(static_cast<void*>(gnss_synchro3.Signal), c1.c_str(), 3);
     std::memcpy(static_cast<void*>(gnss_synchro4.Signal), x5.c_str(), 3);
     std::memcpy(static_cast<void*>(gnss_synchro5.Signal), c1.c_str(), 3);
+	std::memcpy(static_cast<void*>(gnss_synchro6.Signal), c1.c_str(), 3);
 
     gnss_synchro.Pseudorange_m = 20000000.0;
     gnss_synchro2.Pseudorange_m = 20001010.0;
     gnss_synchro3.Pseudorange_m = 24002020.0;
     gnss_synchro4.Pseudorange_m = 20003010.1;
     gnss_synchro5.Pseudorange_m = 22003010.1;
+    gnss_synchro6.Pseudorange_m = 22003010.1;
 
     pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
     pseudoranges.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
     pseudoranges.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
     pseudoranges.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
     pseudoranges.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
+    pseudoranges.insert(std::pair<int, Gnss_Synchro>(6, gnss_synchro5));
 
     unsigned int ref_id = 1234;
     unsigned int clock_steering_indicator = 0;
@@ -376,10 +411,12 @@ TEST(RtcmTest, MSMCell)
 
     gps_eph.i_satellite_PRN = gnss_synchro2.PRN;
     gal_eph.i_satellite_PRN = gnss_synchro.PRN;
+    glo_gnav_eph.i_satellite_PRN = gnss_synchro.PRN;
 
     std::string MSM1 = rtcm->print_MSM_1(gps_eph,
             {},
             gal_eph,
+            glo_gnav_eph,
             obs_time,
             pseudoranges,
             ref_id,
@@ -397,14 +434,17 @@ TEST(RtcmTest, MSMCell)
     EXPECT_EQ(0, MSM1_bin.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
 
     std::map<int, Gnss_Synchro> pseudoranges2;
+    pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro6));
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro5));
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro4));
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro2));
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro));
+    pseudoranges2.insert(std::pair<int, Gnss_Synchro>(6, gnss_synchro));
     std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
              {},
              gal_eph,
+             glo_gnav_eph,
              obs_time,
              pseudoranges2,
              ref_id,
@@ -416,22 +456,23 @@ TEST(RtcmTest, MSMCell)
     std::string MSM1_bin_2 = rtcm->binary_data_to_bin(MSM1_2);
     EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
 
-    Gnss_Synchro gnss_synchro6;
-    gnss_synchro6.PRN = 10;
-    gnss_synchro6.System = *gps.c_str();
-    std::memcpy(static_cast<void*>(gnss_synchro6.Signal), s2.c_str(), 3);
-    gnss_synchro6.Pseudorange_m = 24000000.0;
+    Gnss_Synchro gnss_synchro7;
+    gnss_synchro7.PRN = 10;
+    gnss_synchro7.System = *gps.c_str();
+    std::memcpy(static_cast<void*>(gnss_synchro7.Signal), s2.c_str(), 3);
+    gnss_synchro7.Pseudorange_m = 24000000.0;
 
     std::map<int, Gnss_Synchro> pseudoranges3;
     pseudoranges3.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
     pseudoranges3.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
-    pseudoranges3.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro6));
+    pseudoranges3.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro7));
     pseudoranges3.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
     pseudoranges3.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
 
     std::string MSM1_3 = rtcm->print_MSM_1(gps_eph,
                 {},
                 gal_eph,
+                {},
                 obs_time,
                 pseudoranges3,
                 ref_id,
@@ -498,7 +539,7 @@ TEST(RtcmTest, MSM1)
     gps_eph.i_satellite_PRN = gnss_synchro.PRN;
 
     std::string MSM1 = rtcm->print_MSM_1(gps_eph,
-            {}, {},
+            {}, {}, {},
             obs_time,
             pseudoranges,
             ref_id,
@@ -545,7 +586,7 @@ TEST(RtcmTest, MSM1)
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro2));
     pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro));
     std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
-            {}, {},
+            {}, {}, {},
             obs_time,
             pseudoranges2,
             ref_id,

From 3f87223f350b4ca7e16548c2e713342d029d06f1 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 16 Aug 2017 21:40:05 -0700
Subject: [PATCH 260/379] bugfix: Fix compile errors, code style and
 documentation

Fixes compilation errors after the RTCM package addition in the PVT
block. It also adds a series of class members documentation in the code
using the Doxygen standard while fixing code style errors
---
 src/algorithms/PVT/adapters/rtklib_pvt.cc     |   7 +
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 186 +++++++++++++++++-
 src/algorithms/PVT/libs/rtklib_solver.h       |   4 +-
 .../libs/rtklib/rtklib_conversions.cc         |   2 +-
 .../system_parameters/glonass_gnav_almanac.cc |  16 +-
 .../system_parameters/glonass_gnav_almanac.h  |  24 ++-
 .../glonass_gnav_ephemeris.cc                 |   6 +-
 .../glonass_gnav_ephemeris.h                  |  13 +-
 .../glonass_gnav_navigation_message.cc        |  50 ++++-
 .../glonass_gnav_navigation_message.h         |   5 +-
 .../glonass_gnav_utc_model.cc                 |   4 +-
 .../glonass_gnav_utc_model.h                  |   6 +-
 src/core/system_parameters/rtcm.cc            |  16 +-
 src/core/system_parameters/rtcm.h             |  40 ++--
 .../glonass_gnav_almanac_test.cc              |   5 +-
 15 files changed, 311 insertions(+), 73 deletions(-)

diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 9a4c0b899..757a2f9d0 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -84,17 +84,24 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
     // RTCM message rates: least common multiple with output_rate_ms
     int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
+    int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
     int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
     int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
     int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
+    int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
     int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
     std::map<int,int> rtcm_msg_rate_ms;
     rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
+    rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
     rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
     for (int k = 1071; k < 1078; k++) // All GPS MSM
         {
             rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
         }
+    for (int k = 1081; k < 1088; k++) // All GLONASS MSM
+        {
+            rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
+        }
     for (int k = 1091; k < 1098; k++) // All Galileo MSM
         {
             rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index cbc13813a..1ebf824f7 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -180,6 +180,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     d_ls_pvt->galileo_almanac = *galileo_almanac;
                     DLOG(INFO) << "New Galileo Almanac has arrived ";
                 }
+
             //**************** GLONASS GNAV Telemetry **************************
             else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>) )
                 {
@@ -207,7 +208,6 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     // ### GLONASS GNAV Almanac ###
                     std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
                     glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
-                    // update/insert new ephemeris record to the global ephemeris map
                     d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
                     DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
                 }
@@ -279,6 +279,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
         {
             d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms);  // default value if not set
         }
+    if(rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
+        {
+            d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
+        }
+    else
+        {
+            d_rtcm_MT1020_rate_ms = boost::math::lcm(5000, d_output_rate_ms);  // default value if not set
+        }
     if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
         {
             d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
@@ -295,6 +303,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
         {
             d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms);  // default value if not set
         }
+    if(rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
+        {
+            d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
+        }
+    else
+        {
+            d_rtcm_MT1087_rate_ms = boost::math::lcm(1000, d_output_rate_ms);  // default value if not set
+        }
     if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
         {
             d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
@@ -316,8 +332,10 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
     d_rx_time = 0.0;
     last_pvt_display_T_rx_s = 0.0;
     last_RTCM_1019_output_time = 0.0;
+    last_RTCM_1020_output_time = 0.0;
     last_RTCM_1045_output_time = 0.0;
     last_RTCM_1077_output_time = 0.0;
+    last_RTCM_1087_output_time = 0.0;
     last_RTCM_1097_output_time = 0.0;
     last_RTCM_MSM_output_time = 0.0;
     last_RINEX_obs_output_time = 0.0;
@@ -499,8 +517,10 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
             bool flag_display_pvt = false;
             bool flag_compute_pvt_output = false;
             bool flag_write_RTCM_1019_output = false;
+            bool flag_write_RTCM_1020_output = false;
             bool flag_write_RTCM_1045_output = false;
             bool flag_write_RTCM_1077_output = false;
+            bool flag_write_RTCM_1087_output = false;
             bool flag_write_RTCM_1097_output = false;
             bool flag_write_RTCM_MSM_output = false;
             bool flag_write_RINEX_obs_output = false;
@@ -593,7 +613,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                             flag_write_RTCM_1019_output = true;
                                             last_RTCM_1019_output_time = current_RX_time;
                                         }
-
+                                    if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) && (d_rtcm_MT1020_rate_ms != 0) ) // allows deactivating messages by setting rate = 0
+                                        {
+                                            flag_write_RTCM_1020_output = true;
+                                            last_RTCM_1020_output_time = current_RX_time;
+                                        }
                                     if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) && (d_rtcm_MT1045_rate_ms != 0) )
                                         {
                                             flag_write_RTCM_1045_output = true;
@@ -605,7 +629,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                             flag_write_RTCM_1077_output = true;
                                             last_RTCM_1077_output_time = current_RX_time;
                                         }
-
+                                    if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) && (d_rtcm_MT1087_rate_ms != 0) )
+                                        {
+                                            flag_write_RTCM_1087_output = true;
+                                            last_RTCM_1087_output_time = current_RX_time;
+                                        }
                                     if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0) )
                                         {
                                             flag_write_RTCM_1097_output = true;
@@ -1097,7 +1125,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                         }
 
                                     // ####################### RTCM MESSAGES #################
-                                    //TODO Add RTCM logic for GLONASS satellites
                                     if(b_rtcm_writing_started)
                                         {
                                             if(type_of_rx == 1) // GPS L1 C/A
@@ -1226,6 +1253,157 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                 }
                                                         }
                                                 }
+                                            if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
+                                                {
+                                                    if(flag_write_RTCM_1020_output == true)
+                                                        {
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+                                                                }
+                                                        }
+
+                                                    std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin();
+
+                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                        {
+                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                        }
+                                                    b_rtcm_writing_started = true;
+                                                }
+                                            if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
+                                                {
+                                                    if(flag_write_RTCM_1019_output == true)
+                                                        {
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+                                                                }
+                                                        }
+                                                    if(flag_write_RTCM_1020_output == true)
+                                                        {
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+                                                                }
+                                                        }
+                                                    if(flag_write_RTCM_MSM_output == true)
+                                                        {
+                                                            //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
+                                                            //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
+                                                            unsigned int i = 0;
+                                                            for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
+                                                                {
+                                                                    std::string system(&gnss_observables_iter->second.System, 1);
+                                                                    if(gps_channel == 0)
+                                                                        {
+                                                                            if(system.compare("G") == 0)
+                                                                                {
+                                                                                    // This is a channel with valid GPS signal
+                                                                                    gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                        {
+                                                                                            gps_channel = i;
+                                                                                        }
+                                                                                }
+                                                                        }
+                                                                    if(glo_channel == 0)
+                                                                        {
+                                                                            if(system.compare("R") == 0)
+                                                                                {
+                                                                                    glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                                        {
+                                                                                            glo_channel = i;
+                                                                                        }
+                                                                                }
+                                                                        }
+                                                                    i++;
+                                                                }
+                                                            if(flag_write_RTCM_MSM_output == true)
+                                                                {
+
+                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                        {
+                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                        }
+                                                                }
+                                                            if(flag_write_RTCM_MSM_output == true)
+                                                                {
+                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                        {
+                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                        }
+                                                                }
+                                                        }
+                                                }
+                                            if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
+                                                {
+                                                    if(flag_write_RTCM_1020_output == true)
+                                                        {
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+                                                                }
+                                                        }
+                                                    if(flag_write_RTCM_1045_output == true)
+                                                        {
+                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
+                                                                }
+                                                        }
+                                                    if(flag_write_RTCM_MSM_output == true)
+                                                        {
+                                                            //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
+                                                            //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
+                                                            unsigned int i = 0;
+                                                            for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
+                                                                {
+                                                                    std::string system(&gnss_observables_iter->second.System, 1);
+                                                                    if(gps_channel == 0)
+                                                                        {
+                                                                            if(system.compare("G") == 0)
+                                                                                {
+                                                                                    // This is a channel with valid GPS signal
+                                                                                    gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                        {
+                                                                                            gps_channel = i;
+                                                                                        }
+                                                                                }
+                                                                        }
+                                                                    if(glo_channel == 0)
+                                                                        {
+                                                                            if(system.compare("R") == 0)
+                                                                                {
+                                                                                    glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                                        {
+                                                                                            glo_channel = i;
+                                                                                        }
+                                                                                }
+                                                                        }
+                                                                    i++;
+                                                                }
+                                                            if(flag_write_RTCM_MSM_output == true)
+                                                                {
+
+                                                                    if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+                                                                        {
+                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                        }
+                                                                }
+                                                            if(flag_write_RTCM_MSM_output == true)
+                                                                {
+
+                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                        {
+                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+                                                                        }
+                                                                }
+                                                        }
+                                                }
                                         }
 
                                     if(!b_rtcm_writing_started) // the first time
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 274289138..5e74aa357 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -99,8 +99,8 @@ public:
     Gps_CNAV_Iono gps_cnav_iono;
     Gps_CNAV_Utc_Model gps_cnav_utc_model;
 
-    Glonass_Gnav_Utc_Model glonass_gnav_utc_model;      //!< GLONASS GNAV UTC Model
-    Glonass_Gnav_Almanac glonass_gnav_almanac;          //!< GLONASS GNAV Almanac Model
+    Glonass_Gnav_Utc_Model glonass_gnav_utc_model;    //!< Map storing GLONASS GNAV UTC Model
+    Glonass_Gnav_Almanac glonass_gnav_almanac;        //!< Map storing GLONASS GNAV Almanac Model
 
     int count_valid_position;
 
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index f4ffafae8..45f13db82 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -74,7 +74,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;       /* satellite number */
     rtklib_sat.iode   = glonass_gnav_eph.d_t_b;                         /* IODE (0-6 bit of tb field) */
     rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;      /* satellite frequency number */
-    rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                         /* satellite health*/
+    rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                      /* satellite health*/
     rtklib_sat.sva    = glonass_gnav_eph.d_F_T;                         /* satellite accuracy*/
     rtklib_sat.age    = glonass_gnav_eph.d_E_n;                         /* satellite age*/
     rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000;                     /* satellite position (ecef) (m) */
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index 002324e94..cbef6df64 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -1,8 +1,9 @@
 /*!
  * \file glonass_gnav_almanac.cc
  * \brief  Interface of a GLONASS GNAV ALMANAC storage as described in GLONASS ICD (Edition 5.1)
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
- * \author Damian Miralles , 2017. dmiralles2009(at)gmail.com
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
@@ -36,10 +37,9 @@
 Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
 {
   i_satellite_freq_channel = 0;
-  d_tau_c = 0.0;
-  d_tau_gps = 0.0;
-  d_N_4 = 0.0;
-  d_N_A = 0.0;
+  i_satellite_PRN = 0;
+  i_satellite_slot_number = 0;
+
   d_n_A = 0.0;
   d_H_n_A = 0.0;
   d_lambda_n_A = 0.0;
@@ -56,7 +56,7 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
   d_l_n = 0.0;
 }
 
-void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
+void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i)
 {
   double T_nom = 43200;     // [seconds]
   double i_nom = D2R*63.0;  // [rad]
@@ -85,7 +85,7 @@ void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
   double e2_y = 0.0;
   double e2_z = 0.0;
   // Compute time difference to reference time
-  Delta_t = (N_i - d_N_A) * 86400 + (t_i + d_t_lambda_n_A);
+  Delta_t = (N_i - N_A) * 86400 + (t_i + d_t_lambda_n_A);
 
   // Compute the actual inclination
   i = i_nom + d_Delta_i_n_A;
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 1e1682e66..aafacb888 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -39,19 +39,14 @@
 
 /*!
  * \brief This class is a storage for the GLONASS SV ALMANAC data as described GLONASS ICD (Edition 5.1)
- *
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \note Code added as part of GSoC 2017 program
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  */
 class Glonass_Gnav_Almanac
 {
 public:
-    int i_satellite_freq_channel; //!< SV Frequency Channel NUMBER
-    double d_tau_c;             //!< GLONASS time scale correction to UTC(SU) time. [s]
-    double d_tau_gps;           //!< Correction to GPS time to GLONASS time [day]
-    double d_N_4;               //!< Four year interval number starting from 1996 [4 year interval]
-    double d_N_A;               //!< Calendar day number within the four-year period beginning since the leap year [days]
     double d_n_A;               //!< Conventional number of satellite within GLONASS space segment [dimensionless]
-    double d_H_n_A;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite [dimensionless]
+    double d_H_n_A;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless]
     double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
     double d_t_lambda_n_A;      //!< Time of first ascending node passage [s]
     double d_Delta_i_n_A;       //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
@@ -65,6 +60,11 @@ public:
     double d_C_n;               //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
     double d_l_n;               //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
+    // Satellite Identification Information
+    int i_satellite_freq_channel;           //!< SV Frequency Channel Number
+    unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
+    unsigned int i_satellite_slot_number;   //!< SV Slot Number
+
     // satellite positions
     double d_satpos_Xo;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
     double d_satpos_Yo;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
@@ -93,10 +93,8 @@ public:
         if(version){};
 
         archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel);
-        archive & make_nvp("d_tau_c", d_tau_c);
-        archive & make_nvp("d_tau_gps", d_tau_gps);
-        archive & make_nvp("d_N_4", d_N_4);
-        archive & make_nvp("d_N_A", d_N_A);
+        archive & make_nvp("i_satellite_PRN", i_satellite_PRN);
+        archive & make_nvp("i_satellite_slot_number", i_satellite_slot_number);
         archive & make_nvp("d_n_A", d_n_A);
         archive & make_nvp("d_H_n_A", d_H_n_A);
         archive & make_nvp("d_lambda_n_A", d_lambda_n_A);
@@ -113,7 +111,7 @@ public:
         archive & make_nvp("d_l_n", d_l_n);
     }
 
-    void satellite_position(double N_i, double t_i);
+    void satellite_position(double N_A, double N_i, double t_i);
     /*!
      * Default constructor
      */
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index ba376b620..f4d47ae53 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -1,11 +1,9 @@
 /*!
  * \file glonass_gnav_ephemeris.cc
  * \brief  Interface of a GLONASS GNAV EPHEMERIS storage and orbital model functions
- *
- * See Russian Institute of Space Device Engineering,
- “Global Navigation Satellite System GLONASS Interface Control Document,
- Navigational radiosignal in bands L1, L2,” Moscow, Edition 5.1, 2008.
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 3f8fa699c..447ced86d 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -43,8 +43,8 @@
 
 /*!
  * \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD (Edition 5.1)
- *
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \note Code added as part of GSoC 2017 program
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  */
 class Glonass_Gnav_Ephemeris
 {
@@ -100,9 +100,10 @@ public:
 
     // Inmediate deliverables of ephemeris information
     //TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
-    unsigned int i_satellite_freq_channel;  //!< SV Frequency Channel Number
-    unsigned int i_satellite_PRN;           //!< SV PRN NUMBER
-    unsigned int i_satellite_slot_number;   //!< SV PRN NUMBER
+    // Satellite Identification Information
+    int i_satellite_freq_channel;  //!< SV Frequency Channel Number
+    unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
+    unsigned int i_satellite_slot_number;   //!< SV Slot Number
     double d_TOD;                           //!< Time of Day of the ephemeris set based in start of frame [s]
     double d_D4Y;                           //!< Day of Year after latest leap year (4 year interval)
     double d_yr;                            //!< Current year
@@ -139,6 +140,8 @@ public:
         if(version){};
 
         archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel); //!< SV PRN frequency channel number
+        archive & make_nvp("i_satellite_PRN", i_satellite_PRN);
+        archive & make_nvp("i_satellite_slot_number", i_satellite_slot_number);
         archive & make_nvp("d_m", d_m);             //!< String number within frame [dimensionless]
         archive & make_nvp("d_t_k", d_t_k);         //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
         archive & make_nvp("d_t_b", d_t_b);         //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 7cdbec768..b234bad71 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -1,8 +1,9 @@
 /*!
-m * \file glonass_gnav_navigation_message.cc
+ * \file glonass_gnav_navigation_message.cc
  * \brief  Implementation of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
@@ -416,6 +417,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
             // Fill in ephemeris deliverables in the code
             gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
+            gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n;
             gnav_ephemeris.d_D4Y = gnav_ephemeris.d_N_T;
 
             flag_ephemeris_str_4 = true;
@@ -480,12 +482,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+                // Set satellite information for redundancy purposes
+                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+
                 if(i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
                     {
-                        gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A;
+                        gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
                     }
                 flag_almanac_str_7 = true;
               }
@@ -521,6 +531,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+                // Set satellite information for redundancy purposes
+                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+
                 flag_almanac_str_9 = true;
               }
         case 10:
@@ -551,6 +569,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+                // Set satellite information for redundancy purposes
+                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+
                 flag_almanac_str_11 = true;
               }
             break;
@@ -582,6 +608,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+                // Set satellite information for redundancy purposes
+                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+
                 flag_almanac_str_13 = true;
               }
         case 14:
@@ -621,6 +655,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+                // Set satellite information for redundancy purposes
+                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+
                 flag_almanac_str_15 = true;
               }
         default:
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 8fbb30e22..97e2a8d49 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -48,9 +48,8 @@
 
 /*!
  * \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1)
- *
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdfdescribed in IS-GPS-200E
- *
+ * \note Code added as part of GSoC 2017 program
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  */
 class Glonass_Gnav_Navigation_Message
 {
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.cc b/src/core/system_parameters/glonass_gnav_utc_model.cc
index 55ca5ccee..ec9d5e20e 100644
--- a/src/core/system_parameters/glonass_gnav_utc_model.cc
+++ b/src/core/system_parameters/glonass_gnav_utc_model.cc
@@ -1,7 +1,9 @@
 /*
  * \file glonass_gnav_utc_model.h
  * \brief  Interface of a GLONASS GNAV UTC MODEL storage
- * \author Damian Miralles, 2017. dmiralles2009(at).gmail.com
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.h b/src/core/system_parameters/glonass_gnav_utc_model.h
index 6aca883f4..fa0886418 100644
--- a/src/core/system_parameters/glonass_gnav_utc_model.h
+++ b/src/core/system_parameters/glonass_gnav_utc_model.h
@@ -38,13 +38,14 @@
 
 /*!
  * \brief This class is a storage for the GLONASS GNAV UTC MODEL data as described in GLONASS ICD (Edition 5.1)
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \note Code added as part of GSoC 2017 program
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  */
 class Glonass_Gnav_Utc_Model
 {
 public:
     bool valid;
-    // UTC
+    // Clock Parameters
     double d_tau_c;             //!< GLONASS time scale correction to UTC(SU) time. [s]
     double d_tau_gps;           //!< Correction to GPS time to GLONASS time [day]
     double d_N_4;               //!< Four year interval number starting from 1996 [4 year interval]
@@ -60,7 +61,6 @@ public:
     {
         using boost::serialization::make_nvp;
         if(version){};
-
         archive & make_nvp("valid",valid);
         archive & make_nvp("d_tau_c", d_tau_c);
         archive & make_nvp("d_tau_gps", d_tau_gps);
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 3a82d5647..662006d92 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -1848,7 +1848,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.i_satellite_slot_number = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
     index += 6;
 
-    glonass_gnav_eph.i_satellite_freq_channel = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
+    glonass_gnav_eph.i_satellite_freq_channel = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 5)) - 7.0);
     index += 5;
 
     glonass_gnav_alm_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
@@ -3882,12 +3882,14 @@ int Rtcm::set_DF039(bool code_indicator)
 }
 
 
-int Rtcm::set_DF040(unsigned int frequency_channel_number)
+int Rtcm::set_DF040(int frequency_channel_number)
 {
-    unsigned int freq_ = frequency_channel_number;
+    unsigned int freq_ = frequency_channel_number + 7;
     if(freq_ > 20)
         {
-            LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
+            LOG(WARNING) << "GLONASS Satellite Frequency Number Conversion Error."
+                         << "Value must be between 0 and 20, but converted channel"
+                         << "frequency number " << freq_ << " was found";
         }
 
     DF040 = std::bitset<5>(freq_);
@@ -3897,10 +3899,12 @@ int Rtcm::set_DF040(unsigned int frequency_channel_number)
 
 int Rtcm::set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel;
+    unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel + 7;
     if(freq_ > 20)
         {
-            LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
+            LOG(WARNING) << "GLONASS Satellite Frequency Number Conversion Error."
+                         << "Value must be between 0 and 20, but converted channel"
+                         << "frequency number " << freq_ << " was found";
         }
 
     DF040 = std::bitset<5>(freq_);
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index ed4369923..3ba745217 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -133,9 +133,9 @@ public:
      * \brief Prints L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return string with message contents
      */
     std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@@ -143,9 +143,9 @@ public:
      * \brief Prints Extended L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return string with message contents
      */
     std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@@ -153,9 +153,9 @@ public:
      * \brief Prints L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return string with message contents
      */
     std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@@ -163,9 +163,9 @@ public:
      * \brief Prints Extended L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
      * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return string with message contents
      */
     std::string print_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@@ -333,9 +333,9 @@ public:
     /*!
      * \brief Locks time period in which GLONASS signals have been continually tracked.
      * \note Code added as part of GSoC 2017 program
-     * \params eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
+     * \param eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
      * \return Returns the time period in which GLONASS signals have been continually tracked.
      */
     unsigned int lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
@@ -1015,8 +1015,14 @@ private:
 
     std::bitset<8> DF032;
 
-    std::bitset<27> DF034;      //!< GLONASS Epoch Time (tk)
+    /*!
+     * \brief Sets the Data Field value
+     * \note Code added as part of GSoC 2017 program
+     * \param obs_time Time of observation at the moment of printing
+     * \return returns 0 upon success
+     */
     int set_DF034(double obs_time);
+    std::bitset<27> DF034;      //!< GLONASS Epoch Time (tk)
 
     std::bitset<5> DF035;       //!< No. of GLONASS Satellite Signals Processed
     int set_DF035(const std::map<int, Gnss_Synchro> & observables);
@@ -1035,7 +1041,7 @@ private:
     int set_DF039(bool code_indicator);
 
     std::bitset<5> DF040;       //!< GLONASS Satellite Frequency Number
-    int set_DF040(unsigned int frequency_channel_number);
+    int set_DF040(int frequency_channel_number);
     int set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
 
     std::bitset<25> DF041;      //!< GLONASS L1 Pseudorange
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
index 6c02311cf..89cf2ae1d 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
@@ -53,10 +53,11 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
     double Vxoi = -3.375497;     // [m/s]
     double Vyoi = -0.161453;    // [Кm/s]
     double Vzoi = 2.060844;     // [Кm/s]
+    double N_A  = 615;          // [days]
 
     Glonass_Gnav_Almanac gnav_almanac;
 
-    gnav_almanac.d_N_A              = 615;              // [days]
+
     gnav_almanac.d_lambda_n_A       = -0.189986229;     // [half cycles]
     gnav_almanac.d_t_lambda_n_A     = 27122.09375;      // [second]
     gnav_almanac.d_Delta_i_n_A      = 0.011929512;      // [half cycle]
@@ -65,7 +66,7 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
     gnav_almanac.d_epsilon_n_A      = 0.001482010;      // [unitless]
     gnav_almanac.d_omega_n_A        = 0.440277100;      // [Half cycle]
 
-    gnav_almanac.satellite_position(N_i, t_i);
+    gnav_almanac.satellite_position(N_A, N_i, t_i);
 
     ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
     ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );

From eb33715cb94e99607a47f489823feb6006574f33 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sat, 19 Aug 2017 14:04:14 -0700
Subject: [PATCH 261/379] unit-test: Adds and fixes unit test for
 system-parameters block

Adding unit test for system-parameters block, testing string decoding
logic for GLONASS GNAV messages. Bug fixes the code after several errors
were detected while debugging
---
 src/algorithms/PVT/libs/rinex_printer.cc      |  18 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   4 +-
 .../system_parameters/glonass_gnav_almanac.h  |   4 +-
 .../glonass_gnav_ephemeris.cc                 |  71 +++++---
 .../glonass_gnav_ephemeris.h                  |   7 +-
 .../glonass_gnav_navigation_message.cc        | 119 +++++--------
 .../glonass_gnav_navigation_message.h         |   3 +-
 src/tests/test_main.cc                        |   1 +
 .../signal-processing-blocks/pvt/rtcm_test.cc |  51 ++++--
 .../gps_l1_ca_telemetry_decoder_test.cc       |   3 +-
 .../glonass_gnav_almanac_test.cc              |   7 +-
 .../glonass_gnav_ephemeris_test.cc            |  37 ++--
 .../glonass_gnav_nav_message_test.cc          | 161 ++++++++++++++----
 13 files changed, 311 insertions(+), 175 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 362b6f289..facaa6f5e 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -3293,14 +3293,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3);
     line += std::string(1, ' ');
 
-        // TODO Add this here, we need to know all satellites in system to get this done
-        line += satelliteSystem["GLONASS"];
-        line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-        line += std::string(1, ' ');
-        line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-        line += std::string(1, ' ');
-
-
+    // TODO Add this here, we need to know all satellites in system to get this done
+    line += satelliteSystem["GLONASS"];
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+    line += std::string(1, ' ');
+    line += std::string(60-line.size(), ' ');
     line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
@@ -3328,7 +3327,8 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     line += observationCode["GLONASS_G2_P"];
     line += std::string(1, ' ');
     line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-    line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 7532ceb3a..3a93d0def 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -127,8 +127,8 @@ const std::vector<std::pair<int,int>> KX({{78,8}});
 //STRING 1
 const std::vector<std::pair<int,int>> P1({{8,2}});
 const std::vector<std::pair<int,int>> T_K_HR({{10,5}});
-const std::vector<std::pair<int,int>> T_K_MIN({{10,6}});
-const std::vector<std::pair<int,int>> T_K_SEC({{10,1}});
+const std::vector<std::pair<int,int>> T_K_MIN({{15,6}});
+const std::vector<std::pair<int,int>> T_K_SEC({{21,1}});
 const std::vector<std::pair<int,int>> X_N_DOT ({{22,24}});
 const std::vector<std::pair<int,int>> X_N_DOT_DOT ({{46,5}});
 const std::vector<std::pair<int,int>> X_N({{51,27}});
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index aafacb888..2c7780bf5 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -1,7 +1,9 @@
 /*!
  * \file glonass_gnav_almanac.h
  * \brief  Interface of a GLONASS GNAV ALMANAC storage
- * \author Damian Miralles, 2017. dmiralles2009@gmail.com
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index f4d47ae53..3b66f7a12 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -39,13 +39,48 @@
 
 Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 {
-    i_satellite_freq_channel = 0;
-    d_m = 0.0;               //!< String number within frame [dimensionless]
-    d_t_k = 0.0;             //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
-    d_t_b = 0.0;             //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
-    d_M = 0.0;               //!< Type of satellite transmitting navigation signal [dimensionless]
-    d_gamma_n = 0.0;         //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
-    d_tau_n = 0.0;           //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+	d_m = 0.0;             //!< String number within frame [dimensionless]
+	d_t_k = 0.0;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
+	d_t_b = 0.0;           //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
+	d_M = 0.0;             //!< Type of satellite transmitting navigation signal [dimensionless]
+	d_gamma_n = 0.0;       //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+	d_tau_n = 0.0;         //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+	d_Xn = 0.0;            //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+	d_Yn = 0.0;            //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+	d_Zn = 0.0;            //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+	d_VXn = 0.0;           //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+	d_VYn = 0.0;           //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+	d_VZn = 0.0;           //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+	d_AXn = 0.0;           //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+	d_AYn = 0.0;           //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+	d_AZn = 0.0;           //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+	d_B_n = 0.0;           //!< Health flag [dimensionless]
+	d_P = 0.0;             //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+	d_N_T = 0.0;           //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+	d_F_T = 0.0;           //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+	d_n = 0.0;             //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+	d_Delta_tau_n = 0.0;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+	d_E_n = 0.0;           //!< Characterises "age" of a current information [days]
+	d_P_1 = 0.0;           //!< Flag of the immediate data updating [minutes]
+	d_P_2 = 0.0;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+	d_P_3 = 0.0;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+	d_P_4 = 0.0;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+	d_l3rd_n = 0.0;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+	d_l5th_n = 0.0;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+
+	// Satellite Identification Information
+	i_satellite_freq_channel = 0;  			//!< SV Frequency Channel Number
+	i_satellite_PRN = 0;           			//!< SV PRN Number, equivalent to slot number for compatibility with GPS
+	i_satellite_slot_number = 0;			//!< SV Slot Number
+	d_TOD = 0.0;                           //!< Time of Day of the ephemeris set based in start of frame [s]
+	d_D4Y = 0.0;                           //!< Day of Year after latest leap year (4 year interval)
+	d_yr = 1972;                           //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
+	d_satClkDrift = 0.0;                   //!< GLONASS clock error
+	d_dtr = 0.0;                           //!< relativistic clock correction term
+	d_iode = 0.0;                          //!< Issue of data, ephemeris (Bit 0-6 of tb)
+	d_tau_c = 0.0;
+	d_TOW = 0.0; // tow of the start of frame
+	d_WN = 0.0; //  week number of the start of frame
     // satellite positions
     d_satpos_X = 0.0;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
     d_satpos_Y = 0.0;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
@@ -58,31 +93,15 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
     d_satacc_X = 0.0;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
     d_satacc_Y = 0.0;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
     d_satacc_Z = 0.0;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
-    d_B_n = 0.0;             //!< Health flag [dimensionless]
-    d_P = 0.0;               //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
-    d_N_T = 0.0;             //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
-    d_F_T = 0.0;             //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
-    d_n = 0.0;               //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
-    d_Delta_tau_n = 0.0;     //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
-    d_E_n = 0.0;             //!< Characterises "age" of a current information [days]
-    d_P_1 = 0.0;             //!< Flag of the immediate data updating.
-    d_P_2 = 0.0;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-    d_P_3 = 0.0;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-    d_P_4 = 0.0;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    d_l3rd_n = 0.0;          //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-    d_l5th_n = 0.0;             //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-
-    // clock terms derived from ephemeris data
-    d_satClkDrift = 0.0;    //!< GLONASS clock error
-    d_dtr = 0.0;
 }
 
 
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
 {
     boost::posix_time::time_duration t(0, 0, offset_time);
-    boost::gregorian::date d(d_yr, 1, d_N_T);
-    boost::posix_time::ptime glonass_time(d, t);
+    boost::gregorian::date d1(d_yr, 1, 1);
+    boost::gregorian::days d2(d_N_T);
+    boost::posix_time::ptime glonass_time(d1+d2, t);
 
     return glonass_time;
 }
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 447ced86d..8a978f816 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -1,7 +1,9 @@
 /*!
  * \file glonass_gnav_ephemeris.h
  * \brief  Interface of a GLONASS EPHEMERIS storage
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
@@ -99,9 +101,8 @@ public:
     double d_l5th_n;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Inmediate deliverables of ephemeris information
-    //TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
     // Satellite Identification Information
-    int i_satellite_freq_channel;  //!< SV Frequency Channel Number
+    int i_satellite_freq_channel;  			//!< SV Frequency Channel Number
     unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
     unsigned int i_satellite_slot_number;   //!< SV Slot Number
     double d_TOD;                           //!< Time of Day of the ephemeris set based in start of frame [s]
@@ -114,8 +115,6 @@ public:
     double d_TOW; // tow of the start of frame
     double d_WN; //  week number of the start of frame
 
-    // Need to add a way to compute the GPS week number and GPS TIME OF WEEK from GLONASS ephemeris
-
     // satellite positions after RK4 Integration
     double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
     double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index b234bad71..916b3004a 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -31,6 +31,8 @@
  */
 
 #include "glonass_gnav_navigation_message.h"
+#include <boost/crc.hpp>
+#include <boost/dynamic_bitset.hpp>
 #include <cmath>
 #include <iostream>
 #include <sstream>
@@ -107,8 +109,8 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
 
 bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
 {
-    int sum_bits;
-    int sum_hamming;
+    int sum_bits = 0;
+    int sum_hamming = 0;
     int C1 = 0;
     int C2 = 0;
     int C3 = 0;
@@ -117,85 +119,84 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     int C6 = 0;
     int C7 = 0;
     int C_Sigma = 0;
+    std::vector<int> string_bits(GLONASS_GNAV_STRING_BITS);
 
-    std::bitset<GLONASS_GNAV_STRING_BITS> data = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 0, 77);
-    std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS>(bits.to_string(), 77, 8);
+	//!< Populate data and hamming code vectors
+	for(int i = 0; i < static_cast<int>(GLONASS_GNAV_STRING_BITS); i++)
+		{
+			string_bits[i] = static_cast<int>(bits[i]);
+		}
 
-    std::istringstream dsb = std::istringstream( data.to_string() );
-    std::istringstream hcb = std::istringstream( hamming_code.to_string() );
-    std::vector<int> data_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
-    std::vector<int> hamming_code_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
 
     //!< Compute C1 term
     sum_bits = 0;
     for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
         }
-    C1 = hamming_code_bits[0]^(sum_bits%2);
+    C1 = string_bits[0]^(sum_bits%2);
 
     //!< Compute C2 term
     sum_bits = 0;
     for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
         }
-    C2 = (hamming_code_bits[1])^(sum_bits%2);
+    C2 = (string_bits[1])^(sum_bits%2);
 
     //!< Compute C3 term
     sum_bits = 0;
     for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
         }
-    C3 = hamming_code_bits[2]^(sum_bits%2);
+    C3 = string_bits[2]^(sum_bits%2);
 
     //!< Compute C4 term
     sum_bits = 0;
     for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
         }
-    C4 = hamming_code_bits[3]^(sum_bits%2);
+    C4 = string_bits[3]^(sum_bits%2);
 
     //!< Compute C5 term
     sum_bits = 0;
     for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
         }
-    C5 = hamming_code_bits[4]^(sum_bits%2);
+    C5 = string_bits[4]^(sum_bits%2);
 
     //!< Compute C6 term
     sum_bits = 0;
     for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
         }
-    C6 = hamming_code_bits[5]^(sum_bits%2);
+    C6 = string_bits[5]^(sum_bits%2);
 
     //!< Compute C7 term
     sum_bits = 0;
     for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
         }
-    C7 = hamming_code_bits[6]^(sum_bits%2);
+    C7 = string_bits[6]^(sum_bits%2);
 
     //!< Compute C_Sigma term
     sum_bits = 0;
     sum_hamming = 0;
     for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
         {
-            sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
         }
     for(int q = 0; q < 8; q++)
         {
-            sum_hamming += hamming_code_bits[q];
+            sum_hamming += string_bits[q];
         }
     C_Sigma = (sum_hamming%2)^(sum_bits%2);
 
-
     //!< Verification of the data
     // All of the checksums are equal to zero
     if((C1 & C2 & C3 & C4 & C5 & C6 & C7 & C_Sigma) == 0 )
@@ -252,60 +253,29 @@ unsigned long int Glonass_Gnav_Navigation_Message::read_navigation_unsigned(std:
 signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter)
 {
     signed long int value = 0;
+    signed long int sign = 0;
     int num_of_slices = parameter.size();
-    // Discriminate between 64 bits and 32 bits compiler
-    int long_int_size_bytes = sizeof(signed long int);
-    if (long_int_size_bytes == 8) // if a long int takes 8 bytes, we are in a 64 bits system
+    // read the MSB and perform the sign extension
+	if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+		{
+			sign = -1;
+		}
+	else
+		{
+			sign = 1;
+		}
+    for (int i = 0; i < num_of_slices; i++)
         {
-            // read the MSB and perform the sign extension
-            if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+            for (int j = 1; j < parameter[i].second; j++)
                 {
-                    value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable
-                }
-            else
-                {
-                    value &= 0;
-                }
-
-            for (int i = 0; i < num_of_slices; i++)
-                {
-                    for (int j = 0; j < parameter[i].second; j++)
+                    value <<= 1; //shift left
+                    if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
                         {
-                            value <<= 1; //shift left
-                            value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable)
-                            if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
-                                {
-                                    value += 1; // insert the bit
-                                }
+                            value += 1; // insert the bit
                         }
                 }
         }
-    else  // we assume we are in a 32 bits system
-        {
-            // read the MSB and perform the sign extension
-            if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
-                {
-                    value ^= 0xFFFFFFFF;
-                }
-            else
-                {
-                    value &= 0;
-                }
-
-            for (int i = 0; i < num_of_slices; i++)
-                {
-                    for (int j = 0; j < parameter[i].second; j++)
-                        {
-                            value <<= 1; //shift left
-                            value &= 0xFFFFFFFE; //reset the corresponding bit
-                            if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
-                                {
-                                    value += 1; // insert the bit
-                                }
-                        }
-                }
-        }
-    return value;
+    return (sign*value);
 }
 
 
@@ -393,7 +363,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         case 3:
             // --- It is string 3 ----------------------------------------------
             gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
-            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N30;
+            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
             gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
             gnav_ephemeris.d_l3rd_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
             gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
@@ -541,6 +511,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
                 flag_almanac_str_9 = true;
               }
+            break;
         case 10:
             // --- It is string 10 ---------------------------------------------
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
@@ -618,6 +589,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
                 flag_almanac_str_13 = true;
               }
+            break;
         case 14:
             // --- It is string 14 ---------------------------------------------
             if( frame_ID == 5)
@@ -665,6 +637,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
 
                 flag_almanac_str_15 = true;
               }
+            break;
         default:
             break;
         } // switch subframeID ...
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 97e2a8d49..88468e380 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -1,8 +1,9 @@
 /*!
  * \file glonass_gnav_navigation_message.h
  * \brief  Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
- * See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 2f4df5220..e27506c34 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -145,6 +145,7 @@ DECLARE_string(log_dir);
 
 #include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
 #include "unit-tests/system-parameters/glonass_gnav_almanac_test.cc"
+#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
 
 // For GPS NAVIGATION (L1)
 concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 2f8307ee4..262a8fd6e 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -281,20 +281,49 @@ TEST(RtcmTest, MT1020)
     auto rtcm = std::make_shared<Rtcm>();
     bool expected_true = true;
 
-    Glonass_Gnav_Ephemeris glonass_gnav_eph = Glonass_Gnav_Ephemeris();
-    Glonass_Gnav_Utc_Model glonass_gnav_utc_model = Glonass_Gnav_Utc_Model();
-    Glonass_Gnav_Ephemeris glonass_gnav_eph_read = Glonass_Gnav_Ephemeris();
-    Glonass_Gnav_Utc_Model glonass_gnav_utc_model_read = Glonass_Gnav_Utc_Model();
+    // Objects to populate the ephemeris and utc fields
+    Glonass_Gnav_Ephemeris gnav_eph = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Utc_Model gnav_utc_model = Glonass_Gnav_Utc_Model();
+    // Objects read, used for comparison
+    Glonass_Gnav_Ephemeris gnav_eph_read = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Utc_Model gnav_utc_model_read = Glonass_Gnav_Utc_Model();
 
-    glonass_gnav_eph.i_satellite_PRN    = 3;
-    glonass_gnav_eph.d_t_b              = 4;
-    glonass_gnav_eph.d_E_n              = 2.0 * E_LSB;
-    glonass_gnav_eph.d_l3rd_n           = true;
-    glonass_gnav_utc_model.d_tau_gps    = 5;
-    std::string tx_msg                  = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
+    glonass_gnav_eph.i_satellite_slot_number    = 3;
+    gnav_ephemeris.d_P_1        = 0;
+    gnav_ephemeris.d_t_k        = 7560;
+    gnav_ephemeris.d_VXn        = -0.490900039672852;
+    gnav_ephemeris.d_AXn        = 0;
+    gnav_ephemeris.d_Xn         = -11025.6669921875;
+    gnav_ephemeris.d_B_n        = 0;
+    gnav_ephemeris.d_P_2        = 1;
+    gnav_ephemeris.d_t_b        = 8100;
+    gnav_ephemeris.d_VYn        = -2.69022750854492;
+    gnav_ephemeris.d_AYn        = 0;
+    gnav_ephemeris.d_Yn         = -11456.7348632812;
+    gnav_ephemeris.d_P_3        = 1;
+    gnav_ephemeris.d_gamma_n    = 1.81898940354586e-12;
+    gnav_ephemeris.d_P          = 3;
+    gnav_ephemeris.d_l3rd_n     = 0;
+    gnav_ephemeris.d_VZn        = -1.82016849517822;
+    gnav_ephemeris.d_AZn        = -2.79396772384644e-09;
+    gnav_ephemeris.d_Zn         = 19929.2377929688;
+    gnav_ephemeris.d_tau_n      = -8.30907374620438e-05;
+    gnav_ephemeris.d_Delta_tau_n = 9.31322574615479e-10;
+    gnav_ephemeris.d_E_n        = 0;
+    gnav_ephemeris.d_P_4        = 0;
+    gnav_ephemeris.d_F_T        = 6;
+    gnav_ephemeris.d_N_T        = 268;
+    gnav_ephemeris.d_n          = 21;
+    gnav_ephemeris.d_M          = 1;
+    gnav_utc_model.d_N_A        = 268;
+    gnav_utc_model.d_tau_c      = 9.6391886472702e-08;
+    gnav_utc_model.d_N_4        = 6;
+    gnav_utc_model.d_tau_gps    = 9.313225746154785e-08;
+
+    std::string tx_msg = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
 
     EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, glonass_gnav_eph_read, glonass_gnav_utc_model_read));
-    EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_PRN);
+    EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_slot_number);
     EXPECT_DOUBLE_EQ(4, glonass_gnav_eph_read.d_t_b);
     EXPECT_DOUBLE_EQ( 2.0 * E_LSB, glonass_gnav_eph_read.d_E_n);
     EXPECT_DOUBLE_EQ( 5, glonass_gnav_utc_model_read.d_tau_gps);
diff --git a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
index 91979878b..e049eb45d 100644
--- a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
@@ -1,6 +1,6 @@
 /*!
  * \file gps_l1_ca_dll_pll_tracking_test.cc
- * \brief  This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
+ * \brief  This class implements a telemetry decoder test for GPS_L1_CA_Telemetry_Decoder
  *  implementation based on some input parameters.
  * \author Javier Arribas, 2015. jarribas(at)cttc.es
  *
@@ -477,4 +477,3 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
 
     std::cout <<  "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }
-
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
index 89cf2ae1d..2c36f03cb 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
@@ -1,7 +1,8 @@
 /*!
  * \file code_generation_test.cc
- * \brief  This file implements tests for the generation of complex exponentials.
- * \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  *
  * -------------------------------------------------------------------------
@@ -35,8 +36,6 @@
 #include "gps_sdr_signal_processing.h"
 #include "gnss_signal_processing.h"
 
-
-
 #include <complex>
 #include <ctime>
 #include "gnss_signal_processing.h"
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 44497f114..b87cba16a 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -1,7 +1,8 @@
 /*!
  * \file code_generation_test.cc
- * \brief  This file implements tests for the generation of complex exponentials.
- * \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  *
  * -------------------------------------------------------------------------
@@ -32,23 +33,33 @@
 
 #include <complex>
 #include <ctime>
+#include <iostream>
 #include "gnss_signal_processing.h"
 #include "glonass_gnav_ephemeris.h"
 
 
-TEST(GlonassGnavEphemerisTest, SatellitePosition)
+TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
 {
     Glonass_Gnav_Ephemeris gnav_eph;
+    gnav_eph.d_yr = 2016;
+    gnav_eph.d_N_T = 367;
+    boost::posix_time::time_duration t(0, 0, 7560);
+    boost::gregorian::date d(gnav_eph.d_yr, 1, 1);
+    boost::gregorian::days d2(gnav_eph.d_N_T);
+    d = d + d2;
 
-    gnav_eph.d_Xn = 12317.934082000;
-    gnav_eph.d_Yn = -2245.13232422;
-    gnav_eph.d_Zn = 22212.8173828;
-    gnav_eph.d_VXn = -1.25356674194;
-    gnav_eph.d_VYn = 2.774200439450;
-    gnav_eph.d_VZn = 0.9808206558230000;
-    gnav_eph.d_AXn = -0.931322574616e-9;
-    gnav_eph.d_AYn = 0.0000000000000000;
-    gnav_eph.d_AZn =  -0.186264514923e-8;
+    boost::gregorian::date expected_gdate;
+	boost::posix_time::time_duration expected_gtime;
 
-    gnav_eph.simplified_satellite_position(60);
+	boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
+	expected_gdate = gtime.date();
+	expected_gtime = gtime.time_of_day();
+
+    // Perform assertions of decoded fields
+	ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON );
+	ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON );
+	ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON );
+	ASSERT_TRUE(expected_gtime.hours() -  t.hours() < FLT_EPSILON );
+	ASSERT_TRUE(expected_gtime.minutes() -  t.minutes() < FLT_EPSILON );
+	ASSERT_TRUE(expected_gtime.seconds() -  t.seconds() < FLT_EPSILON );
 }
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index b67b2a696..121ee3c48 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -1,7 +1,9 @@
 /*!
  * \file glonass_gnav_navigation_message_test.cc
  * \brief  This file implements tests for the decoding of the GLONASS GNAV navigation message
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  *
  * -------------------------------------------------------------------------
@@ -46,12 +48,12 @@ TEST(GlonassGnavNavigationMessageTest, CRCTest)
 {
     // Variables declarations in code
     bool test_result;
-    std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits (std::string ("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000"));
     Glonass_Gnav_Navigation_Message gnav_nav_message;
     gnav_nav_message.reset();
 
     // Call function to test
-    test_result = gnav_nav_message.CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> (str5));
+    test_result = gnav_nav_message.CRC_test(string_bits);
 
     // Check results in unit test assetions
     ASSERT_TRUE(test_result);
@@ -72,20 +74,21 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
     Glonass_Gnav_Ephemeris gnav_ephemeris;
 
     // Fill out ephemeris values for truth
-    gnav_ephemeris.d_P_1    = static_cast<double>(read_navigation_unsigned(string_bits, P1));
-    gnav_ephemeris.d_t_k    =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
-    gnav_ephemeris.d_VXn    = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
-    gnav_ephemeris.d_AXn    = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
-    gnav_ephemeris.d_Xn     = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
+    gnav_ephemeris.d_P_1    = 0;
+    gnav_ephemeris.d_t_k    = 7560;
+    gnav_ephemeris.d_VXn    = -0.490900039672852;
+    gnav_ephemeris.d_AXn    = 0;
+    gnav_ephemeris.d_Xn     = -11025.6669921875;
 
     // Call target test method
-    gnav_nav_message.string_decoder(str1.c_str());
+    gnav_nav_message.string_decoder(const_cast<char*> (str1.c_str()));
 
     // Perform assertions of decoded fields
-    ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_Xn -  gnav_nav_message.gnav_ephemeris.d_Xn < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_P_1 - gnav_nav_message.gnav_ephemeris.d_P_1 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Xn -  gnav_nav_message.gnav_ephemeris.d_Xn < FLT_EPSILON );
 }
 
 /*!
@@ -103,29 +106,129 @@ TEST(GlonassGnavNavigationMessageTest, String2Decoder)
     Glonass_Gnav_Ephemeris gnav_ephemeris;
 
     // Fill out ephemeris values for truth
-    gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
-    gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
-    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
-    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
-    gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
-    gnav_ephemeris.d_Yn  = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
+    gnav_ephemeris.d_B_n = 0;
+    gnav_ephemeris.d_P_2 = 1;
+    gnav_ephemeris.d_t_b = 8100;
+    gnav_ephemeris.d_VYn = -2.69022750854492;
+    gnav_ephemeris.d_AYn = 0;
+    gnav_ephemeris.d_Yn  = -11456.7348632812;
 
     // Call target test method
-    gnav_nav_message.string_decoder(str2.c_str())
+    gnav_nav_message.string_decoder(const_cast<char*> (str2.c_str()));
 
     // Perform assertions of decoded fields
-    ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_P_2 - gnav_nav_message.gnav_ephemeris.d_P_2 < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_t_b - gnav_nav_message.gnav_ephemeris.d_t_b < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_VYn -  gnav_nav_message.gnav_ephemeris.d_VYn < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_AYn - gnav_nav_message.gnav_ephemeris.d_AYn < DBL_EPSILON );
-    ASSERT_TRUE(gnav_ephemeris.d_Yn -  gnav_nav_message.gnav_ephemeris.d_Yn < DBL_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_P_2 - gnav_nav_message.gnav_ephemeris.d_P_2 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_t_b - gnav_nav_message.gnav_ephemeris.d_t_b < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VYn -  gnav_nav_message.gnav_ephemeris.d_VYn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AYn - gnav_nav_message.gnav_ephemeris.d_AYn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Yn -  gnav_nav_message.gnav_ephemeris.d_Yn < FLT_EPSILON );
+}
+
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, String3Decoder)
+{
+    // Variable declarations
+    std::string str3("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Ephemeris gnav_ephemeris;
+
+    // Fill out ephemeris values for truth
+    gnav_ephemeris.d_P_3        = 1;
+    gnav_ephemeris.d_gamma_n    = 1.81898940354586e-12;
+    gnav_ephemeris.d_P          = 3;
+    gnav_ephemeris.d_l3rd_n     = 0;
+    gnav_ephemeris.d_VZn        = -1.82016849517822;
+    gnav_ephemeris.d_AZn        = -2.79396772384644e-09;
+    gnav_ephemeris.d_Zn         = 19929.2377929688;
+
+    // Call target test method
+    gnav_nav_message.string_decoder(const_cast<char*> (str3.c_str()));
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_ephemeris.d_P_3 - gnav_nav_message.gnav_ephemeris.d_P_3 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_gamma_n - gnav_nav_message.gnav_ephemeris.d_gamma_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_P - gnav_nav_message.gnav_ephemeris.d_P < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_l3rd_n -  gnav_nav_message.gnav_ephemeris.d_l3rd_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VZn - gnav_nav_message.gnav_ephemeris.d_VZn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AZn -  gnav_nav_message.gnav_ephemeris.d_AZn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Zn -  gnav_nav_message.gnav_ephemeris.d_Zn < FLT_EPSILON );
+}
+
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, String4Decoder)
+{
+    // Variable declarations
+    std::string str4("0010010000101011100100000100000100000000000000000000011000100100001100101010100011101");
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Ephemeris gnav_ephemeris;
+
+    // Fill out ephemeris values for truth
+    gnav_ephemeris.d_tau_n = -8.30907374620438e-05;
+    gnav_ephemeris.d_Delta_tau_n = 9.31322574615479e-10;
+    gnav_ephemeris.d_E_n = 0;
+    gnav_ephemeris.d_P_4 = 0;
+    gnav_ephemeris.d_F_T = 6;
+    gnav_ephemeris.d_N_T = 268;
+    gnav_ephemeris.d_n = 21;
+    gnav_ephemeris.d_M = 1;
+
+    // Call target test method
+    gnav_nav_message.string_decoder(const_cast<char*> (str4.c_str()));
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_ephemeris.d_tau_n - gnav_nav_message.gnav_ephemeris.d_tau_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Delta_tau_n - gnav_nav_message.gnav_ephemeris.d_Delta_tau_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_E_n - gnav_nav_message.gnav_ephemeris.d_E_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_P_4 -  gnav_nav_message.gnav_ephemeris.d_P_4 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_F_T - gnav_nav_message.gnav_ephemeris.d_F_T < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_N_T -  gnav_nav_message.gnav_ephemeris.d_N_T < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_n -  gnav_nav_message.gnav_ephemeris.d_n < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_M -  gnav_nav_message.gnav_ephemeris.d_M < FLT_EPSILON );
+}
+
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, String5Decoder)
+{
+    // Variable declarations
+    std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Utc_Model gnav_utc_model;
+
+    // Fill out ephemeris values for truth
+    gnav_utc_model.d_N_A        = 268;
+    gnav_utc_model.d_tau_c      = 9.6391886472702e-08;
+    gnav_utc_model.d_N_4        = 6;
+    gnav_utc_model.d_tau_gps    = 9.313225746154785e-08;
+
+    // Call target test method
+    gnav_nav_message.string_decoder(const_cast<char*> (str5.c_str()));
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_utc_model.d_N_A - gnav_nav_message.gnav_utc_model.d_N_A < FLT_EPSILON );
+    ASSERT_TRUE(gnav_utc_model.d_tau_c - gnav_nav_message.gnav_utc_model.d_tau_c < FLT_EPSILON );
+    ASSERT_TRUE(gnav_utc_model.d_N_4 - gnav_nav_message.gnav_utc_model.d_N_4 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_utc_model.d_tau_gps -  gnav_nav_message.gnav_utc_model.d_tau_gps < FLT_EPSILON );
 }
 
-std::string str2("0001000010001001000001010101100001011001011000000010101100110000001011110000110011110");
-std::string str3("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
-std::string str4("0010010000101011100100000100000100000000000000000000011000100100001100101010100011101");
-std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
 std::string str6("0011010100110100001100111100011100001101011000000110101111001000000101100011111011001");
 std::string str7("0011101101010001000010000110101111110000101101001011111110101110100010111100010001101");
 std::string str8("0100010100111000000001111110001101000000110000001000100111011100001010101111010011010");

From e1d8a7b23a21f5c468b8de58da2d9506830ca437 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 20 Aug 2017 16:13:37 -0700
Subject: [PATCH 262/379] unit-test: Testing RTCM MS1020 Message generation

Tests MS1020 message and fixes several bugs that show up while
debugging the code. Major changes were introduced due to the bug
correction process
---
 .../glonass_gnav_navigation_message.cc        |  25 ++-
 src/core/system_parameters/rtcm.cc            | 190 +++++++++++++-----
 src/core/system_parameters/rtcm.h             |  11 +-
 .../signal-processing-blocks/pvt/rtcm_test.cc |  72 +++----
 .../glonass_gnav_nav_message_test.cc          |   4 +-
 5 files changed, 191 insertions(+), 111 deletions(-)

diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 916b3004a..0b64dc066 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -330,7 +330,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
         {
         case 1:
             //--- It is string 1 -----------------------------------------------
-            gnav_ephemeris.d_P_1 = static_cast<double>(read_navigation_unsigned(string_bits, P1));
+            gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1)*15;
             gnav_ephemeris.d_t_k =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
                                     static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
                                     static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
@@ -338,25 +338,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
             gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
 
-            if(gnav_ephemeris.d_P_1 != 0)
-                {
-                    gnav_ephemeris.d_P_1 = (gnav_ephemeris.d_P_1 + 1)*15;
-                }
             flag_ephemeris_str_1 = true;
 
             break;
 
         case 2:
             //--- It is string 2 -----------------------------------------------
-            gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
-            gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
-            gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
-            gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
-            gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
-            gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
+            if (flag_ephemeris_str_1 == true)
+                {
+                    gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
+                    gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
+                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*gnav_ephemeris.d_P_1*60;
+                    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
+                    gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
+                    gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
 
-            gnav_ephemeris.d_iode   = read_navigation_unsigned(string_bits, T_B);
-            flag_ephemeris_str_2 = true;
+                    gnav_ephemeris.d_iode   = read_navigation_unsigned(string_bits, T_B);
+                    flag_ephemeris_str_2 = true;
+                }
 
             break;
 
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 662006d92..bce3da0c4 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -316,6 +316,41 @@ long int Rtcm::bin_to_int(const std::string& s) const
 }
 
 
+long int Rtcm::bin_to_sint(const std::string& s) const
+{
+    if(s.length() > 32)
+        {
+            LOG(WARNING) << "Cannot convert to a long int";
+            return 0;
+        }
+    long int reading;
+    long int sign;
+
+    // Check for sign bit as defined RTCM doc
+    if(s.substr(0,1).compare("0") == 0)
+        {
+            sign = 1;
+            // Get the magnitude of the value
+            reading = strtol((s.substr (1)).c_str(), NULL, 2);
+        }
+    else
+        {
+            sign = -1;
+            // Get the magnitude of the value
+            reading = strtol((s.substr (1)).c_str(), NULL, 2);
+        }
+    return sign*reading;
+}
+
+// Find the sign for glonass data fields (neg = 1, pos = 0)
+static inline unsigned long glo_sgn(double val)
+{
+    if (val < 0) return 1;  // If value is negative return 1
+    if (val==0) return 0;   // Positive or equal to zero return 0
+    return 0;
+}
+
+
 double Rtcm::bin_to_double(const std::string& s) const
 {
     double reading;
@@ -1791,7 +1826,7 @@ std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph,
             DF134.to_string() +
             DF135.to_string() +
             DF136.to_string() +
-            DF137.to_string();
+            std::bitset<7>().to_string(); // Reserved bits
 
     if (data.length() != 360)
         {
@@ -1828,7 +1863,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
     index += 10;
 
-    if (read_message_length != 61)
+    if (read_message_length != 45) // 360 bits = 45 bytes
         {
             LOG(WARNING) << " Message MT1020 seems too long (61 bytes expected, " << read_message_length << " received)";
             return 1;
@@ -1859,7 +1894,8 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     index += 1;
     if(glonass_gnav_alm_health_ind){} //Avoid comiler warning
 
-    glonass_gnav_eph.d_P_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1+1)*15;
     index += 2;
 
     glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600;
@@ -1875,41 +1911,41 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*15.0*60.0;
+    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*glonass_gnav_eph.d_P_1*60.0;
     index += 7;
 
     // TODO Check for type spec for intS24
-    glonass_gnav_eph.d_VXn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
+    glonass_gnav_eph.d_VXn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 24)))*TWO_N20;
     index += 24;
 
-    glonass_gnav_eph.d_Xn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
+    glonass_gnav_eph.d_Xn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 27)))*TWO_N11;
     index += 27;
 
-    glonass_gnav_eph.d_AXn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
+    glonass_gnav_eph.d_AXn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))*TWO_N30;
     index += 5;
 
-    glonass_gnav_eph.d_VYn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
+    glonass_gnav_eph.d_VYn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 24)))*TWO_N20;
     index += 24;
 
-    glonass_gnav_eph.d_Yn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
+    glonass_gnav_eph.d_Yn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 27)))*TWO_N11;
     index += 27;
 
-    glonass_gnav_eph.d_AYn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
+    glonass_gnav_eph.d_AYn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))*TWO_N30;
     index += 5;
 
-    glonass_gnav_eph.d_VZn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
+    glonass_gnav_eph.d_VZn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 24)))*TWO_N20;
     index += 24;
 
-    glonass_gnav_eph.d_Zn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
+    glonass_gnav_eph.d_Zn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 27)))*TWO_N11;
     index += 27;
 
-    glonass_gnav_eph.d_AZn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
+    glonass_gnav_eph.d_AZn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))*TWO_N30;
     index += 5;
 
     glonass_gnav_eph.d_P_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.d_gamma_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)))*TWO_N30;
+    glonass_gnav_eph.d_gamma_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 11)))*TWO_N30;
     index += 11;
 
     glonass_gnav_eph.d_P = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
@@ -1918,10 +1954,10 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.d_l3rd_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 22)))* TWO_N30;
+    glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 22)))* TWO_N30;
     index += 22;
 
-    glonass_gnav_eph.d_Delta_tau_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))* TWO_N30;
+    glonass_gnav_eph.d_Delta_tau_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))* TWO_N30;
     index += 5;
 
     glonass_gnav_eph.d_E_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
@@ -1947,13 +1983,13 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
             glonass_gnav_utc_model.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
             index += 11;
 
-            glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
+            glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 32)))* TWO_N31;
             index += 32;
 
             glonass_gnav_utc_model.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
             index += 5;
 
-            glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
+            glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 22)))* TWO_N30;
             index += 22;
 
             glonass_gnav_eph.d_l5th_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
@@ -2306,11 +2342,12 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
         bool divergence_free,
         bool more_messages)
 {
-    std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
-    std::string sys(gnss_synchro_iter->second.System, 1);
+	// Find first element in observables block and define type of message
+	std::map<int, Gnss_Synchro>::const_iterator observables_iter = observables.begin();
+    std::string sys(observables_iter->second.System, 1);
+
     Rtcm::set_DF002(msg_number);
     Rtcm::set_DF003(ref_id);
-
     Rtcm::set_DF393(more_messages);
     Rtcm::set_DF409(0); // Issue of Data Station. 0: not utilized
     std::bitset<7> DF001_ = std::bitset<7>("0000000");
@@ -4303,7 +4340,8 @@ int Rtcm::set_DF105(unsigned int glonass_gnav_alm_health_ind)
 
 int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    unsigned int P_1 = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_1));
+    // Convert the value from (15, 30, 45, 60) to (00, 01, 10, 11)
+    unsigned int P_1 = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_1/15.0 -1.0));
     DF106 = std::bitset<2>(P_1);
     return 0;
 }
@@ -4312,7 +4350,22 @@ int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 int Rtcm::set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
     // TODO Need to fix this here, bit position has a given order
-    DF107 = std::bitset<12>(glonass_gnav_eph.d_t_k);
+	unsigned int hrs = 0;
+	unsigned int min = 0;
+	unsigned int sec = 0;
+	unsigned int tk = 0;
+	tk = static_cast<int>(glonass_gnav_eph.d_t_k);
+	hrs = tk/3600;
+	min = (tk - hrs*3600)/60;
+	sec = (tk - hrs*3600 -min*60)/60;
+
+	std::string _hrs = std::bitset< 5 >( hrs ).to_string(); // string conversion
+	std::string _min = std::bitset< 6 >( min ).to_string(); // string conversion
+	std::string _sec = std::bitset< 1 >( sec ).to_string(); // string conversion
+
+	// Set hrs, min, sec in designed bit positions
+	DF107 = std::bitset<12>(_hrs + _min + _sec);
+
     return 0;
 }
 
@@ -4333,7 +4386,7 @@ int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b));
+    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(glonass_gnav_eph.d_P_1*60)));
     DF110 = std::bitset<7>(t_b);
     return 0;
 }
@@ -4341,79 +4394,109 @@ int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF111(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int VXn = static_cast<int>(std::round(glonass_gnav_eph.d_VXn/TWO_N20));
-    DF111 = std::bitset<24>(VXn);
+    int VXn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_VXn/TWO_N20)));
+    unsigned int VXn_sgn = glo_sgn(glonass_gnav_eph.d_VXn);
+
+    DF111 = std::bitset<24>(VXn_mag);
+    DF111.set(23,VXn_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF112(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int Xn = static_cast<int>(std::round(glonass_gnav_eph.d_Xn/TWO_N11));
-    DF112 = std::bitset<27>(Xn);
+    int Xn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Xn/TWO_N11)));
+    unsigned int Xn_sgn = glo_sgn(glonass_gnav_eph.d_Xn);
+
+    DF112 = std::bitset<27>(Xn_mag);
+    DF112.set(26,Xn_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF113(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int AXn = static_cast<int>(std::round(glonass_gnav_eph.d_AXn/TWO_N11));
-    DF113 = std::bitset<5>(AXn);
+    int AXn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_AXn/TWO_N30)));
+    unsigned int AXn_sgn = glo_sgn(glonass_gnav_eph.d_AXn);
+
+    DF113 = std::bitset<5>(AXn_mag);
+    DF113.set(4,AXn_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF114(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int VYn = static_cast<int>(std::round(glonass_gnav_eph.d_VYn/TWO_N20));
-    DF114 = std::bitset<24>(VYn);
+    int VYn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_VYn/TWO_N20)));
+    unsigned int VYn_sgn = glo_sgn(glonass_gnav_eph.d_VYn);
+
+    DF114 = std::bitset<24>(VYn_mag);
+    DF114.set(23,VYn_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF115(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int Yn = static_cast<int>(std::round(glonass_gnav_eph.d_Yn/TWO_N11));
-    DF115 = std::bitset<27>(Yn);
+    int Yn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Yn/TWO_N11)));
+    unsigned int Yn_sgn = glo_sgn(glonass_gnav_eph.d_Yn);
+
+    DF115 = std::bitset<27>(Yn_mag);
+    DF115.set(26,Yn_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF116(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int AYn = static_cast<int>(std::round(glonass_gnav_eph.d_AYn/TWO_N11));
-    DF116 = std::bitset<5>(AYn);
+    int AYn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_AYn/TWO_N30)));
+    unsigned int AYn_sgn = glo_sgn(glonass_gnav_eph.d_AYn);
+
+    DF116 = std::bitset<5>(AYn_mag);
+    DF116.set(4,AYn_sgn);
     return 0;
 }
 
 
+
 int Rtcm::set_DF117(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int VZn = static_cast<int>(std::round(glonass_gnav_eph.d_VZn/TWO_N20));
-    DF117 = std::bitset<24>(VZn);
+    int VZn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_VZn/TWO_N20)));
+    unsigned int VZn_sgn = glo_sgn(glonass_gnav_eph.d_VZn);
+
+    DF117 = std::bitset<24>(VZn_mag);
+    DF117.set(23,VZn_sgn);
     return 0;
 }
 
 
+
 int Rtcm::set_DF118(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int Zn = static_cast<int>(std::round(glonass_gnav_eph.d_Zn/TWO_N11));
-    DF118 = std::bitset<27>(Zn);
+    int Zn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Zn/TWO_N11)));
+    unsigned int Zn_sgn = glo_sgn(glonass_gnav_eph.d_Zn);
+
+    DF118 = std::bitset<27>(Zn_mag);
+    DF118.set(26,Zn_sgn);
     return 0;
 }
 
 
+
 int Rtcm::set_DF119(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int AZn = static_cast<int>(std::round(glonass_gnav_eph.d_AZn/TWO_N11));
-    DF119 = std::bitset<5>(AZn);
+    int AZn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_AZn/TWO_N30)));
+    unsigned int AZn_sgn = glo_sgn(glonass_gnav_eph.d_AZn);
+
+    DF119 = std::bitset<5>(AZn_mag);
+    DF119.set(4,AZn_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    unsigned int P3 = static_cast<int>(std::round(glonass_gnav_eph.d_P_3/TWO_N11));
+    unsigned int P3 = static_cast<int>(std::round(glonass_gnav_eph.d_P_3));
     DF120 = std::bitset<1>(P3);
     return 0;
 }
@@ -4421,8 +4504,11 @@ int Rtcm::set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF121(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int gamma_n = static_cast<int>(std::round(glonass_gnav_eph.d_gamma_n/TWO_N40));
-    DF121 = std::bitset<11>(gamma_n);
+    int gamma_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_gamma_n/TWO_N40)));
+    unsigned int gamma_sgn = glo_sgn(glonass_gnav_eph.d_gamma_n);
+
+    DF121 = std::bitset<11>(gamma_mag);
+    DF121.set(10,gamma_sgn);
     return 0;
 }
 
@@ -4445,16 +4531,22 @@ int Rtcm::set_DF123(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF124(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_tau_n/TWO_N30));
-    DF124 = std::bitset<22>(tau_n);
+    int tau_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_tau_n/TWO_N30)));
+    unsigned int tau_sgn = glo_sgn(glonass_gnav_eph.d_tau_n);
+
+    DF124 = std::bitset<22>(tau_mag);
+    DF124.set(21,tau_sgn);
     return 0;
 }
 
 
 int Rtcm::set_DF125(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    int delta_tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_Delta_tau_n));
-    DF125 = std::bitset<5>(delta_tau_n);
+    int delta_tau_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Delta_tau_n/TWO_N30)));
+    unsigned int delta_tau_sgn = glo_sgn(glonass_gnav_eph.d_Delta_tau_n);
+
+    DF125 = std::bitset<5>(delta_tau_mag);
+    DF125.set(4,delta_tau_sgn);
     return 0;
 }
 
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 3ba745217..f19b71add 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -348,9 +348,16 @@ public:
 
     unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
     long int bin_to_int(const std::string & s) const;
-    long int bin_to_sint(const std::string & s) const;         //<! Returns a long int from a string of binary symbols
     double bin_to_double(const std::string & s) const;          //<! Returns double from a string of binary symbols
-
+    /*!
+     * \brief Locks time period in which GLONASS signals have been continually tracked.
+     * \note Code added as part of GSoC 2017 program
+     * \param eph GLONASS GNAV Broadcast Ephemeris
+     * \param obs_time Time of observation at the moment of printing
+     * \param observables Set of observables as defined by the platform
+     * \return //<! Returns a long int from a string of binary symbols
+     */
+    long int bin_to_sint(const std::string & s) const;
     unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
     long int hex_to_int(const std::string & s) const;           //<! Returns a long int from a string of hexadecimal symbols
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 262a8fd6e..839df16dc 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -253,6 +253,7 @@ TEST(RtcmTest, MT1005)
 }
 
 
+
 TEST(RtcmTest, MT1019)
 {
     auto rtcm = std::make_shared<Rtcm>();
@@ -282,53 +283,32 @@ TEST(RtcmTest, MT1020)
     bool expected_true = true;
 
     // Objects to populate the ephemeris and utc fields
-    Glonass_Gnav_Ephemeris gnav_eph = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Ephemeris gnav_ephemeris = Glonass_Gnav_Ephemeris();
     Glonass_Gnav_Utc_Model gnav_utc_model = Glonass_Gnav_Utc_Model();
     // Objects read, used for comparison
-    Glonass_Gnav_Ephemeris gnav_eph_read = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Ephemeris gnav_ephemeris_read = Glonass_Gnav_Ephemeris();
     Glonass_Gnav_Utc_Model gnav_utc_model_read = Glonass_Gnav_Utc_Model();
 
-    glonass_gnav_eph.i_satellite_slot_number    = 3;
-    gnav_ephemeris.d_P_1        = 0;
+    // Perform data read and print of special values types
+    gnav_ephemeris.d_P_1        = 15;
+    // Bit distribution per fields
     gnav_ephemeris.d_t_k        = 7560;
+    // Glonass signed values
     gnav_ephemeris.d_VXn        = -0.490900039672852;
-    gnav_ephemeris.d_AXn        = 0;
-    gnav_ephemeris.d_Xn         = -11025.6669921875;
-    gnav_ephemeris.d_B_n        = 0;
-    gnav_ephemeris.d_P_2        = 1;
+    // Bit distribution per fields dependant on other factors
     gnav_ephemeris.d_t_b        = 8100;
-    gnav_ephemeris.d_VYn        = -2.69022750854492;
-    gnav_ephemeris.d_AYn        = 0;
-    gnav_ephemeris.d_Yn         = -11456.7348632812;
+    // Binary flag representation
     gnav_ephemeris.d_P_3        = 1;
-    gnav_ephemeris.d_gamma_n    = 1.81898940354586e-12;
-    gnav_ephemeris.d_P          = 3;
-    gnav_ephemeris.d_l3rd_n     = 0;
-    gnav_ephemeris.d_VZn        = -1.82016849517822;
-    gnav_ephemeris.d_AZn        = -2.79396772384644e-09;
-    gnav_ephemeris.d_Zn         = 19929.2377929688;
-    gnav_ephemeris.d_tau_n      = -8.30907374620438e-05;
-    gnav_ephemeris.d_Delta_tau_n = 9.31322574615479e-10;
-    gnav_ephemeris.d_E_n        = 0;
-    gnav_ephemeris.d_P_4        = 0;
-    gnav_ephemeris.d_F_T        = 6;
-    gnav_ephemeris.d_N_T        = 268;
-    gnav_ephemeris.d_n          = 21;
-    gnav_ephemeris.d_M          = 1;
-    gnav_utc_model.d_N_A        = 268;
-    gnav_utc_model.d_tau_c      = 9.6391886472702e-08;
-    gnav_utc_model.d_N_4        = 6;
-    gnav_utc_model.d_tau_gps    = 9.313225746154785e-08;
 
-    std::string tx_msg = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
+    std::string tx_msg = rtcm->print_MT1020(gnav_ephemeris, gnav_utc_model);
 
-    EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, glonass_gnav_eph_read, glonass_gnav_utc_model_read));
-    EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_slot_number);
-    EXPECT_DOUBLE_EQ(4, glonass_gnav_eph_read.d_t_b);
-    EXPECT_DOUBLE_EQ( 2.0 * E_LSB, glonass_gnav_eph_read.d_E_n);
-    EXPECT_DOUBLE_EQ( 5, glonass_gnav_utc_model_read.d_tau_gps);
-    EXPECT_EQ(expected_true, glonass_gnav_eph_read.d_l3rd_n);
-    EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), glonass_gnav_eph_read, glonass_gnav_utc_model_read));
+    EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, gnav_ephemeris_read, gnav_utc_model_read));
+    EXPECT_EQ(gnav_ephemeris.d_P_1, gnav_ephemeris_read.d_P_1);
+    EXPECT_TRUE(gnav_ephemeris.d_t_b - gnav_ephemeris_read.d_t_b < FLT_EPSILON);
+    EXPECT_TRUE( gnav_ephemeris.d_VXn - gnav_ephemeris_read.d_VXn < FLT_EPSILON);
+    EXPECT_TRUE( gnav_ephemeris.d_t_k - gnav_ephemeris.d_t_k < FLT_EPSILON);
+    EXPECT_EQ(gnav_ephemeris.d_P_3, gnav_ephemeris_read.d_P_3);
+    EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gnav_ephemeris_read, gnav_utc_model_read));
 }
 
 
@@ -409,12 +389,12 @@ TEST(RtcmTest, MSMCell)
     gnss_synchro5.System = *gps.c_str();
     gnss_synchro6.System = *glo.c_str();
 
-    std::memcpy(static_cast<void*>(gnss_synchro.Signal), x5.c_str(), 3);
-    std::memcpy(static_cast<void*>(gnss_synchro2.Signal), s2.c_str(), 3);
-    std::memcpy(static_cast<void*>(gnss_synchro3.Signal), c1.c_str(), 3);
-    std::memcpy(static_cast<void*>(gnss_synchro4.Signal), x5.c_str(), 3);
-    std::memcpy(static_cast<void*>(gnss_synchro5.Signal), c1.c_str(), 3);
-	std::memcpy(static_cast<void*>(gnss_synchro6.Signal), c1.c_str(), 3);
+    std::memcpy((void*)gnss_synchro.Signal, x5.c_str(), 3);
+    std::memcpy((void*)gnss_synchro2.Signal, s2.c_str(), 3);
+    std::memcpy((void*)gnss_synchro3.Signal, c1.c_str(), 3);
+    std::memcpy((void*)gnss_synchro4.Signal, x5.c_str(), 3);
+    std::memcpy((void*)gnss_synchro5.Signal, c1.c_str(), 3);
+    std::memcpy((void*)gnss_synchro6.Signal, c1.c_str(), 3);
 
     gnss_synchro.Pseudorange_m = 20000000.0;
     gnss_synchro2.Pseudorange_m = 20001010.0;
@@ -445,7 +425,7 @@ TEST(RtcmTest, MSMCell)
     std::string MSM1 = rtcm->print_MSM_1(gps_eph,
             {},
             gal_eph,
-            glo_gnav_eph,
+			{},
             obs_time,
             pseudoranges,
             ref_id,
@@ -473,7 +453,7 @@ TEST(RtcmTest, MSMCell)
     std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
              {},
              gal_eph,
-             glo_gnav_eph,
+			 {},
              obs_time,
              pseudoranges2,
              ref_id,
@@ -488,7 +468,7 @@ TEST(RtcmTest, MSMCell)
     Gnss_Synchro gnss_synchro7;
     gnss_synchro7.PRN = 10;
     gnss_synchro7.System = *gps.c_str();
-    std::memcpy(static_cast<void*>(gnss_synchro7.Signal), s2.c_str(), 3);
+    std::memcpy((void*)gnss_synchro7.Signal, s2.c_str(), 3);
     gnss_synchro7.Pseudorange_m = 24000000.0;
 
     std::map<int, Gnss_Synchro> pseudoranges3;
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index 121ee3c48..df7d740fd 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -74,7 +74,7 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
     Glonass_Gnav_Ephemeris gnav_ephemeris;
 
     // Fill out ephemeris values for truth
-    gnav_ephemeris.d_P_1    = 0;
+    gnav_ephemeris.d_P_1    = 15;
     gnav_ephemeris.d_t_k    = 7560;
     gnav_ephemeris.d_VXn    = -0.490900039672852;
     gnav_ephemeris.d_AXn    = 0;
@@ -114,6 +114,8 @@ TEST(GlonassGnavNavigationMessageTest, String2Decoder)
     gnav_ephemeris.d_Yn  = -11456.7348632812;
 
     // Call target test method
+    gnav_nav_message.flag_ephemeris_str_1 = true;
+    gnav_nav_message.gnav_ephemeris.d_P_1 = 15;
     gnav_nav_message.string_decoder(const_cast<char*> (str2.c_str()));
 
     // Perform assertions of decoded fields

From 305a81a4131ac1eea0a0edbe71654f0fc529444e Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 20 Aug 2017 21:23:57 -0700
Subject: [PATCH 263/379] tel_dec: Fixing GLONASS GNAV Telemetry Decoder

Fixes GLONASS L1 CA telemetry decoder and creating connections with
observables blocks before PVT computation. Fixes documentation and code
style in the block
---
 .../glonass_l1_ca_telemetry_decoder.cc        |  4 +--
 .../glonass_l1_ca_telemetry_decoder.h         |  1 +
 .../glonass_l1_ca_telemetry_decoder_cc.cc     | 25 ++++++++++++-----
 .../glonass_l1_ca_telemetry_decoder_cc.h      | 27 ++++++++++---------
 src/core/receiver/gnss_block_factory.cc       | 13 +++++++++
 5 files changed, 49 insertions(+), 21 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
index 868fb3304..924efd2da 100644
--- a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
@@ -2,6 +2,7 @@
  * \file glonass_l1_ca_telemetry_decoder.cc
  * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
  * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -36,7 +37,6 @@
 #include "concurrent_queue.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_almanac.h"
-#include "glonass_gnav_iono.h"
 #include "glonass_gnav_utc_model.h"
 #include "configuration_interface.h"
 
@@ -55,7 +55,7 @@ GlonassL1CaTelemetryDecoder::GlonassL1CaTelemetryDecoder(ConfigurationInterface*
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
     // make telemetry decoder object
-    telemetry_decoder_ = glonass_l1_ca_make_telemetry_decoder_cc(satellite_, dump_); // TODO fix me
+    telemetry_decoder_ = glonass_l1_ca_make_telemetry_decoder_cc(satellite_, dump_);
     DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
 
     DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
index d9d883a71..e79f586c9 100644
--- a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
@@ -2,6 +2,7 @@
  * \file glonass_l1_ca_telemetry_decoder.h
  * \brief Interface of an adapter of a GLONASS L1 C/A NAV data decoder block
  * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 6318977f5..c0273edaf 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -1,8 +1,9 @@
 /*!
- * \file galileo_e1b_telemetry_decoder_cc.cc
- * \brief Implementation of a Galileo INAV message demodulator block
- * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
- * \author Javier Arribas 2013. jarribas(at)cttc.es
+ * \file glonass_l1_ca_telemetry_decoder_cc.cc
+ * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
+ * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -30,7 +31,7 @@
  */
 
 
-#include "galileo_e1b_telemetry_decoder_cc.h"
+#include "glonass_l1_ca_telemetry_decoder_cc.h"
 #include <cstdio>
 #include <cstdlib>
 #include <iostream>
@@ -67,7 +68,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     // initialize internal vars
     d_dump = dump;
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    LOG(INFO) << "Initializing GLONASS L1CA TELEMETRY PROCESSING";
+    LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY PROCESSING";
     // TODO. WHAT IS THIS?
     d_samples_per_symbol = ( GLONASS_L1_CODE_CHIP_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
 
@@ -115,7 +116,17 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
 glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
 {
     delete d_preambles_symbols;
-    d_dump_file.close();
+    if(d_dump_file.is_open() == true)
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
+            }
+        }
 }
 
 
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index bfd9d975e..eab2136e2 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -1,6 +1,8 @@
 /*!
  * \file glonass_l1_ca_telemetry_decoder_cc.h
- * \brief Interface of a GLONASS GNAV message demodulator block
+ * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
+ * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -40,7 +42,6 @@
 #include "glonass_gnav_navigation_message.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_almanac.h"
-#include "glonass_gnav_iono.h"
 #include "glonass_gnav_utc_model.h"
 #include "gnss_synchro.h"
 
@@ -53,15 +54,17 @@ typedef boost::shared_ptr<glonass_l1_ca_telemetry_decoder_cc> glonass_l1_ca_tele
 glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
 
 /*!
- * \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD
+ * \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD v5.1
+ * \note Code added as part of GSoC 2017 program
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  */
 class glonass_l1_ca_telemetry_decoder_cc : public gr::block
 {
 public:
-    ~glonass_l1_ca_telemetry_decoder_cc();
-    void set_satellite(Gnss_Satellite satellite);  //!< Set satellite PRN
-    void set_channel(int channel);                 //!< Set receiver's channel
+    ~glonass_l1_ca_telemetry_decoder_cc();          //!< Class destructor
+    void set_satellite(Gnss_Satellite satellite);   //!< Set satellite PRN
+    void set_channel(int channel);                  //!< Set receiver's channel
 
     /*!
      * \brief This is where all signal processing takes place
@@ -74,7 +77,7 @@ private:
     glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
     glonass_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
 
-    void decode_word(double *symbols,int frame_length);
+    void decode_word(double *symbols);
 
     //!< Preamble decoding
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
@@ -91,11 +94,11 @@ private:
     unsigned int d_stat;                    //!< Status of decoder
     bool d_flag_frame_sync;                 //!< Indicate when a frame sync is achieved
     bool d_flag_parity;                     //!< Flag indicating when parity check was achieved (crc check)
-    bool d_flag_preamble;
-    int d_CRC_error_counter;
-    bool flag_TOW_set;      //!<
-    double delta_t;         //!< GPS-GLONASS time offset
-    
+    bool d_flag_preamble;                   //!< Flag indicating when preamble was found
+    int d_CRC_error_counter;                //!< Number of failed CRC operations
+    bool flag_TOW_set;                      //!< Indicates when time of week is set
+    double delta_t;                         //!< GPS-GLONASS time offset
+
     //!< Navigation Message variable
     Glonass_Gnav_Navigation_Message d_nav;
 
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 7cba2a649..1f9c73529 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -92,6 +92,7 @@
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
 #include "galileo_e5a_telemetry_decoder.h"
+#include "glonass_l1_ca_telemetry_decoder.h"
 #include "sbas_l1_telemetry_decoder.h"
 #include "hybrid_observables.h"
 #include "rtklib_pvt.h"
@@ -1203,6 +1204,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // OBSERVABLES -----------------------------------------------------------------
     else if ((implementation.compare("Hybrid_Observables") == 0) || (implementation.compare("GPS_L1_CA_Observables") == 0) || (implementation.compare("GPS_L2C_Observables") == 0) ||
@@ -1347,6 +1354,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
+        {
+            std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

From 85f7e333bb255cb17b87379b90d6cabdd758761b Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 23 Aug 2017 15:16:07 -0700
Subject: [PATCH 264/379] bug_fix: Fixes bugs in telemetry decoding interface

Fixes several bugs with the telemetry decoder interface and clean up the
code with unused methods and members of the ephemeris object
---
 src/algorithms/PVT/libs/rinex_printer.cc      |  63 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  86 +--
 .../glonass_l1_ca_telemetry_decoder_cc.h      |   3 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |  15 +-
 .../glonass_gnav_ephemeris.cc                 | 661 ------------------
 .../glonass_gnav_ephemeris.h                  |  48 --
 .../glonass_gnav_utc_model.h                  |   2 +
 7 files changed, 80 insertions(+), 798 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index facaa6f5e..06508ee75 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -633,6 +633,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
+     //Avoid compiler warning, there is not time system correction between Galileo and GLONASS
+    if(galileo_almanac.A_0G_10){}
     std::string line;
     stringVersion = "3.02";
     version = 3;
@@ -2047,6 +2049,8 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
+    //Avoid compiler warning, there is not time system correction between Galileo and GLONASS
+   if(galileo_almanac.A_0G_10){}
     std::vector<std::string> data;
     std::string line_aux;
 
@@ -3035,7 +3039,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
 }
 
 
-void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string glonass_bands)
 {
     if(eph.d_m){} //Avoid compiler warning
     std::string line;
@@ -3203,23 +3207,43 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
             numberTypesObservations = 4;
             strm << numberTypesObservations;
             line += Rinex_Printer::rightJustify(strm.str(), 3);
-            // per type of observation
-            // GLONASS L1 PSEUDORANGE
-            line += std::string(1, ' ');
-            line += observationType["PSEUDORANGE"];
-            line += observationCode["GLONASS_G1_CA"];
-            // GLONASS L1 PHASE
-            line += std::string(1, ' ');
-            line += observationType["CARRIER_PHASE"];
-            line += observationCode["GLONASS_G1_CA"];
-            // GLONASS DOPPLER L1
-            line += std::string(1, ' ');
-            line += observationType["DOPPLER"];
-            line += observationCode["GLONASS_G1_CA"];
-            // GLONASS L1 CA SIGNAL STRENGTH
-            line += std::string(1, ' ');
-            line += observationType["SIGNAL_STRENGTH"];
-            line += observationCode["GLONASS_G1_CA"];
+
+            std::string signal_ = "1C";
+            std::size_t found_1C = glonass_bands.find(signal_);
+            signal_ = "2C";
+            std::size_t found_2C = glonass_bands.find(signal_);
+
+            if(found_1C != std::string::npos)
+                {
+                    line += std::string(1, ' ');
+                    line += observationType["PSEUDORANGE"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["CARRIER_PHASE"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["DOPPLER"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["SIGNAL_STRENGTH"];
+                    line += observationCode["GLONASS_G1_CA"];
+                }
+
+            if(found_2C != std::string::npos)
+                {
+                    line += std::string(1, ' ');
+                    line += observationType["PSEUDORANGE"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["CARRIER_PHASE"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["DOPPLER"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["SIGNAL_STRENGTH"];
+                    line += observationCode["GLONASS_G2_CA"];
+                }
 
             line += std::string(60-line.size(), ' ');
             line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
@@ -5382,6 +5406,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
     // RINEX observations timestamps are GPS timestamps.
     std::string line;
 
+    // Avoid compiler warning
+    if(glonass_band.size()){}
+
     boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_GLONASS_time(eph, obs_time);
     std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
     //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index c0273edaf..3d63c38ea 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -69,19 +69,21 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     d_dump = dump;
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
     LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY PROCESSING";
-    // TODO. WHAT IS THIS?
+    // Define the number of sampes per symbol. Notice that GLONASS has to rates,
+    //one for the navigation data and the other for the preamble information
     d_samples_per_symbol = ( GLONASS_L1_CODE_CHIP_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
 
-    // set the preamble
+    // Set the preamble information
     unsigned short int preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS] = GLONASS_GNAV_PREAMBLE;
-    d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
+    // Since preamble rate is different than navigation data rate we use a constant
+    d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
 
     memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GLONASS_GNAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
 
     // preamble bits to sampled symbols
     d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
     int n = 0;
-    for (int i = 0; i < GLONASS_GNAV_PREAMBLE_LENGTH_BITS; i++)
+    for (int i = 0; i < GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT; i++)
         {
             for (unsigned int j = 0; j < d_samples_per_symbol; j++)
                 {
@@ -130,40 +132,26 @@ glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
 }
 
 
-void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *page_part_symbols,int frame_length)
+void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int frame_length)
 {
-    double page_part_symbols_deint[frame_length];
-
-    // 2. Viterbi decoder
-    // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
-    // 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180�
-    for (int i = 0; i < frame_length; i++)
+    // 1. Transform from symbols to bits
+    std::string frame_string;
+    for(int i = 0; i < (frame_length); i++)
         {
-            if ((i + 1) % 2 == 0)
+            if (frame_symbols[i] > 0)
                 {
-                    page_part_symbols_deint[i] = -page_part_symbols_deint[i];
-                }
-        }
-
-    int page_part_bits[frame_length/2];
-    viterbi_decoder(page_part_symbols_deint, page_part_bits);
-
-    // 3. Call the Galileo page decoder
-    std::string page_String;
-    for(int i = 0; i < (frame_length/2); i++)
-        {
-            if (page_part_bits[i] > 0)
-                {
-                    page_String.push_back('1');
+                    frame_string.push_back('1');
                 }
             else
                 {
-                    page_String.push_back('0');
+                    frame_string.push_back('0');
                 }
         }
 
+    // 2. Call the GLONASS GNAV string decoder
     d_nav.decode_string(page_String);
 
+    // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
         {
             LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite;
@@ -175,14 +163,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *page_part_symbols
             LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
         }
 
-
-
     // 4. Push the new navigation data to the queues
     if (d_nav.have_new_ephemeris() == true)
         {
             // get object for this SV (mandatory)
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
-
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
 
         }
@@ -196,19 +181,10 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *page_part_symbols
         {
             std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-            //debug
-            std::cout << "GLONASS GNAV almanac received!" << std::endl;
-            DLOG(INFO) << "Current parameters:";
-            DLOG(INFO) << "d_TOW_at_current_symbol=" << d_TOW_at_current_symbol;
-            DLOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0;
-            delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (d_TOW_at_current_symbol - tmp_obj->t_0G_10 + 604800 * (fmod((d_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
-            DLOG(INFO) << "delta_t=" << delta_t << "[s]";
         }
 }
 
 
-
-
 int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
@@ -226,7 +202,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     consume_each(1);
 
     d_flag_preamble = false;
-    unsigned int required_symbols=GLONASS_GNAV_PAGE_SYMBOLS+d_symbols_per_preamble;
+    unsigned int required_symbols=GLONASS_GNAV_FRAME_BITS+d_symbols_per_preamble;
 
     if (d_symbol_history.size()>required_symbols)
     {
@@ -283,7 +259,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                     // NEW GLONASS string received
                     // 0. fetch the symbols into an array
                     int frame_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
-                    double page_part_symbols[frame_length];
+                    double frame_symbols[frame_length];
 
                     //******* SYMBOL TO BIT *******
                     if (d_symbol_history.at(0).Flag_valid_symbol_output == true)
@@ -342,36 +318,20 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
         //update TOW at the preamble instant
         {
-            if(d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
-                {
-                //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
-                    d_TOW_at_current_symbol = d_nav.TOW_5  + GALILEO_INAV_PAGE_PART_SECONDS+((double)required_symbols)*GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
-                    d_nav.flag_TOW_5 = false;
-                }
+            d_TOW_at_current_symbol = floor((d_nav.d_TOW + 2*GLONASS_L1_CA_CODE_PERIOD + GLONASS_CA_PREAMBLE_DURATION_S)*1000.0)/1000.0;
 
-            else if(d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
-                {
-                    //TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
-                    d_TOW_at_current_symbol = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS+((double)required_symbols)*GALILEO_E1_CODE_PERIOD;//-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
-                    d_nav.flag_TOW_6 = false;
-                }
-            else
-                {
-                    //this page has no timing information
-                    d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
-                }
         }
     else //if there is not a new preamble, we define the TOW of the current symbol
         {
-            d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;
+            d_TOW_at_current_symbol = d_TOW_at_current_symbol + GLONASS_L1_CA_CODE_PERIOD;
         }
 
     //if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
 
-    if(d_nav.flag_GGTO_1 == true  and  d_nav.flag_GGTO_2 == true and  d_nav.flag_GGTO_3 == true and  d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
-        {
-            delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
-        }
+    // if(d_nav.flag_GGTO_1 == true  and  d_nav.flag_GGTO_2 == true and  d_nav.flag_GGTO_3 == true and  d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
+    //     {
+    //         delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
+    //     }
 
     if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
         {
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index eab2136e2..5e4ff6df7 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -77,12 +77,13 @@ private:
     glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
     glonass_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
 
-    void decode_word(double *symbols);
+    void decode_string(double *symbols, int frame_length);
 
     //!< Preamble decoding
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
     int *d_preambles_symbols;
     unsigned int d_samples_per_symbol;
+    unsigned int d_samples_per_preamble_symbol;
     int d_symbols_per_preamble;
 
     //!< Storage for incoming data
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 3a93d0def..3b03a58e5 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -94,13 +94,14 @@ const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (
 const int GLONASS_L1_CA_HISTORY_DEEP = 100;
 
 // NAVIGATION MESSAGE DEMODULATION AND DECODING
-#define GLONASS_CA_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
-const int GLONASS_CA_PREAMBLE_LENGTH_BITS = 30;
-const int GLONASS_CA_PREAMBLE_LENGTH_SYMBOLS = 300;
-const double GLONASS_CA_PREAMBLE_DURATION_S = 0.3;
-const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
-const int GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT = 10;
-const int GLONASS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_CA_TELEMETRY_RATE_BITS_SECOND*GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT;   //!< NAV message bit rate [symbols/s]
+#define GLONASS_GNAV_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
+const int GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
+const int GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
+const double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.3;
+const int GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
+const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;
+const int GLONASS_GNAV_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND*GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT;   //!< NAV message bit rate [symbols/s]
 const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
 const int GLONASS_GNAV_FRAME_BITS = 1725;       //!< Number of chips per frame in the GNAV message  15 strings*(85 data bits + 30 time mark bits)[bits]
 const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 3b66f7a12..f5bb76eab 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -81,18 +81,6 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 	d_tau_c = 0.0;
 	d_TOW = 0.0; // tow of the start of frame
 	d_WN = 0.0; //  week number of the start of frame
-    // satellite positions
-    d_satpos_X = 0.0;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    d_satpos_Y = 0.0;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    d_satpos_Z = 0.0;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    d_satvel_X = 0.0;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    d_satvel_Y = 0.0;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    d_satvel_Z = 0.0;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-    // Satellite acceleration
-    d_satacc_X = 0.0;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-    d_satacc_Y = 0.0;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-    d_satacc_Z = 0.0;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
 }
 
 
@@ -107,122 +95,6 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
 }
 
 
-void Glonass_Gnav_Ephemeris::gravitational_perturbations()
-{
-    double T = 0.0;
-    double sigma_days = 0.0;
-    double tau_prime = 0.0;
-    double Omega_moon = 0.0;
-    double q_moon = 0.0;
-    double q_sun = 0.0;
-
-    double xi_star = 0.0;
-    double eta_star = 0.0;
-    double zeta_star = 0.0;
-    double E_moon = 0.0;
-    double E_sun = 0.0;
-    double xi_11 = 0.0;
-    double xi_12 = 0.0;
-    double eta_11 = 0.0;
-    double eta_12 = 0.0;
-    double zeta_11 = 0.0;
-    double zeta_12 = 0.0;
-
-    double sin_theta_moon = 0.0;
-    double cos_theta_moon = 0.0;
-    double theta_moon = 0.0;
-    double xi_moon_e = 0.0;
-    double eta_moon_e = 0.0;
-    double zeta_moon_e = 0.0;
-    double r_moon_e = 0.0;
-
-    double sin_theta_sun = 0.0;
-    double cos_theta_sun = 0.0;
-    double theta_sun = 0.0;
-    double xi_sun_e = 0.0;
-    double eta_sun_e = 0.0;
-    double zeta_sun_e = 0.0;
-    double r_sun_e = 0.0;
-
-    double mu_bar_moon = 0.0;
-    double x_bar_moon = 0.0;
-    double y_bar_moon = 0.0;
-    double z_bar_moon = 0.0;
-    double Delta_o_moon = 0.0;
-    double mu_bar_sun = 0.0;
-    double x_bar_sun = 0.0;
-    double y_bar_sun = 0.0;
-    double z_bar_sun = 0.0;
-    double Delta_o_sun = 0.0;
-
-
-    double t_e = 0.0;
-
-    //<! Directive Cosine computation
-    /// \TODO Need to define sigma days
-    T           = (27392.375 + sigma_days + (t_e/86400))/(36525);
-    tau_prime   = GLONASS_TAU_0 + GLONASS_TAU_1 * T;
-    Omega_moon  = GLONASS_MOON_OMEGA_0 + GLONASS_MOON_OMEGA_1*T;
-    q_moon      = GLONASS_MOON_Q0 + GLONASS_MOON_Q1*T;
-    q_sun       = GLONASS_SUN_Q0 + GLONASS_SUN_Q1*T;
-
-    xi_star     = 1 - (cos(Omega_moon)*cos(Omega_moon))*(1 - cos(GLONASS_MOON_INCLINATION));
-    eta_star    = sin(Omega_moon)*(sin(GLONASS_MOON_INCLINATION));
-    zeta_star   = cos(Omega_moon)*(sin(GLONASS_MOON_INCLINATION));
-
-    xi_11   = sin(Omega_moon)*cos(Omega_moon)*(1 - cos(GLONASS_MOON_INCLINATION));
-    xi_12   = 1 - (sin(Omega_moon)*sin(Omega_moon))*(1 - cos(GLONASS_MOON_INCLINATION));
-    eta_11  = xi_star*cos(GLONASS_EARTH_INCLINATION) - xi_star*sin(GLONASS_EARTH_INCLINATION);
-    eta_12  = xi_11*cos(GLONASS_EARTH_INCLINATION) + eta_star*sin(GLONASS_EARTH_INCLINATION);
-    zeta_11 = xi_star*sin(GLONASS_EARTH_INCLINATION) + zeta_star*cos(GLONASS_EARTH_INCLINATION);
-    zeta_12 = xi_11*sin(GLONASS_EARTH_INCLINATION) + eta_star*cos(GLONASS_EARTH_INCLINATION);
-
-    /// \TODO why is this calling sin(E_moon) in the same line where it is being computed
-    E_moon          = q_moon + GLONASS_MOON_ECCENTRICITY*sin(E_moon);
-    sin_theta_moon  = sqrt(1 - GLONASS_MOON_ECCENTRICITY*GLONASS_MOON_ECCENTRICITY)*sin(E_moon)/(1 - GLONASS_MOON_ECCENTRICITY*cos(E_moon));
-    cos_theta_moon  = cos(E_moon - GLONASS_MOON_ECCENTRICITY)/(1 - GLONASS_MOON_ECCENTRICITY*cos(E_moon));
-    theta_moon      = asin(sin_theta_moon);
-
-    xi_moon_e   = sin(theta_moon + tau_prime)*xi_11 + cos(theta_moon + tau_prime)*xi_12;
-    eta_moon_e  = sin(theta_moon + tau_prime)*eta_11 + cos(theta_moon + tau_prime)*eta_12;
-    zeta_moon_e = sin(theta_moon + tau_prime)*zeta_11 + cos(theta_moon + tau_prime)*zeta_12;
-    r_moon_e    = GLONASS_MOON_SEMI_MAJOR_AXIS*(1-GLONASS_MOON_ECCENTRICITY*cos(E_moon));
-
-    /// \TODO why is this calling sin(E_moon) in the same line where it is being computed
-    E_sun           = q_sun + GLONASS_SUN_ECCENTRICITY*sin(E_sun);
-    sin_theta_sun   = sqrt(1 - GLONASS_SUN_ECCENTRICITY*GLONASS_SUN_ECCENTRICITY)*sin(E_sun)/(1 - GLONASS_SUN_ECCENTRICITY*cos(E_sun));
-    cos_theta_sun   = cos(E_sun - GLONASS_SUN_ECCENTRICITY)/(1 - GLONASS_SUN_ECCENTRICITY*cos(E_sun));
-    theta_sun       = asin(sin_theta_sun);
-
-    xi_sun_e    = (cos_theta_sun*cos(GLONASS_SUN_OMEGA) - sin_theta_sun*sin(GLONASS_SUN_OMEGA));
-    eta_sun_e   = (sin_theta_sun*cos(GLONASS_SUN_OMEGA) + cos_theta_sun*sin(GLONASS_SUN_OMEGA))*cos(GLONASS_EARTH_INCLINATION);
-    zeta_sun_e  = (sin_theta_sun*cos(GLONASS_SUN_OMEGA) + cos_theta_sun*sin(GLONASS_SUN_OMEGA))*sin(GLONASS_EARTH_INCLINATION);
-    r_sun_e     = GLONASS_SUN_SEMI_MAJOR_AXIS*(1-GLONASS_SUN_ECCENTRICITY*cos(E_sun));
-
-    //<! Gravitational computation
-    mu_bar_moon = GLONASS_MOON_GM/(r_moon_e*r_moon_e);
-    x_bar_moon  = d_Xn/r_moon_e;
-    y_bar_moon  = d_Yn/r_moon_e;
-    z_bar_moon  = d_Zn/r_moon_e;
-    Delta_o_moon = sqrt((xi_moon_e - x_bar_moon)*(xi_moon_e - x_bar_moon) + (eta_moon_e - y_bar_moon)*(eta_moon_e - y_bar_moon) + (zeta_moon_e - z_bar_moon)*(zeta_moon_e - z_bar_moon));
-
-    mu_bar_sun = GLONASS_MOON_GM/(r_sun_e*r_sun_e);
-    x_bar_sun  = d_Xn/r_sun_e;
-    y_bar_sun  = d_Yn/r_sun_e;
-    z_bar_sun  = d_Zn/r_sun_e;
-    Delta_o_sun = sqrt((xi_sun_e - x_bar_sun)*(xi_sun_e - x_bar_sun) + (eta_sun_e - y_bar_sun)*(eta_sun_e - y_bar_sun) + (zeta_sun_e - z_bar_sun)*(zeta_sun_e - z_bar_sun));
-
-    d_Jx_moon = mu_bar_moon*(xi_moon_e - x_bar_moon)/pow(Delta_o_moon,3.0) - xi_moon_e;
-    d_Jy_moon = mu_bar_moon*(eta_moon_e - y_bar_moon)/pow(Delta_o_moon,3.0) - eta_moon_e;
-    d_Jz_moon = mu_bar_moon*(zeta_moon_e - z_bar_moon)/pow(Delta_o_moon,3.0) - zeta_moon_e;
-
-    d_Jx_sun = mu_bar_sun*(xi_sun_e - x_bar_sun)/pow(Delta_o_sun,3.0) - xi_sun_e;
-    d_Jy_sun = mu_bar_sun*(eta_sun_e - y_bar_sun)/pow(Delta_o_sun,3.0) - eta_sun_e;
-    d_Jz_sun = mu_bar_sun*(zeta_sun_e - z_bar_sun)/pow(Delta_o_sun,3.0) - zeta_sun_e;
-
-}
-
-
 double Glonass_Gnav_Ephemeris::check_t(double time)
 {
     double corrTime;
@@ -251,536 +123,3 @@ double Glonass_Gnav_Ephemeris::sv_clock_drift(double transmitTime, double timeCo
 
     return d_satClkDrift;
 }
-
-// TODO is this the right formula
-// compute the relativistic correction term
-double Glonass_Gnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
-{
-    // Compute relativistic correction term
-    d_dtr = 0.0;
-    return d_dtr;
-}
-
-
-double Glonass_Gnav_Ephemeris::simplified_satellite_position(double transmitTime)
-{
-    double dt = 0.0;
-    double tau = 0.0;
-    double tk = 0.0;
-    int numberOfIntegrations = 0;
-
-    // RK 1
-    double x_0 = 0.0;
-    double y_0 = 0.0;
-    double z_0 = 0.0;
-
-    double Vx_0 = 0.0;
-    double Vy_0 = 0.0;
-    double Vz_0 = 0.0;
-
-    double Ax_0 = 0.0;
-    double Ay_0 = 0.0;
-    double Az_0 = 0.0;
-
-    double r0   = 0.0;
-    double r0_2 = 0.0;
-    double r0_3 = 0.0;
-    double r0_5 = 0.0;
-
-    double dVx_1  = 0.0;
-    double dVy_1  = 0.0;
-    double dVz_1  = 0.0;
-
-    double dx_1  = 0.0;
-    double dy_1  = 0.0;
-    double dz_1  = 0.0;
-
-    // Runge-Kutta Integration Stage K2
-    double x_1   = 0.0;
-    double y_1   = 0.0;
-    double z_1   = 0.0;
-
-    double Vx_1  = 0.0;
-    double Vy_1  = 0.0;
-    double Vz_1  = 0.0;
-
-    double r1   = 0.0;
-    double r1_2 = 0.0;
-    double r1_3 = 0.0;
-    double r1_5 = 0.0;
-
-    double dVx_2  = 0.0;
-    double dVy_2  = 0.0;
-    double dVz_2  = 0.0;
-
-    double dx_2 = 0.0;
-    double dy_2 = 0.0;
-    double dz_2 = 0.0;
-
-    // Runge-Kutta Integration Stage K3
-    double x_2   = 0.0;
-    double y_2   = 0.0;
-    double z_2   = 0.0;
-
-    double Vx_2  = 0.0;
-    double Vy_2  = 0.0;
-    double Vz_2  = 0.0;
-
-    double r2   = 0.0;
-    double r2_2 = 0.0;
-    double r2_3 = 0.0;
-    double r2_5 = 0.0;
-
-    double dVx_3  = 0.0;
-    double dVy_3  = 0.0;
-    double dVz_3  = 0.0;
-
-    double dx_3 = 0.0;
-    double dy_3 = 0.0;
-    double dz_3 = 0.0;
-
-    // Runge-Kutta Integration Stage K4
-    double x_3   = 0.0;
-    double y_3   = 0.0;
-    double z_3   = 0.0;
-
-    double Vx_3  = 0.0;
-    double Vy_3  = 0.0;
-    double Vz_3  = 0.0;
-
-    double r3   = 0.0;
-    double r3_2 = 0.0;
-    double r3_3 = 0.0;
-    double r3_5 = 0.0;
-
-    double dVx_4  = 0.0;
-    double dVy_4  = 0.0;
-    double dVz_4  = 0.0;
-
-    double dx_4 = 0.0;
-    double dy_4 = 0.0;
-    double dz_4 = 0.0;
-
-    // Find time difference
-    dt = check_t(transmitTime - d_t_b);
-
-    // Calculate clock correction
-    d_satClkDrift = -(d_tau_n + /*d_tau_c*/ - d_gamma_n * dt);
-
-    // Find integration time
-    tk    = dt - d_satClkDrift;
-
-    // Check if to integrate forward or backward
-    if(tk < 0)
-        {
-            tau      = -60;
-        }
-    else
-        {
-            tau      = 60;
-        }
-
-    // x,y,z coordinates to meters
-    x_0  = d_Xn * 1e3;
-    y_0  = d_Yn * 1e3;
-    z_0  = d_Zn * 1e3;
-
-    // x,y,z velocities to meters/s
-    Vx_0 = d_VXn * 1e3;
-    Vy_0 = d_VYn * 1e3;
-    Vz_0 = d_VZn * 1e3;
-
-    // x,y,z accelerations to meters/sec^2
-    Ax_0 = d_AXn * 1e3;
-    Ay_0 = d_AYn * 1e3;
-    Az_0 = d_AZn * 1e3;
-
-    for(numberOfIntegrations = tau; numberOfIntegrations < tk+tau; numberOfIntegrations += tau)
-        {
-            // Check if last integration step. If last integration step, make one more step that has the remaining time length...
-            if(fabs(numberOfIntegrations) > fabs(tk))
-                {
-                    // if there is more time left to integrate...
-                    if(fmod(tk,tau) != 0)
-                        {
-                            tau = fmod(tk,tau);
-                        }
-                    else // otherwise make a zero step.
-                        {
-                            tau = 0;
-                        }
-                }
-
-            // Runge-Kutta Integration Stage K1
-            r0      = sqrt(x_0*x_0 + y_0*y_0 + z_0*z_0);
-            r0_2    = r0*r0;
-            r0_3    = r0*r0*r0;
-            r0_5    = r0*r0*r0*r0*r0;
-
-            dVx_1  = - GLONASS_GM / r0_3 * x_0 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r0_5 * x_0 * (1 - 5 * (z_0*z_0) / r0_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_0 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_0 + Ax_0;
-            dVy_1  = - GLONASS_GM / r0_3 * y_0 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r0_5 * y_0 * (1 - 5 * (z_0*z_0) / r0_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_0 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_0 + Ay_0;
-            dVz_1  = - GLONASS_GM / r0_3 * z_0 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r0_5 * z_0 * (3 - 5 * (z_0*z_0) / r0_2) + Az_0;
-
-            dx_1  = Vx_0;
-            dy_1  = Vy_0;
-            dz_1  = Vz_0;
-
-            // Runge-Kutta Integration Stage K2
-            Vx_1  = Vx_0 + 1/2 * tau * dVx_1;
-            Vy_1  = Vy_0 + 1/2 * tau * dVy_1;
-            Vz_1  = Vz_0 + 1/2 * tau * dVz_1;
-
-            x_1   = x_0  + 1/2 * tau * dx_1;
-            y_1   = y_0  + 1/2 * tau * dy_1;
-            z_1   = z_0  + 1/2 * tau * dz_1;
-
-            r1  = sqrt( x_1*x_1 + y_1*y_1 + z_1*z_1 );
-            r1_2    = r1*r1;
-            r1_3    = r1*r1*r1;
-            r1_5    = r1*r1*r1*r1*r1;
-
-            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax_0;
-            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay_0;
-            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az_0;
-
-            dx_2  = Vx_1;
-            dy_2  = Vy_1;
-            dz_2  = Vz_1;
-
-            // Runge-Kutta Integration Stage K2
-            Vx_2  = Vx_0 + 1/2 * tau * dVx_2;
-            Vy_2  = Vy_0 + 1/2 * tau * dVy_2;
-            Vz_2  = Vz_0 + 1/2 * tau * dVz_2;
-
-            x_2   = x_0  + 1/2 * tau * dx_2;
-            y_2   = y_0  + 1/2 * tau * dy_2;
-            z_2   = z_0  + 1/2 * tau * dz_2;
-
-            r2  = sqrt( x_2*x_2 + y_2*y_2 + z_2*z_2 );
-            r2_2 = r2*r2;
-            r2_3 = r2*r2*r2;
-            r2_5 = r2*r2*r2*r2*r2;
-
-
-            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax_0;
-            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay_0;
-            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az_0;
-
-            dx_3  = Vx_2;
-            dy_3  = Vy_2;
-            dz_3  = Vz_2;
-
-            // Runge-Kutta Integration Stage K3
-            Vx_3  = Vx_0 + tau * dVx_3;
-            Vy_3  = Vy_0 + tau * dVy_3;
-            Vz_3  = Vz_0 + tau * dVz_3;
-
-            x_3   = x_0  + tau * dx_3;
-            y_3   = y_0  + tau * dy_3;
-            z_3   = z_0  + tau * dz_3;
-
-            r3  = sqrt( x_3*x_3 + y_3*y_3 + z_3*z_3 );
-            r3_2 = r3*r3;
-            r3_3 = r3*r3*r3;
-            r3_5 = r3*r3*r3*r3*r3;
-
-            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax_0;
-            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + pow(GLONASS_OMEGA_EARTH_DOT, 2) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay_0;
-            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az_0;
-
-            dx_4  = Vx_3;
-            dy_4  = Vy_3;
-            dz_4  = Vz_3;
-
-            // Final results showcased here
-            Vx_0  = Vx_0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
-            Vy_0  = Vy_0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
-            Vz_0  = Vz_0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
-
-            x_0   = x_0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
-            y_0   = y_0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
-            z_0   = z_0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
-
-        }
-
-    // Reasign position, velocities and accelerations for next integration
-    d_satpos_X = x_0;
-    d_satpos_Y = y_0;
-    d_satpos_Z = z_0;
-
-    d_satvel_X = Vx_0;
-    d_satvel_Y = Vy_0;
-    d_satvel_Z = Vz_0;
-
-    d_satacc_X = d_AXn;    // No change in accelerations reported over interval
-    d_satacc_Y = d_AYn;    // No change in accelerations reported over interval
-    d_satacc_Z = d_AZn;    // No change in accelerations reported over interval
-
-    // Time from ephemeris reference clock
-    //tk = check_t(transmitTime - d_Toc);
-
-    //double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
-
-    /* relativity correction */
-    //dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
-
-    return 0;
-}
-
-
-double Glonass_Gnav_Ephemeris::satellite_position(double transmitTime)
-{
-    double dt = 0.0;
-    double tk = 0.0;
-    double tau = 0.0;
-    int numberOfIntegrations = 0;
-
-    // RK 1
-    double x_0 = 0.0;
-    double y_0 = 0.0;
-    double z_0 = 0.0;
-
-    double Vx_0 = 0.0;
-    double Vy_0 = 0.0;
-    double Vz_0 = 0.0;
-
-    double Ax_0 = 0.0;
-    double Ay_0 = 0.0;
-    double Az_0 = 0.0;
-
-    double r0   = 0.0;
-    double r0_2 = 0.0;
-    double r0_3 = 0.0;
-    double r0_5 = 0.0;
-
-    double dVx_1  = 0.0;
-    double dVy_1  = 0.0;
-    double dVz_1  = 0.0;
-
-    double dx_1  = 0.0;
-    double dy_1  = 0.0;
-    double dz_1  = 0.0;
-
-    // Runge-Kutta Integration Stage K2
-    double x_1   = 0.0;
-    double y_1   = 0.0;
-    double z_1   = 0.0;
-
-    double Vx_1  = 0.0;
-    double Vy_1  = 0.0;
-    double Vz_1  = 0.0;
-
-    double r1   = 0.0;
-    double r1_2 = 0.0;
-    double r1_3 = 0.0;
-    double r1_5 = 0.0;
-
-    double dVx_2  = 0.0;
-    double dVy_2  = 0.0;
-    double dVz_2  = 0.0;
-
-    double dx_2 = 0.0;
-    double dy_2 = 0.0;
-    double dz_2 = 0.0;
-
-    // Runge-Kutta Integration Stage K3
-    double x_2   = 0.0;
-    double y_2   = 0.0;
-    double z_2   = 0.0;
-
-    double Vx_2  = 0.0;
-    double Vy_2  = 0.0;
-    double Vz_2  = 0.0;
-
-    double r2   = 0.0;
-    double r2_2 = 0.0;
-    double r2_3 = 0.0;
-    double r2_5 = 0.0;
-
-    double dVx_3  = 0.0;
-    double dVy_3  = 0.0;
-    double dVz_3  = 0.0;
-
-    double dx_3 = 0.0;
-    double dy_3 = 0.0;
-    double dz_3 = 0.0;
-
-    // Runge-Kutta Integration Stage K4
-    double x_3   = 0.0;
-    double y_3   = 0.0;
-    double z_3   = 0.0;
-
-    double Vx_3  = 0.0;
-    double Vy_3  = 0.0;
-    double Vz_3  = 0.0;
-
-    double r3   = 0.0;
-    double r3_2 = 0.0;
-    double r3_3 = 0.0;
-    double r3_5 = 0.0;
-
-    double dVx_4  = 0.0;
-    double dVy_4  = 0.0;
-    double dVz_4  = 0.0;
-
-    double dx_4 = 0.0;
-    double dy_4 = 0.0;
-    double dz_4 = 0.0;
-
-    // Find time difference
-    dt = check_t(transmitTime - d_t_b);
-
-    // Calculate clock correction
-    d_satClkDrift = -(d_tau_n + /*d_tau_c*/ - d_gamma_n * dt);
-
-    // Find integration time
-    tk    = dt - d_satClkDrift;
-
-    // Check if to integrate forward or backward
-    if (tk < 0)
-        {
-            tau      = -60;
-        }
-    else
-        {
-            tau      = 60;
-        }
-
-    // Coordinates transformation to an inertial reference frame
-    // x,y,z coordinates to meters
-    x_0  = d_Xn * 1e3;
-    y_0  = d_Yn * 1e3;
-    z_0  = d_Zn * 1e3;
-
-    // x,y,z velocities to meters/s
-    Vx_0 = d_VXn * 1e3;
-    Vy_0 = d_VYn * 1e3;
-    Vz_0 = d_VZn * 1e3;
-
-    // x,y,z accelerations to meters/sec^2
-    Ax_0 = d_AXn * 1e3;
-    Ay_0 = d_AYn * 1e3;
-    Az_0 = d_AZn * 1e3;
-
-    for(numberOfIntegrations = tau; numberOfIntegrations < tk+tau; numberOfIntegrations += tau)
-        {
-            // Check if last integration step. If last integration step, make one more step that has the remaining time length...
-            if(fabs(numberOfIntegrations) > fabs(tk))
-                {
-                    // if there is more time left to integrate...
-                    if (fmod(tk,tau) != 0)
-                        {
-                            tau = fmod(tk,tau);
-                        }
-                    else // otherwise make a zero step.
-                        {
-                            tau = 0;
-                        }
-                }
-
-            // Runge-Kutta Integration Stage K1
-            r0      = sqrt(x_0*x_0 + y_0*y_0 + z_0*z_0);
-            r0_2    = r0*r0;
-            r0_3    = r0*r0*r0;
-            r0_5    = r0*r0*r0*r0*r0;
-
-            dx_1 = Vx_0;
-            dy_1 = Vy_0;
-            dz_1 = Vz_0;
-
-            dVx_1  = - GLONASS_GM / r0_3 * x_0 + 3/2 * GLONASS_C20 * GLONASS_GM * pow(GLONASS_EARTH_RADIUS, 2) / r0_5 * x_0 * (1 - 5 * 1 / (z_0*z_0)) + d_Jx_moon + d_Jx_sun;
-            dVy_1  = - GLONASS_GM / r0_3 * y_0 + 3/2 * GLONASS_C20 * GLONASS_GM * pow(GLONASS_EARTH_RADIUS, 2) / r0_5 * y_0 * (1 - 5 * 1 / (z_0*z_0)) + d_Jy_moon + d_Jy_sun;
-            dVz_1  = - GLONASS_GM / r0_3 * z_0 + 3/2 * GLONASS_C20 * GLONASS_GM * pow(GLONASS_EARTH_RADIUS, 2) / r0_5 * z_0 * (3 - 5 * 1 / (z_0*z_0)) + d_Jz_moon + d_Jz_sun;
-
-            dx_1  = Vx_0;
-            dy_1  = Vy_0;
-            dz_1  = Vz_0;
-
-            // Runge-Kutta Integration Stage K2
-            Vx_1  = Vx_0 + 1/2 * tau * dVx_1;
-            Vy_1  = Vy_0 + 1/2 * tau * dVy_1;
-            Vz_1  = Vz_0 + 1/2 * tau * dVz_1;
-
-            x_1   = x_0  + 1/2 * tau * dx_1;
-            y_1   = y_0  + 1/2 * tau * dy_1;
-            z_1   = z_0  + 1/2 * tau * dz_1;
-
-            r1  = sqrt( x_1*x_1 + y_1*y_1 + z_1*z_1 );
-            r1_2    = r1*r1;
-            r1_3    = r1*r1*r1;
-            r1_5    = r1*r1*r1*r1*r1;
-
-            dVx_2  = - GLONASS_GM / r1_3 * x_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * x_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_1 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_1 + Ax_0;
-            dVy_2  = - GLONASS_GM / r1_3 * y_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * y_1 * (1 - 5 * (z_1*z_1) / r1_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_1 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_1 + Ay_0;
-            dVz_2  = - GLONASS_GM / r1_3 * z_1 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r1_5 * z_1 * (3 - 5 * (z_1*z_1) / r1_2) + Az_0;
-
-            dx_2  = Vx_1;
-            dy_2  = Vy_1;
-            dz_2  = Vz_1;
-
-            // Runge-Kutta Integration Stage K2
-            Vx_2  = Vx_0 + 1/2 * tau * dVx_2;
-            Vy_2  = Vy_0 + 1/2 * tau * dVy_2;
-            Vz_2  = Vz_0 + 1/2 * tau * dVz_2;
-
-            x_2   = x_0  + 1/2 * tau * dx_2;
-            y_2   = y_0  + 1/2 * tau * dy_2;
-            z_2   = z_0  + 1/2 * tau * dz_2;
-
-            r2  = sqrt( x_2*x_2 + y_2*y_2 + z_2*z_2 );
-            r2_2 = r2*r2;
-            r2_3 = r2*r2*r2;
-            r2_5 = r2*r2*r2*r2*r2;
-
-
-            dVx_3  = - GLONASS_GM / r2_3 * x_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * x_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_2 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_2 + Ax_0;
-            dVy_3  = - GLONASS_GM / r2_3 * y_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * y_2 * (1 - 5 * (z_2*z_2) / r2_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_2 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_2 + Ay_0;
-            dVz_3  = - GLONASS_GM / r2_3 * z_2 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r2_5 * z_2 * (3 - 5 * (z_2*z_2) / r2_2) + Az_0;
-
-            dx_3  = Vx_2;
-            dy_3  = Vy_2;
-            dz_3  = Vz_2;
-
-            // Runge-Kutta Integration Stage K3
-            Vx_3  = Vx_0 + tau * dVx_3;
-            Vy_3  = Vy_0 + tau * dVy_3;
-            Vz_3  = Vz_0 + tau * dVz_3;
-
-            x_3   = x_0  + tau * dx_3;
-            y_3   = y_0  + tau * dy_3;
-            z_3   = z_0  + tau * dz_3;
-
-            r3  = sqrt( x_3*x_3 + y_3*y_3 + z_3*z_3 );
-            r3_2 = r3*r3;
-            r3_3 = r3*r3*r3;
-            r3_5 = r3*r3*r3*r3*r3;
-
-            dVx_4  = - GLONASS_GM / r3_3 * x_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * x_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * x_3 + 2 * GLONASS_OMEGA_EARTH_DOT * Vy_3 + Ax_0;
-            dVy_4  = - GLONASS_GM / r3_3 * y_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * y_3 * (1 - 5 * (z_3*z_3) / r3_2) + (GLONASS_OMEGA_EARTH_DOT * GLONASS_OMEGA_EARTH_DOT) * y_3 - 2 * GLONASS_OMEGA_EARTH_DOT * Vx_3 + Ay_0;
-            dVz_4  = - GLONASS_GM / r3_3 * z_3 - 3/2 * GLONASS_J2 * GLONASS_GM * pow(GLONASS_SEMI_MAJOR_AXIS, 2) / r3_5 * z_3 * (3 - 5 * (z_3*z_3) / r3_2) + Az_0;
-
-            dx_4  = Vx_3;
-            dy_4  = Vy_3;
-            dz_4  = Vz_3;
-
-            // Final results showcased here
-            d_satvel_X  = Vx_0 + 1/6 * tau * ( dVx_1 + 2 * dVx_2 + 2 * dVx_3 + dVx_4 );
-            d_satvel_Y  = Vy_0 + 1/6 * tau * ( dVy_1 + 2 * dVy_2 + 2 * dVy_3 + dVy_4 );
-            d_satvel_Z  = Vz_0 + 1/6 * tau * ( dVz_1 + 2 * dVz_2 + 2 * dVz_3 + dVz_4 );
-
-            d_satpos_X   = x_0 + 1/6 * tau * ( dx_1 + 2 * dx_2 + 2 * dx_3 + dx_4 );
-            d_satpos_Y   = y_0 + 1/6 * tau * ( dy_1 + 2 * dy_2 + 2 * dy_3 + dy_4 );
-            d_satpos_Z   = z_0 + 1/6 * tau * ( dz_1 + 2 * dz_2 + 2 * dz_3 + dz_4 );
-
-        }
-
-    // Time from ephemeris reference clock
-    //tk = check_t(transmitTime - d_Toc);
-
-    //double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
-
-    /* relativity correction */
-    //dtr_s -= 2.0 * sqrt(GM * GLONASS_a) * d_e_eccentricity * sin(E) / (GPS_C_m_s * GPS_C_m_s);
-
-    return d_dtr;
-}
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 8a978f816..ef4a0ec12 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -60,16 +60,6 @@ private:
      */
     double check_t(double time);
 
-    void gravitational_perturbations();
-
-    double d_Jx_moon;         //!< Moon gravitational perturbation
-    double d_Jy_moon;         //!< Moon gravitational perturbation
-    double d_Jz_moon;         //!< Moon gravitational perturbation
-
-    double d_Jx_sun;          //!< Sun gravitational perturbation
-    double d_Jy_sun;          //!< Sun gravitational perturbation
-    double d_Jz_sun;          //!< Sun gravitational perturbation
-
 public:
     double d_m;             //!< String number within frame [dimensionless]
     double d_t_k;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
@@ -115,19 +105,6 @@ public:
     double d_TOW; // tow of the start of frame
     double d_WN; //  week number of the start of frame
 
-    // satellite positions after RK4 Integration
-    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity after RK4 Integration
-    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-    // Satellite acceleration after RK4 Integration
-    double d_satacc_X;        //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_satacc_Y;        //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-    double d_satacc_Z;        //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
-
     template<class Archive>
 
     /*!
@@ -171,37 +148,12 @@ public:
         archive & make_nvp("d_l5th_n", d_l5th_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
     }
 
-    /*!
-     * \brief Compute the ECEF SV coordinates and ECEF velocity
-     * Implementation of Algorithm A.3.1.2 in GLONASS ICD v5.1
-     * and compute the clock bias term including relativistic effect (return value)
-     * \param transmitTime Time of ephemeris transmission
-     * \return clock bias of satellite
-     */
-    double simplified_satellite_position(double transmitTime);
-
-    /*!
-     * \brief Compute the ECEF SV coordinates and ECEF velocity
-     * Implementation of Algorithm A.3.1.1 in GLONASS ICD v5.1
-     * and compute the clock bias term including relativistic effect (return value)
-     * \param transmitTime Time of ephemeris transmission
-     * \return clock bias of satellite
-     */
-    double satellite_position(double transmitTime);
-
     /*!
      * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
      *  (IS-GPS-200E,  20.3.3.3.3.1)
      */
     double sv_clock_drift(double transmitTime, double timeCorrUTC);
 
-    /*!
-     * \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
-     *  (IS-GPS-200E,  20.3.3.3.3.1)
-     */
-    double sv_clock_relativistic_term(double transmitTime);
-
-
     /*!
      *  \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
      * \ param offset_time Is the start of day offset to compute the time
diff --git a/src/core/system_parameters/glonass_gnav_utc_model.h b/src/core/system_parameters/glonass_gnav_utc_model.h
index fa0886418..9e84762d6 100644
--- a/src/core/system_parameters/glonass_gnav_utc_model.h
+++ b/src/core/system_parameters/glonass_gnav_utc_model.h
@@ -1,7 +1,9 @@
 /*!
  * \file glonass_gnav_utc_model.h
  * \brief  Interface of a GLONASS GNAV UTC MODEL storage
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  * -------------------------------------------------------------------------
  *

From bf9345ebd21c074e27a84d37032089daa448adee Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 29 Aug 2017 00:16:07 -0600
Subject: [PATCH 265/379] Fixes error after rebase operation from upstream/next

---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |   2 +-
 src/algorithms/PVT/libs/rtklib_solver.cc      | 270 +++++++++---------
 src/algorithms/PVT/libs/rtklib_solver.h       |   8 -
 3 files changed, 137 insertions(+), 143 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 1ebf824f7..083aee259 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -717,7 +717,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                     std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
                                     std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
                                     std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
-									std::map<int, Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter;
+									std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
                                     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
 
                                     if (!b_rinex_header_written) //  & we have utc data in nav message!
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index b803a6c45..c19dd7f4b 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -134,74 +134,77 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
         {
             switch(gnss_observables_iter->second.System)
             {
-                // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
-                galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
+            case 'E':
                 {
-                    std::string sig_(gnss_observables_iter->second.Signal);
-                    // Galileo E1
-                    if(sig_.compare("1B") == 0)
-                        {
-                            // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
-                            galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                            if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
-                                {
-                                    //convert ephemeris from GNSS-SDR class to RTKLIB structure
-                                    eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
-                                    //convert observation from GNSS-SDR class to RTKLIB structure
-                                    obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                    obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
-                                            gnss_observables_iter->second,
-                                            galileo_ephemeris_iter->second.WN_5,
-                                            0);
-                                    valid_obs++;
-                                }
-                            else // the ephemeris are not available for this SV
-                                {
-                                    DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
-                                }
+                    // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+                    galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                    if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
+                    {
+                        std::string sig_(gnss_observables_iter->second.Signal);
+                        // Galileo E1
+                        if(sig_.compare("1B") == 0)
+                            {
+                                // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+                                galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
+                                    {
+                                        //convert ephemeris from GNSS-SDR class to RTKLIB structure
+                                        eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
+                                        //convert observation from GNSS-SDR class to RTKLIB structure
+                                        obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+                                        obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                                gnss_observables_iter->second,
+                                                galileo_ephemeris_iter->second.WN_5,
+                                                0);
+                                        valid_obs++;
+                                    }
+                                else // the ephemeris are not available for this SV
+                                    {
+                                        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+                                    }
 
-                        }
-                    // Galileo E5
-                    if(sig_.compare("5X") == 0)
-                        {
+                            }
+                        // Galileo E5
+                        if(sig_.compare("5X") == 0)
+                            {
 
-                            // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
-                            galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                            if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
-                                {
-                                    bool found_E1_obs=false;
-                                    for (int i = 0; i < valid_obs; i++)
-                                        {
-                                            if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
-                                                {
-                                                    obs_data[i] = insert_obs_to_rtklib(obs_data[i],
-                                                            gnss_observables_iter->second,
-                                                            galileo_ephemeris_iter->second.WN_5,
-                                                            2);//Band 3 (L5/E5)
-                                                    found_E1_obs=true;
-                                                    break;
-                                                }
-                                        }
-                                    if (!found_E1_obs)
-                                        {
-                                            //insert Galileo E5 obs as new obs and also insert its ephemeris
-                                            //convert ephemeris from GNSS-SDR class to RTKLIB structure
-                                            eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
-                                            //convert observation from GNSS-SDR class to RTKLIB structure
-                                            obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
-                                                    gnss_observables_iter->second,
-                                                    galileo_ephemeris_iter->second.WN_5,
-                                                    2); //Band 3 (L5/E5)
-                                            valid_obs++;
-                                        }
-                                }
-                            else // the ephemeris are not available for this SV
-                                {
-                                    DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
-                                }
-                        }
+                                // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+                                galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
+                                    {
+                                        bool found_E1_obs=false;
+                                        for (int i = 0; i < valid_obs; i++)
+                                            {
+                                                if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
+                                                    {
+                                                        obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                                gnss_observables_iter->second,
+                                                                galileo_ephemeris_iter->second.WN_5,
+                                                                2);//Band 3 (L5/E5)
+                                                        found_E1_obs=true;
+                                                        break;
+                                                    }
+                                            }
+                                        if (!found_E1_obs)
+                                            {
+                                                //insert Galileo E5 obs as new obs and also insert its ephemeris
+                                                //convert ephemeris from GNSS-SDR class to RTKLIB structure
+                                                eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
+                                                //convert observation from GNSS-SDR class to RTKLIB structure
+                                                obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+                                                obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                                        gnss_observables_iter->second,
+                                                        galileo_ephemeris_iter->second.WN_5,
+                                                        2); //Band 3 (L5/E5)
+                                                valid_obs++;
+                                            }
+                                    }
+                                else // the ephemeris are not available for this SV
+                                    {
+                                        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+                                    }
+                            }
+                    }
                     break;
                 }
             case 'G':
@@ -276,75 +279,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                     break;
                 }
 			case 'R': //TODO This should be using rtk lib nomenclature
-			{
-				std::string sig_(gnss_observables_iter->second.Signal);
-				// GLONASS GNAV L1
-				if(sig_.compare("1C") == 0)
-				{
-				    // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
-				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
-				    {
-				        //convert ephemeris from GNSS-SDR class to RTKLIB structure
-				        eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
-				        //convert observation from GNSS-SDR class to RTKLIB structure
-				        obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-				        obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
-				                gnss_observables_iter->second,
-				                glonass_gnav_ephemeris_iter->second.WN_5,
-				                0);//TODO are THESE VALUES OK
-				        valid_obs++;
-				    }
-				    else // the ephemeris are not available for this SV
-				    {
-				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
-				    }
+    			{
+    				std::string sig_(gnss_observables_iter->second.Signal);
+    				// GLONASS GNAV L1
+    				if(sig_.compare("1C") == 0)
+    				{
+    				    // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
+    				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+    				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
+    				    {
+    				        //convert ephemeris from GNSS-SDR class to RTKLIB structure
+    				        geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+    				        //convert observation from GNSS-SDR class to RTKLIB structure
+    				        obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+    				        obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+    				                gnss_observables_iter->second,
+    				                glonass_gnav_ephemeris_iter->second.d_WN,
+    				                0);//TODO are THESE VALUES OK
+    				        valid_obs++;
+    				    }
+    				    else // the ephemeris are not available for this SV
+    				    {
+    				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+    				    }
 
-				}
-				// GLONASS GNAV L2
-				if(sig_.compare("2C") == 0)
-				{
-				    // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
-				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
-				    {
-				        bool found_L1_obs=false;
-				        for (int i = 0; i < valid_obs; i++)
-				        {
-				            // TODO what is this?
-				            if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
-				            {
-				                obs_data[i] = insert_obs_to_rtklib(obs_data[i],
-				                        gnss_observables_iter->second,
-				                        glonass_gnav_ephemeris_iter->second.WN_5,
-				                        2);//Band 3 (L5/E5)
-				                found_L1_obs=true;
-				                break;
-				            }
-				        }
-				        if (!found_L1_obs)
-				        {
-				            //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
-				            //convert ephemeris from GNSS-SDR class to RTKLIB structure
-				            eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
-				            //convert observation from GNSS-SDR class to RTKLIB structure
-				            obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-				            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
-				                    gnss_observables_iter->second,
-				                    galileo_ephemeris_iter->second.WN_5,
-				                    2); //Band 3 (L5/E5)
-				            valid_obs++;
-				        }
-				    }
-				    else // the ephemeris are not available for this SV
-				    {
-				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
-				    }
+    				}
+    				// GLONASS GNAV L2
+    				if(sig_.compare("2C") == 0)
+    				{
+    				    // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+    				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+    				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
+    				    {
+    				        bool found_L1_obs=false;
+    				        for (int i = 0; i < valid_obs; i++)
+    				        {
+    				            // TODO what is this?
+    				            if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
+    				            {
+    				                obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+    				                        gnss_observables_iter->second,
+    				                        glonass_gnav_ephemeris_iter->second.d_WN,
+    				                        2);//Band 3 (L5/E5)
+    				                found_L1_obs=true;
+    				                break;
+    				            }
+    				        }
+    				        if (!found_L1_obs)
+    				        {
+    				            //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
+    				            //convert ephemeris from GNSS-SDR class to RTKLIB structure
+    				            geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+    				            //convert observation from GNSS-SDR class to RTKLIB structure
+    				            obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+    				            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+    				                    gnss_observables_iter->second,
+    				                    galileo_ephemeris_iter->second.WN_5,
+    				                    2); //Band 3 (L5/E5)
+    				            valid_obs++;
+    				        }
+    				    }
+    				    else // the ephemeris are not available for this SV
+    				    {
+    				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+    				    }
 
 
-				}
-				break;
-			}
+    				}
+    				break;
+    			}
             default :
                 DLOG(INFO) << "Hybrid observables: Unknown GNSS";
                 break;
@@ -439,8 +442,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                     LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
                             }
                         }
-                }
+                    }
             }
-        }
-        return b_valid_position;
+        return this->is_valid_position();
     }
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 5e74aa357..40e0ab250 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -103,14 +103,6 @@ public:
     Glonass_Gnav_Almanac glonass_gnav_almanac;        //!< Map storing GLONASS GNAV Almanac Model
 
     int count_valid_position;
-
-    bool d_flag_dump_enabled;
-
-    sol_t pvt_sol;
-    rtk_t rtk_;
-
-    std::string d_dump_filename;
-    std::ofstream d_dump_file;
 };
 
 #endif

From 19f4da0aa64b7c1595ae260cc319c68a26dd2ac6 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 29 Aug 2017 01:20:38 -0600
Subject: [PATCH 266/379] merging: Starts merge procedure for glonass branch
 from upstream

Starts merging process of the acquisition and tracking code for GLONASS
processing developed by Gabriel Araujo. Fixes compile warnings and
errors introduced during rebase operation
---
 .../glonass_l1_ca_pcps_acquisition.cc         |  5 +-
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  8 +--
 .../gnuradio_blocks/pcps_acquisition_cc.h     |  2 +-
 .../gnuradio_blocks/pcps_acquisition_sc.cc    |  2 +-
 .../adapters/signal_generator.cc              |  2 +-
 .../gnuradio_blocks/signal_generator_c.cc     |  2 +-
 .../gnuradio_blocks/CMakeLists.txt            |  7 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  5 +-
 .../glonass_l1_ca_dll_pll_c_aid_tracking.cc   |  2 +-
 .../glonass_l1_ca_dll_pll_tracking.cc         |  2 +-
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |  2 +-
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc |  2 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |  2 +-
 src/core/receiver/gnss_block_factory.cc       | 14 ++--
 src/core/system_parameters/GLONASS_L1_CA.h    | 32 +++++++++
 src/core/system_parameters/Glonass_L1_CA.h    | 69 -------------------
 16 files changed, 60 insertions(+), 98 deletions(-)
 delete mode 100644 src/core/system_parameters/Glonass_L1_CA.h

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 5d81dc992..4d321b220 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -2,7 +2,7 @@
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 #include "glonass_l1_signal_processing.h"
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 #include "configuration_interface.h"
 
 
@@ -63,7 +63,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
 
     stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
     DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
-    
+
     if (item_type_.compare("cbyte") == 0)
         {
             cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@@ -357,4 +357,3 @@ gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
             return acquisition_cc_;
         }
 }
-
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 29506fbeb..cd314a342 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -42,7 +42,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
-#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
+#include "GLONASS_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
@@ -178,12 +178,12 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
             int offset = d_fft_size/2;
             std::fill_n( d_fft_if->get_inbuf(), offset, gr_complex( 0.0, 0.0 ) );
             memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset);
-        } 
-    else 
+        }
+    else
         {
             memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
         }
-    
+
     d_fft_if->execute(); // We need the FFT of local code
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
index 4bd5ab857..272a0f9bc 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
@@ -56,7 +56,7 @@
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/fft/fft.h>
 #include "gnss_synchro.h"
-#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
+#include "GLONASS_L1_CA.h" //GLONASS_TWO_PI
 
 class pcps_acquisition_cc;
 
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
index 7200ce946..5a15e2037 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
@@ -41,7 +41,7 @@
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h" //GPS_TWO_PI
-#include "Glonass_L1_CA.h" //GLONASS_TWO_PI
+#include "GLONASS_L1_CA.h" //GLONASS_TWO_PI
 
 
 using google::LogMessage;
diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc
index a2ef90cdf..57e3c0aa0 100644
--- a/src/algorithms/signal_generator/adapters/signal_generator.cc
+++ b/src/algorithms/signal_generator/adapters/signal_generator.cc
@@ -36,7 +36,7 @@
 #include "Galileo_E1.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E5a.h"
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 
 
 using google::LogMessage;
diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index a99c4751d..2e383f40b 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -40,7 +40,7 @@
 #include "Galileo_E1.h"
 #include "Galileo_E5a.h"
 #include "GPS_L1_CA.h"
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 
 /*
 * Create a new instance of signal_generator_c and return
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
index 7de1a365b..043440927 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
@@ -16,14 +16,15 @@
 # along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 #
 
-set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES 
+set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
      gps_l1_ca_telemetry_decoder_cc.cc
      gps_l2c_telemetry_decoder_cc.cc
      galileo_e1b_telemetry_decoder_cc.cc
      sbas_l1_telemetry_decoder_cc.cc
      galileo_e5a_telemetry_decoder_cc.cc
+     glonass_l1_ca_telemetry_decoder_cc.cc
 )
-      
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -40,4 +41,4 @@ file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
 add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
-target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES})
\ No newline at end of file
+target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES})
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 3d63c38ea..6a9bc0944 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -71,7 +71,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY PROCESSING";
     // Define the number of sampes per symbol. Notice that GLONASS has to rates,
     //one for the navigation data and the other for the preamble information
-    d_samples_per_symbol = ( GLONASS_L1_CODE_CHIP_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
+    d_samples_per_symbol = ( GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
 
     // Set the preamble information
     unsigned short int preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS] = GLONASS_GNAV_PREAMBLE;
@@ -108,7 +108,6 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     d_TOW_at_current_symbol = 0;
     delta_t = 0;
     d_CRC_error_counter = 0;
-    flag_even_word_arrived = 0;
     d_flag_preamble = false;
     d_channel = 0;
     flag_TOW_set = false;
@@ -149,7 +148,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         }
 
     // 2. Call the GLONASS GNAV string decoder
-    d_nav.decode_string(page_String);
+    d_nav.string_decoder(frame_string);
 
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 4f73fa200..8ae399d7f 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -1,6 +1,6 @@
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 #include <glog/logging.h>
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 #include "configuration_interface.h"
 
 
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index cce1b19a7..da7fd324c 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -38,7 +38,7 @@
 
 #include "glonass_l1_ca_dll_pll_tracking.h"
 #include <glog/logging.h>
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 #include "configuration_interface.h"
 
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index f08edc5a3..9b9818717 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -12,7 +12,7 @@
 #include "glonass_l1_signal_processing.h"
 #include "tracking_discriminators.h"
 #include "lock_detectors.h"
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 #include "control_message_factory.h"
 
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index e13c48108..dcd94d281 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -13,7 +13,7 @@
 #include "glonass_l1_signal_processing.h"
 #include "tracking_discriminators.h"
 #include "lock_detectors.h"
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 #include "control_message_factory.h"
 
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 65e756c2e..052d89a36 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -10,7 +10,7 @@
 #include "glonass_l1_signal_processing.h"
 #include "tracking_discriminators.h"
 #include "lock_detectors.h"
-#include "Glonass_L1_CA.h"
+#include "GLONASS_L1_CA.h"
 #include "control_message_factory.h"
 
 
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 1f9c73529..927aaf0fe 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -529,7 +529,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
     stream << channel;
     std::string id = stream.str();
     LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
-              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
+              << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder Implementation: " << tlm;
 
     std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
     std::string appendix1;
@@ -1354,12 +1354,6 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
-    else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
-        {
-            std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
-                    out_streams));
-            block = std::move(block_);
-        }
     else
         {
             // Log fatal. This causes execution to stop.
@@ -1496,6 +1490,12 @@ std::unique_ptr<TelemetryDecoderInterface> GNSSBlockFactory::GetTlmBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
+        {
+            std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 3b03a58e5..750b41136 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -88,6 +88,38 @@ const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
 const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;
 
+// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
+const std::map<unsigned int, int> GLONASS_PRN =
+                                               {{ 0, 8,},  //For test
+                                                { 1, 1,},  //Plane 1
+                                                { 2,-4,},  //Plane 1
+                                                { 3, 5,},  //Plane 1
+                                                { 4, 6,},  //Plane 1
+                                                { 5, 1,},  //Plane 1
+                                                { 6,-4,},  //Plane 1
+                                                { 7, 5,},  //Plane 1
+                                                { 8, 6,},  //Plane 1
+                                                { 9,-2,},  //Plane 2
+                                                {10,-7,},  //Plane 2
+                                                {11, 0,},  //Plane 2
+                                                {12,-1,},  //Plane 2
+                                                {13,-2,},  //Plane 2
+                                                {14,-7,},  //Plane 2
+                                                {15, 0,},  //Plane 2
+                                                {16,-1,},  //Plane 2
+                                                {17, 4,},  //Plane 3
+                                                {18,-3,},  //Plane 3
+                                                {19, 3,},  //Plane 3
+                                                {20, 2,},  //Plane 3
+                                                {21, 4,},  //Plane 3
+                                                {22,-3,},  //Plane 3
+                                                {23, 3,},  //Plane 3
+                                                {24, 2}};  //Plane 3
+
+
+const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
+
+
 const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
 
 // OBSERVABLE HISTORY DEEP FOR INTERPOLATION
diff --git a/src/core/system_parameters/Glonass_L1_CA.h b/src/core/system_parameters/Glonass_L1_CA.h
deleted file mode 100644
index bcdfd2b32..000000000
--- a/src/core/system_parameters/Glonass_L1_CA.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef GNSS_SDR_GLONASS_L1_CA_H_
-#define GNSS_SDR_GLONASS_L1_CA_H_
-
-#include <vector>
-#include <map> // std::map
-#include "MATH_CONSTANTS.h"
-#include "gnss_frequencies.h"
-
-// Physical constants
-const double GLONASS_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
-const double GLONASS_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
-const double GLONASS_PI          = 3.1415926535898;  //!< Pi as (NOT) defined in ICD-GLONASS-2008
-const double GLONASS_TWO_PI      = 6.283185307179586;//!< 2Pi as (NOT) defined in ICD-GLONASS-2008
-const double GLONASS_OMEGA_EARTH_DOT     = 7.292115e-5;  //!< Earth rotation rate, [rad/s]
-const double GLONASS_GM          = 3.986004418e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
-// const double F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
-
-// Geodesic constants and parameters
-const double fMa                = 0.35e9;           //!< The Gravitational constant of atmosphere, [m^3/s^2]
-const double SEMI_MAJOR_AXIS    = 6378136;          //!< The Semi-major axis, [m]
-const double FLATTENING         = 1/298.25784;      //!< The Orbital Flattening
-const double EQUATORIAL_GRAVITY = 978032.84;        //!< The Equatorial acceleration of gravity, [mGal]
-const double GRAVITY_CORRECTION = 0.87; //!< The Correction to acceleration of gravity at sea-level due to Atmosphere, [mGal]
-const double SECOND_HARMONIC    = 1082625.75e-9;    //!< Second zonal harmonic of the geopotential (J_2^0)
-const double FOURTH_HARMONIC    = -2370.89e-9;    //!< Fourth zonal harmonic of the geopotential (J_4^0)
-const double SIXTH_HARMONIC     = 6.08e-9;    //!< Sixth zonal harmonic of the geopotential (J_6^0)
-const double EIGHTH_HARMONIC    = 1.40e-11;     //!< Eighth zonal harmonic of the geopotential (J_8^0)
-const double NORMAL_POTENCIAL   = 62636861.4;    //!< The Normal potential at surface of common terrestrial ellipsoid (U_0), [m^2/s^2]
-
-
-// carrier and code frequencies
-const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO; //!< L1 [Hz]
-const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;   //!< GLONASS L1 C/A code rate [chips/s]
-const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;    //!< GLONASS L1 C/A code length [chips]
-const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;     //!< GLONASS L1 C/A code period [seconds]
-const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;     //!< GLONASS L1 C/A chip period [seconds]
-
-// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
-const std::map<unsigned int, int> GLONASS_PRN = 
-                                               {{ 0, 8,},  //For test
-                                                { 1, 1,},  //Plane 1
-                                                { 2,-4,},  //Plane 1
-                                                { 3, 5,},  //Plane 1
-                                                { 4, 6,},  //Plane 1
-                                                { 5, 1,},  //Plane 1
-                                                { 6,-4,},  //Plane 1
-                                                { 7, 5,},  //Plane 1
-                                                { 8, 6,},  //Plane 1
-                                                { 9,-2,},  //Plane 2
-                                                {10,-7,},  //Plane 2
-                                                {11, 0,},  //Plane 2
-                                                {12,-1,},  //Plane 2
-                                                {13,-2,},  //Plane 2
-                                                {14,-7,},  //Plane 2
-                                                {15, 0,},  //Plane 2
-                                                {16,-1,},  //Plane 2
-                                                {17, 4,},  //Plane 3
-                                                {18,-3,},  //Plane 3
-                                                {19, 3,},  //Plane 3
-                                                {20, 2,},  //Plane 3
-                                                {21, 4,},  //Plane 3
-                                                {22,-3,},  //Plane 3
-                                                {23, 3,},  //Plane 3
-                                                {24, 2}};  //Plane 3
-
-
-const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
-
-#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

From 4e78bcf446988b37961e0113785dce34613cedb9 Mon Sep 17 00:00:00 2001
From: Damian Miralles <damian.miralles@colorado.edu>
Date: Tue, 29 Aug 2017 17:32:34 -0600
Subject: [PATCH 267/379] Merge in GLONASS acquisition and tracking code

---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 81 +++++++++++++++++
 .../gnuradio_blocks/signal_generator_c.cc     |  2 +-
 .../telemetry_decoder/adapters/CMakeLists.txt |  7 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     | 90 +++++++++++--------
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |  2 +-
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc |  2 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |  2 +-
 src/core/system_parameters/GLONASS_L1_CA.h    | 20 ++---
 .../glonass_gnav_navigation_message.cc        | 29 +++---
 .../glonass_gnav_navigation_message.h         | 22 +++--
 src/core/system_parameters/rtcm.cc            |  8 +-
 .../glonass_gnav_nav_message_test.cc          | 10 +--
 12 files changed, 179 insertions(+), 96 deletions(-)
 create mode 100644 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
new file mode 100644
index 000000000..83dbf6fcb
--- /dev/null
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -0,0 +1,81 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_hz=6625000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/home/gastd/sdr/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin
+;SignalSource.filename=/home/gastd/sdr/signal_glonass.bin
+SignalSource.item_type=ibyte
+SignalSource.sampling_frequency=6625000
+;SignalSource.freq=0
+;SignalSource.samples=66250000
+SignalSource.samples=0
+SignalSource.dump=false;
+SignalSource.dump_filename=./signal_glonass.bin
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+DataTypeAdapter.implementation=Ibyte_To_Complex
+InputFilter.implementation=Pass_Through
+InputFilter.item_type=gr_complex
+Resampler.implementation=Direct_Resampler
+Resampler.sample_freq_in=6625000
+Resampler.sample_freq_out=6625000
+Resampler.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels_1G.count=2
+Channels.in_acquisition=1
+Channel0.signal=1G
+Channel0.signal=1G
+Channel1.signal=1G
+Channel2.signal=1G
+Channel3.signal=1G
+Channel4.signal=1G
+Channel5.signal=1G
+Channel6.signal=1G
+Channel7.signal=1G
+
+Channel0.satellite=2
+Channel1.satellite=21
+Channel2.satellite=12
+;Channel3.satellite=2
+;Channel4.satellite=22
+;Channel5.satellite=21
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1G.item_type=gr_complex
+Acquisition_1G.threshold=0.0
+Acquisition_1G.pfa=0.01
+Acquisition_1G.if=0
+Acquisition_1G.doppler_max=10000
+Acquisition_1G.doppler_step=250
+Acquisition_1G.dump=false;
+Acquisition_1G.dump_filename=./acquisition.dat
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
+Tracking_1G.item_type=gr_complex
+Tracking_1G.if=0
+Tracking_1G.early_late_space_chips=0.5
+Tracking_1G.pll_bw_hz=20.0;
+Tracking_1G.dll_bw_hz=4.0;
+Tracking_1G.dump=false;
+Tracking_1G.dump_filename=./tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.averaging_depth=100
+PVT.flag_averaging=true
+PVT.output_rate_ms=10
+PVT.display_rate_ms=500
+
diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 2e383f40b..6d84c3084 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -115,7 +115,7 @@ void signal_generator_c::init()
                             / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
 
                     num_of_codes_per_vector_.push_back(galileo_signal ? 4 * static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) : 1);
-                    data_bit_duration_ms_.push_back(1e3 / GLONASS_CA_TELEMETRY_RATE_BITS_SECOND);
+                    data_bit_duration_ms_.push_back(1e3 / GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND);
                 }
             else if (system_[sat] == "E")
                 {
diff --git a/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt b/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
index 974adfb53..41e9bffd1 100644
--- a/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
+++ b/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
@@ -16,12 +16,13 @@
 # along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 #
 
-set(TELEMETRY_DECODER_ADAPTER_SOURCES 
-    gps_l1_ca_telemetry_decoder.cc 
-    gps_l2c_telemetry_decoder.cc 
+set(TELEMETRY_DECODER_ADAPTER_SOURCES
+    gps_l1_ca_telemetry_decoder.cc
+    gps_l2c_telemetry_decoder.cc
     galileo_e1b_telemetry_decoder.cc
     sbas_l1_telemetry_decoder.cc
     galileo_e5a_telemetry_decoder.cc
+    glonass_l1_ca_telemetry_decoder.cc 
 )
 
 include_directories(
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 6a9bc0944..21c549b88 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -58,8 +58,8 @@ glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump)
 glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
         Gnss_Satellite satellite,
         bool dump) :
-                   gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
-                           gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+        gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
+        gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
 {
     // Telemetry Bit transition synchronization port out
     this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
@@ -68,8 +68,8 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     // initialize internal vars
     d_dump = dump;
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY PROCESSING";
-    // Define the number of sampes per symbol. Notice that GLONASS has to rates,
+    LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY DECODING";
+    // Define the number of sampes per symbol. Notice that GLONASS has 2 rates,
     //one for the navigation data and the other for the preamble information
     d_samples_per_symbol = ( GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
 
@@ -83,9 +83,9 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     // preamble bits to sampled symbols
     d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
     int n = 0;
-    for (int i = 0; i < GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT; i++)
+    for (int i = 0; i < GLONASS_GNAV_PREAMBLE_LENGTH_BITS; i++)
         {
-            for (unsigned int j = 0; j < d_samples_per_symbol; j++)
+            for (unsigned int j = 0; j < GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT; j++)
                 {
                     if (d_preambles_bits[i] == 1)
                         {
@@ -133,22 +133,45 @@ glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
 
 void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int frame_length)
 {
+    double chip_acc = 0.0;
+    int chip_acc_counter = 0;
+
     // 1. Transform from symbols to bits
-    std::string frame_string;
+    std::string bi_binary_code;
+    std::string relative_code;
+    // Group samples into bi-binary code
     for(int i = 0; i < (frame_length); i++)
         {
-            if (frame_symbols[i] > 0)
-                {
-                    frame_string.push_back('1');
-                }
+            chip_acc += frame_symbols[i];
+            chip_acc_counter += 1;
+
+            if(chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT - 1))
+              {
+                if (chip_acc > 0)
+                    {
+                        bi_binary_code.push_back('1');
+                    }
+                else
+                    {
+                        bi_binary_code.push_back('0');
+                    }
+              }
+        }
+    // Convert from bi-binary code to relative code
+    for(int i = 0; i < (GLONASS_GNAV_STRING_BITS); i++)
+        {
+            if(bi_binary_code[2*i] == '1' && bi_binary_code[2*i + 1] == '0')
+              {
+                relative_code.push_back('1');
+              }
             else
-                {
-                    frame_string.push_back('0');
-                }
+              {
+                relative_code.push_back('0');
+              }
         }
 
     // 2. Call the GLONASS GNAV string decoder
-    d_nav.string_decoder(frame_string);
+    d_nav.string_decoder(relative_code.c_str());
 
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
@@ -178,7 +201,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         }
     if (d_nav.have_new_almanac() == true)
         {
-            std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac());
+            unsigned int slot_nbr = d_nav.get_ephemeris().i_satellite_slot_number;
+            std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
 }
@@ -201,7 +225,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     consume_each(1);
 
     d_flag_preamble = false;
-    unsigned int required_symbols=GLONASS_GNAV_FRAME_BITS+d_symbols_per_preamble;
+    unsigned int required_symbols=GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
 
     if (d_symbol_history.size()>required_symbols)
     {
@@ -224,9 +248,11 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
         {
             if (abs(corr_value) >= d_symbols_per_preamble)
                 {
-                    d_preamble_index = d_sample_counter;//record the preamble sample stamp
+                    // Record the preamble sample stamp
+                    d_preamble_index = d_sample_counter;
                     LOG(INFO) << "Preamble detection for GLONASS L1 C/A SAT " << this->d_satellite;
-                    d_stat = 1; // enter into frame pre-detection status
+                    // Enter into frame pre-detection status
+                    d_stat = 1;
                 }
         }
     else if (d_stat == 1) // posible preamble lock
@@ -253,39 +279,29 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
         }
     else if (d_stat == 2)
         {
-            if (d_sample_counter == d_preamble_index + GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS)
+            if (d_sample_counter == d_preamble_index + GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS)
                 {
                     // NEW GLONASS string received
                     // 0. fetch the symbols into an array
-                    int frame_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
-                    double frame_symbols[frame_length];
+                    int string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
+                    double string_symbols[string_length];
 
                     //******* SYMBOL TO BIT *******
-                    if (d_symbol_history.at(0).Flag_valid_symbol_output == true)
-                        {
-                            // extended correlation to bit period is enabled in tracking!
-                            d_symbol_accumulator += d_symbol_history.at(0).Prompt_I; // accumulate the input value in d_symbol_accumulator
-                            d_symbol_accumulator_counter += d_symbol_history.at(0).correlation_length_ms;
-                        }
-                    if (d_symbol_accumulator_counter >= 20)
-                         {
-                         }
-
-                    for (int i = 0; i < frame_length; i++)
+                    for (int i = 0; i < string_length; i++)
                         {
                             if (corr_value > 0)
                                 {
-                                    page_part_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
+                                    string_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
 
                                 }
                             else
                                 {
-                                    page_part_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
+                                    string_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
                                 }
                         }
 
                     //call the decoder
-                    decode_string(page_part_symbols);
+                    decode_string(string_symbols, string_length);
                     if (d_nav.flag_CRC_test == true)
                         {
                             d_CRC_error_counter = 0;
@@ -317,7 +333,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
         //update TOW at the preamble instant
         {
-            d_TOW_at_current_symbol = floor((d_nav.d_TOW + 2*GLONASS_L1_CA_CODE_PERIOD + GLONASS_CA_PREAMBLE_DURATION_S)*1000.0)/1000.0;
+            d_TOW_at_current_symbol = floor((d_nav.d_TOW + 2*GLONASS_L1_CA_CODE_PERIOD + GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
 
         }
     else //if there is not a new preamble, we define the TOW of the current symbol
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 9b9818717..42f80725e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -196,7 +196,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index dcd94d281..37b9ebaa7 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -197,7 +197,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
     acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (GLONASS_L1_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 052d89a36..4bdb0abf3 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -161,7 +161,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    d_glonass_freq_ch = GLONASS_L1_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 750b41136..913f42fcd 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -80,8 +80,8 @@ const double GLONASS_SUN_ECCENTRICITY       = 0.016719;             //!< Eccentr
 // carrier and code frequencies
 const double GLONASS_L2_FREQ_HZ              = FREQ2_GLO;     //!< L1 [Hz]
 
-const double GLONASS_L1_FREQ_HZ              = FREQ1_GLO;     //!< L1 [Hz]
-const double GLONASS_L1_DFREQ_HZ             = DFRQ1_GLO;     //!< Freq Bias for GLONASS L1 [Hz]
+const double GLONASS_L1_CA_FREQ_HZ           = FREQ1_GLO;     //!< L1 [Hz]
+const double GLONASS_L1_CA_DFREQ_HZ          = DFRQ1_GLO;     //!< Freq Bias for GLONASS L1 [Hz]
 const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;       //!< GLONASS L1 C/A code rate [chips/s]
 const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;         //!< GLONASS L1 C/A code length [chips]
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/A code period [seconds]
@@ -116,10 +116,6 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {23, 3,},  //Plane 3
                                                 {24, 2}};  //Plane 3
 
-
-const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
-
-
 const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
 
 // OBSERVABLE HISTORY DEEP FOR INTERPOLATION
@@ -127,19 +123,17 @@ const int GLONASS_L1_CA_HISTORY_DEEP = 100;
 
 // NAVIGATION MESSAGE DEMODULATION AND DECODING
 #define GLONASS_GNAV_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
+const double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.3;
 const int GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
 const int GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
-const double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.3;
+const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
 const int GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
 const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
 const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;
 const int GLONASS_GNAV_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND*GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT;   //!< NAV message bit rate [symbols/s]
-const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
-const int GLONASS_GNAV_FRAME_BITS = 1725;       //!< Number of chips per frame in the GNAV message  15 strings*(85 data bits + 30 time mark bits)[bits]
-const int GLONASS_GNAV_FRAME_SECONDS = 30;      //!< Subframe duration [seconds]
-const int GLONASS_GNAV_FRAME_MS = 30000;        //!< Subframe duration [seconds]
-const int GLONASS_GNAV_STRING_BITS = 85;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
-const int GLONASS_GNAV_HAMMING_CODE_BITS = 8; //!< Number of bits in hamming code sequence of GNAV message
+const int GLONASS_GNAV_STRING_SYMBOLS = 2000;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
+const int GLONASS_GNAV_STRING_BITS = 85;            //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
+const int GLONASS_GNAV_HAMMING_CODE_BITS = 8;       //!< Number of bits in hamming code sequence of GNAV message
 
 const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
 const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 0b64dc066..bd73917ce 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -37,6 +37,7 @@
 #include <iostream>
 #include <sstream>
 #include <gnss_satellite.h>
+#include <glog/logging.h>
 
 
 void Glonass_Gnav_Navigation_Message::reset()
@@ -70,12 +71,9 @@ void Glonass_Gnav_Navigation_Message::reset()
     flag_utc_model_valid  = false;      //!< If set, it indicates that the UTC model parameters are filled
     flag_utc_model_str_5 = false;      //!< Clock info send in string 5 of navigation data
     flag_utc_model_str_15 = false;     //!< Clock info send in string 15 of frame 5 of navigation data
-    flag_TOW_5 = false;
-    flag_TOW_6 = false;
-    flag_TOW_set = false;              //!< it is true when page 5 or page 6 arrives
 
     //broadcast orbit 1
-    //TODO Need to send the information regarding the frame number
+    flag_TOW_set = false;
     d_TOW = false;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
     d_TOW_F1 = false;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
     d_TOW_F2 = false;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
@@ -313,14 +311,14 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
 }
 
 
-int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
+int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 {
     int string_ID = 0;
     int J = 0;
     frame_ID = 0;
 
     // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
-    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>(std::string(frame_string));
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
     string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
 
     CRC_test(string_bits);
@@ -401,6 +399,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
             gnav_ephemeris.d_l5th_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
 
+            flag_utc_model_str_5 = true;
             // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
             if(flag_ephemeris_str_4 == true)
                 {
@@ -487,7 +486,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
             flag_almanac_str_8 = true;
 
             break;
-
         case 9:
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
@@ -666,7 +664,7 @@ Glonass_Gnav_Utc_Model Glonass_Gnav_Navigation_Message::get_utc_model()
 }
 
 
-Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac( int satellite_slot_number)
+Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac(unsigned int satellite_slot_number)
 {
     return gnav_almanac[satellite_slot_number - 1];
 }
@@ -674,21 +672,17 @@ Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac( int satellite
 
 bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
-    bool flag_data_valid = false;
-    bool b_valid_ephemeris_set_flag = false;
-
     if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
         {
-            //if all ephemeris pages have the same IOD, then they belong to the same block
-            if ((gnav_ephemeris.d_t_b == 0) )
+            if ((gnav_ephemeris.d_P_4 == 1) )
                 {
                     flag_ephemeris_str_1 = false;// clear the flag
                     flag_ephemeris_str_2 = false;// clear the flag
                     flag_ephemeris_str_3 = false;// clear the flag
                     flag_ephemeris_str_4 = false;// clear the flag
                     flag_all_ephemeris = true;
-                    // std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
-                    // std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
+                    DLOG(INFO) << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+
                     return true;
                 }
             else
@@ -703,10 +697,9 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
 
 bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
 {
-    bool flag_utc_model = true;
-    if (flag_utc_model == true)
+    if (flag_utc_model_valid == true)
         {
-            flag_utc_model = false; // clear the flag
+            flag_utc_model_valid = false; // clear the flag
             return true;
         }
     else
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 88468e380..3cb73c819 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -63,17 +63,17 @@ public:
     bool flag_CRC_test;
     unsigned int frame_ID;
 
-    Glonass_Gnav_Ephemeris gnav_ephemeris;      //!< Ephemeris information decoded
-    Glonass_Gnav_Utc_Model gnav_utc_model;      //!< UTC model information
-    Glonass_Gnav_Almanac gnav_almanac[24];      //!< Almanac information for all 24 satellites
+    Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
+    Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
+    Glonass_Gnav_Almanac gnav_almanac[24];    //!< Almanac information for all 24 satellites
 
     //!< Satellite Identification
-    int i_channel_ID;               //!< Channel ID assigned by the receiver
-    unsigned int i_satellite_freq_channel;   //!< SV Frequency Slot Number
-    unsigned int i_satellite_slot_number;    //!< SV Orbit Slot Number
+    int i_channel_ID;                         //!< Channel ID assigned by the receiver
+    unsigned int i_satellite_freq_channel;    //!< SV Frequency Slot Number
+    unsigned int i_satellite_slot_number;     //!< SV Orbit Slot Number
 
     //!< Ephmeris Flags
-    bool flag_all_ephemeris;  //!< Flag indicating that all strings containing ephemeris have been received
+    bool flag_all_ephemeris;      //!< Flag indicating that all strings containing ephemeris have been received
     bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
     bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (string 2) have been received
     bool flag_ephemeris_str_3;    //!< Flag indicating that ephemeris 3/4 (string 3) have been received
@@ -96,12 +96,10 @@ public:
     bool flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled
     bool flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
     bool flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
-    bool flag_TOW_5;
-    bool flag_TOW_6;
-    bool flag_TOW_set;              //!< it is true when page 5 or page 6 arrives
 
     //broadcast orbit 1
     //TODO Need to send the information regarding the frame number
+    bool flag_TOW_set;
     double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
     double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
     double d_TOW_F2;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
@@ -136,7 +134,7 @@ public:
     /*
      * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
      */
-    Glonass_Gnav_Almanac get_almanac(int satellite_slot_number);
+    Glonass_Gnav_Almanac get_almanac(unsigned int satellite_slot_number);
 
     /*
      * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
@@ -156,7 +154,7 @@ public:
     /*!
      * \brief Decodes the GLONASS GNAV string
      */
-    int string_decoder(char *string);
+    int string_decoder(std::string frame_string);
 
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index bce3da0c4..7ee09e6bb 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -3960,7 +3960,7 @@ int Rtcm::set_DF041(const Gnss_Synchro & gnss_synchro)
 //TODO Need to fix the lambda value since it needs to include frequency channel
 int Rtcm::set_DF042(const Gnss_Synchro & gnss_synchro)
 {
-    const double lambda = GLONASS_C_m_s / GLONASS_L1_FREQ_HZ;
+    const double lambda = GLONASS_C_m_s / GLONASS_L1_CA_FREQ_HZ;
     double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
     double glonass_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
     double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 299792.458;
@@ -5272,7 +5272,7 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
       if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
           {
               // TODO Need to add slot number and freq number to gnss_syncro
-              lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
+              lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
           }
       if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
           {
@@ -5382,7 +5382,7 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
     if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
         {
             //TODO Need to add slot number and freq number to gnss syncro
-            lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
+            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
         }
     if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
         {
@@ -5471,7 +5471,7 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
     if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
         {
             //TODO Need to add slot number and freq number to gnss syncro
-            lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
+            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
         }
     if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
         {
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index df7d740fd..de814391f 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -81,7 +81,7 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
     gnav_ephemeris.d_Xn     = -11025.6669921875;
 
     // Call target test method
-    gnav_nav_message.string_decoder(const_cast<char*> (str1.c_str()));
+    gnav_nav_message.string_decoder(str1);
 
     // Perform assertions of decoded fields
     ASSERT_TRUE(gnav_ephemeris.d_P_1 - gnav_nav_message.gnav_ephemeris.d_P_1 < FLT_EPSILON );
@@ -116,7 +116,7 @@ TEST(GlonassGnavNavigationMessageTest, String2Decoder)
     // Call target test method
     gnav_nav_message.flag_ephemeris_str_1 = true;
     gnav_nav_message.gnav_ephemeris.d_P_1 = 15;
-    gnav_nav_message.string_decoder(const_cast<char*> (str2.c_str()));
+    gnav_nav_message.string_decoder(str2);
 
     // Perform assertions of decoded fields
     ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < FLT_EPSILON );
@@ -151,7 +151,7 @@ TEST(GlonassGnavNavigationMessageTest, String3Decoder)
     gnav_ephemeris.d_Zn         = 19929.2377929688;
 
     // Call target test method
-    gnav_nav_message.string_decoder(const_cast<char*> (str3.c_str()));
+    gnav_nav_message.string_decoder(str3);
 
     // Perform assertions of decoded fields
     ASSERT_TRUE(gnav_ephemeris.d_P_3 - gnav_nav_message.gnav_ephemeris.d_P_3 < FLT_EPSILON );
@@ -188,7 +188,7 @@ TEST(GlonassGnavNavigationMessageTest, String4Decoder)
     gnav_ephemeris.d_M = 1;
 
     // Call target test method
-    gnav_nav_message.string_decoder(const_cast<char*> (str4.c_str()));
+    gnav_nav_message.string_decoder(str4);
 
     // Perform assertions of decoded fields
     ASSERT_TRUE(gnav_ephemeris.d_tau_n - gnav_nav_message.gnav_ephemeris.d_tau_n < FLT_EPSILON );
@@ -222,7 +222,7 @@ TEST(GlonassGnavNavigationMessageTest, String5Decoder)
     gnav_utc_model.d_tau_gps    = 9.313225746154785e-08;
 
     // Call target test method
-    gnav_nav_message.string_decoder(const_cast<char*> (str5.c_str()));
+    gnav_nav_message.string_decoder(str5);
 
     // Perform assertions of decoded fields
     ASSERT_TRUE(gnav_utc_model.d_N_A - gnav_nav_message.gnav_utc_model.d_N_A < FLT_EPSILON );

From 6331ebd8b5eb0660b3cab8ccbe18087755b744b9 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 30 Aug 2017 00:16:08 -0600
Subject: [PATCH 268/379] Fixes issues detected during merge procedure

---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf       | 19 +++----
 src/algorithms/PVT/adapters/rtklib_pvt.cc    | 52 ++++++++++----------
 src/core/system_parameters/gnss_satellite.cc |  2 +-
 3 files changed, 33 insertions(+), 40 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 83dbf6fcb..9b7c1cfa5 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -5,8 +5,7 @@ GNSS-SDR.internal_fs_hz=6625000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=File_Signal_Source
-SignalSource.filename=/home/gastd/sdr/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin
-;SignalSource.filename=/home/gastd/sdr/signal_glonass.bin
+SignalSource.filename=/archive/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
 ;SignalSource.freq=0
@@ -29,21 +28,16 @@ Resampler.item_type=gr_complex
 Channels_1G.count=2
 Channels.in_acquisition=1
 Channel0.signal=1G
-Channel0.signal=1G
 Channel1.signal=1G
 Channel2.signal=1G
 Channel3.signal=1G
 Channel4.signal=1G
-Channel5.signal=1G
-Channel6.signal=1G
-Channel7.signal=1G
 
 Channel0.satellite=2
 Channel1.satellite=21
 Channel2.satellite=12
-;Channel3.satellite=2
-;Channel4.satellite=22
-;Channel5.satellite=21
+Channel3.satellite=23
+; Possible list includes 2, 12, 21, 22
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
@@ -54,7 +48,7 @@ Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
 Acquisition_1G.dump=false;
-Acquisition_1G.dump_filename=./acquisition.dat
+Acquisition_1G.dump_filename=../data/glo_acquisition.dat
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
@@ -63,8 +57,8 @@ Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=20.0;
 Tracking_1G.dll_bw_hz=4.0;
-Tracking_1G.dump=false;
-Tracking_1G.dump_filename=./tracking_ch_
+Tracking_1G.dump=true;
+Tracking_1G.dump_filename=../data/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
@@ -78,4 +72,3 @@ PVT.averaging_depth=100
 PVT.flag_averaging=true
 PVT.output_rate_ms=10
 PVT.display_rate_ms=500
-
diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 757a2f9d0..2dbd59145 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -156,37 +156,37 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     int gal_1B_count = configuration->property("Channels_1B.count", 0);
     int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
     int gal_E5b_count = configuration->property("Channels_7X.count", 0);
-    int glo_1R_count = configuration->property("Channels_1R.count", 0);
+    int glo_1G_count = configuration->property("Channels_1G.count", 0);
 
     unsigned int type_of_receiver = 0;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 1;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 2;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2;
 
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 4;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 5;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 6;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6;
 
-    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 7;
+    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7;
     //if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 9;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 10;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 11;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 12;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 14;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 15;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 17;
-    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 18;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
-    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 21;
+    if( (gps_1C_count != 0) && (gps_2S_count != 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 23;
-    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
-    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0) && (glo_1R_count != 0)) type_of_receiver = 25;
-    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 26;
-    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 27;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
+    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
+    //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
+    if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
+    if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
     //RTKLIB PVT solver options
     // Settings 1
     int positioning_mode = -1;
@@ -209,10 +209,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
         }
 
     int num_bands = 0;
-    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) num_bands = 1;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
+    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
     int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
     if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
         {
@@ -294,7 +294,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     int nsys = 0;
     if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
     if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
-    if ((glo_1R_count > 0)) nsys += SYS_GLO;
+    if ((glo_1G_count > 0)) nsys += SYS_GLO;
     int navigation_system = configuration->property(role + ".navigation_system", nsys);  /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
     if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1   SBAS: 2   GPS+SBAS: 3 Galileo: 8  Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
         {
diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index 6e0a6e4d8..a64ba740d 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -157,7 +157,7 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
                     PRN = PRN_;
                 }
         }
-    else if (system.compare("GLONASS") == 0)
+    else if (system.compare("Glonass") == 0)
            {
                if (PRN_ < 1 or PRN_ > 24)
                    {

From 0caa7fff150ca02fc2b352fce5de8ae63ce7d449 Mon Sep 17 00:00:00 2001
From: Damian Miralles <damian.miralles@colorado.edu>
Date: Wed, 30 Aug 2017 16:17:21 -0600
Subject: [PATCH 269/379] Fixes ineficiencies in the code, remove unused
 variables

---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 14 ++---
 .../libs/rtklib/rtklib_conversions.cc         | 15 +++--
 .../system_parameters/glonass_gnav_almanac.cc |  4 +-
 .../system_parameters/glonass_gnav_almanac.h  |  4 +-
 .../glonass_gnav_ephemeris.cc                 | 14 ++---
 .../glonass_gnav_ephemeris.h                  | 14 ++---
 .../glonass_gnav_navigation_message.cc        | 63 ++++++++++++-------
 .../glonass_gnav_navigation_message.h         |  7 ++-
 src/core/system_parameters/rtcm.cc            | 16 ++---
 9 files changed, 82 insertions(+), 69 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 9b7c1cfa5..82f40644f 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -25,7 +25,7 @@ Resampler.sample_freq_out=6625000
 Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
-Channels_1G.count=2
+Channels_1G.count=5
 Channels.in_acquisition=1
 Channel0.signal=1G
 Channel1.signal=1G
@@ -33,10 +33,10 @@ Channel2.signal=1G
 Channel3.signal=1G
 Channel4.signal=1G
 
-Channel0.satellite=2
-Channel1.satellite=21
-Channel2.satellite=12
-Channel3.satellite=23
+;Channel0.satellite=2
+;Channel1.satellite=21
+;Channel2.satellite=12
+;Channel3.satellite=23
 ; Possible list includes 2, 12, 21, 22
 
 ;######### ACQUISITION GLOBAL CONFIG ############
@@ -48,7 +48,7 @@ Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
 Acquisition_1G.dump=false;
-Acquisition_1G.dump_filename=../data/glo_acquisition.dat
+Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
@@ -58,7 +58,7 @@ Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=20.0;
 Tracking_1G.dll_bw_hz=4.0;
 Tracking_1G.dump=true;
-Tracking_1G.dump_filename=../data/glo_tracking_ch_
+Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index 45f13db82..c495fc210 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -72,7 +72,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     struct tm utcinfo;
 
     rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;       /* satellite number */
-    rtklib_sat.iode   = glonass_gnav_eph.d_t_b;                         /* IODE (0-6 bit of tb field) */
+    rtklib_sat.iode   = glonass_gnav_eph.d_iode;                        /* IODE (0-6 bit of tb field) */
     rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;      /* satellite frequency number */
     rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                      /* satellite health*/
     rtklib_sat.sva    = glonass_gnav_eph.d_F_T;                         /* satellite accuracy*/
@@ -90,25 +90,24 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     rtklib_sat.gamn   = glonass_gnav_eph.d_gamma_n;                     /* SV relative freq bias */
     rtklib_sat.age    = glonass_gnav_eph.d_Delta_tau_n;                 /* delay between L1 and L2 (s) */
 
-    /* TODO: adjustment for week handover */
     utcinfo.tm_mon  = 0;
-    utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
+    utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
     utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = 0;
+    utcinfo.tm_hour = 6; // Diff between utc and (utc(su) + 3.00h)
     utcinfo.tm_min  = 0;
     utcinfo.tm_sec  = glonass_gnav_eph.d_t_b;
     t_utc.time = mktime(&utcinfo);
-    t_utc.sec = 0.0;
+    t_utc.sec = glonass_gnav_eph.d_tau_c;
     rtklib_sat.toe    = utc2gpst(t_utc);      /* epoch of epherides (gpst) */
 
     utcinfo.tm_mon  = 0;
-    utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
+    utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
     utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = 0;
+    utcinfo.tm_hour = 6;
     utcinfo.tm_min  = 0;
     utcinfo.tm_sec  = glonass_gnav_eph.d_t_k;
     t_utc.time = mktime(&utcinfo);
-    t_utc.sec = 0.0;
+    t_utc.sec = glonass_gnav_eph.d_tau_c;
     rtklib_sat.tof    = utc2gpst(t_utc);      /* message frame time (gpst) */
 
 
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index cbef6df64..049d3a4c0 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -52,8 +52,8 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
   d_M_n_A = 0.0;
   d_KP = 0.0;
   d_tau_n_A = 0.0;
-  d_C_n = 0.0;
-  d_l_n = 0.0;
+  d_C_n = false;
+  d_l_n = false;
 }
 
 void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i)
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 2c7780bf5..3012708dd 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -59,8 +59,8 @@ public:
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
-    double d_C_n;               //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
-    double d_l_n;               //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    bool d_C_n;	                //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    bool d_l_n;		              //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Satellite Identification Information
     int i_satellite_freq_channel;           //!< SV Frequency Channel Number
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index f5bb76eab..b7b8e2d3a 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -62,18 +62,16 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 	d_Delta_tau_n = 0.0;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
 	d_E_n = 0.0;           //!< Characterises "age" of a current information [days]
 	d_P_1 = 0.0;           //!< Flag of the immediate data updating [minutes]
-	d_P_2 = 0.0;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-	d_P_3 = 0.0;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-	d_P_4 = 0.0;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-	d_l3rd_n = 0.0;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-	d_l5th_n = 0.0;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+	d_P_2 = false;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+	d_P_3 = false;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+	d_P_4 = false;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+	d_l3rd_n = false;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+	d_l5th_n = false;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
 	// Satellite Identification Information
 	i_satellite_freq_channel = 0;  			//!< SV Frequency Channel Number
 	i_satellite_PRN = 0;           			//!< SV PRN Number, equivalent to slot number for compatibility with GPS
 	i_satellite_slot_number = 0;			//!< SV Slot Number
-	d_TOD = 0.0;                           //!< Time of Day of the ephemeris set based in start of frame [s]
-	d_D4Y = 0.0;                           //!< Day of Year after latest leap year (4 year interval)
 	d_yr = 1972;                           //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
 	d_satClkDrift = 0.0;                   //!< GLONASS clock error
 	d_dtr = 0.0;                           //!< relativistic clock correction term
@@ -86,7 +84,7 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
 {
-    boost::posix_time::time_duration t(0, 0, offset_time);
+    boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c);
     boost::gregorian::date d1(d_yr, 1, 1);
     boost::gregorian::days d2(d_N_T);
     boost::posix_time::ptime glonass_time(d1+d2, t);
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index ef4a0ec12..281237b48 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -64,7 +64,7 @@ public:
     double d_m;             //!< String number within frame [dimensionless]
     double d_t_k;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
     double d_t_b;           //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
-    double d_M;             //!< Type of satellite transmitting navigation signal [dimensionless]
+    double d_M;		            //!< Type of satellite transmitting navigation signal [dimensionless]
     double d_gamma_n;       //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
     double d_tau_n;         //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
     double d_Xn;            //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
@@ -84,19 +84,17 @@ public:
     double d_Delta_tau_n;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
     double d_E_n;           //!< Characterises "age" of a current information [days]
     double d_P_1;           //!< Flag of the immediate data updating [minutes]
-    double d_P_2;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-    double d_P_3;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-    double d_P_4;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    double d_l3rd_n;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-    double d_l5th_n;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    bool d_P_2;	            //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    bool d_P_3;	            //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    bool d_P_4;		          //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    bool d_l3rd_n;        	//!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    bool d_l5th_n;        	//!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Inmediate deliverables of ephemeris information
     // Satellite Identification Information
     int i_satellite_freq_channel;  			//!< SV Frequency Channel Number
     unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
     unsigned int i_satellite_slot_number;   //!< SV Slot Number
-    double d_TOD;                           //!< Time of Day of the ephemeris set based in start of frame [s]
-    double d_D4Y;                           //!< Day of Year after latest leap year (4 year interval)
     double d_yr;                            //!< Current year
     double d_satClkDrift;                   //!< GLONASS clock error
     double d_dtr;                           //!< relativistic clock correction term
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index bd73917ce..424376129 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -74,12 +74,12 @@ void Glonass_Gnav_Navigation_Message::reset()
 
     //broadcast orbit 1
     flag_TOW_set = false;
-    d_TOW = false;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    d_TOW_F1 = false;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    d_TOW_F2 = false;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    d_TOW_F3 = false;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    d_TOW_F4 = false;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    d_TOW_F5 = false;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
+    d_TOW = 0.0;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+    d_TOW_F1 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
+    d_TOW_F2 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
+    d_TOW_F3 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
+    d_TOW_F4 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
+    d_TOW_F5 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     // Clock terms
     d_satClkCorr = 0.0;
@@ -310,6 +310,23 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
     return frame_ID;
 }
 
+double Glonass_Gnav_Navigation_Message::get_TOW()
+{
+    double TOW = 0.0;
+    double utcsu2utc = 3*3600;
+    double glot2utcsu = 3*3600;
+    int i = 0;
+
+    TOW = gnav_ephemeris.d_t_k + glot2utcsu + utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+
+    for (i = 0; leaps[i][0]>0; i++)
+        {
+            if (leaps[i][0] == gnav_ephemeris.d_yr)
+            {
+                TOW -= leaps[i][6];
+        }
+    return TOW;
+}
 
 int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 {
@@ -337,6 +354,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
 
             flag_ephemeris_str_1 = true;
+            d_TOW = get_TOW();
+            flag_TOW_set = true;
 
             break;
 
@@ -345,7 +364,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             if (flag_ephemeris_str_1 == true)
                 {
                     gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
-                    gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
+                    gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
                     gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*gnav_ephemeris.d_P_1*60;
                     gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
                     gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
@@ -359,10 +378,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 3:
             // --- It is string 3 ----------------------------------------------
-            gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
+            gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
             gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
             gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
-            gnav_ephemeris.d_l3rd_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
+            gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
             gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
             gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
             gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
@@ -376,7 +395,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
             gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
             gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
-            gnav_ephemeris.d_P_4 = static_cast<double>(read_navigation_unsigned(string_bits, P4));
+            gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
             gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
             gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
             gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
@@ -385,7 +404,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // Fill in ephemeris deliverables in the code
             gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
             gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n;
-            gnav_ephemeris.d_D4Y = gnav_ephemeris.d_N_T;
 
             flag_ephemeris_str_4 = true;
 
@@ -397,7 +415,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
             gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
             gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
-            gnav_ephemeris.d_l5th_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+            gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
             flag_utc_model_str_5 = true;
             // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
@@ -422,6 +440,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                         }
                     // 2). Current year in common form is calculated by the following formula:
                     gnav_ephemeris.d_yr = 1996 + 4.0*(gnav_utc_model.d_N_4  - 1.0) + (J - 1.0);
+                    gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
                 }
             break;
 
@@ -430,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             frame_ID = get_frame_number(i_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@@ -451,7 +470,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
                 if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@@ -475,7 +494,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             frame_ID = get_frame_number(i_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@@ -496,7 +515,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
                 if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@@ -514,7 +533,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             frame_ID = get_frame_number(i_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@@ -535,7 +554,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
                 if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@@ -553,7 +572,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             frame_ID = get_frame_number(i_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@@ -574,7 +593,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
                 if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@@ -599,7 +618,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
                 frame_ID = get_frame_number(i_satellite_slot_number);
 
-                gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
                 gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@@ -622,7 +641,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
                 gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
+                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
                 if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 3cb73c819..0c71040f0 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -97,8 +97,6 @@ public:
     bool flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
     bool flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
 
-    //broadcast orbit 1
-    //TODO Need to send the information regarding the frame number
     bool flag_TOW_set;
     double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
     double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
@@ -156,6 +154,11 @@ public:
      */
     int string_decoder(std::string frame_string);
 
+    /*
+    * \brief Gets the time of week in GPS Time
+    */
+    double get_TOW();
+    
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
      */
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 7ee09e6bb..7dd60969a 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -3957,10 +3957,10 @@ int Rtcm::set_DF041(const Gnss_Synchro & gnss_synchro)
     return 0;
 }
 
-//TODO Need to fix the lambda value since it needs to include frequency channel
+
 int Rtcm::set_DF042(const Gnss_Synchro & gnss_synchro)
 {
-    const double lambda = GLONASS_C_m_s / GLONASS_L1_CA_FREQ_HZ;
+    const double lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
     double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
     double glonass_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
     double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 299792.458;
@@ -4349,8 +4349,7 @@ int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    // TODO Need to fix this here, bit position has a given order
-	unsigned int hrs = 0;
+  unsigned int hrs = 0;
 	unsigned int min = 0;
 	unsigned int sec = 0;
 	unsigned int tk = 0;
@@ -5271,8 +5270,7 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
         }
       if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
           {
-              // TODO Need to add slot number and freq number to gnss_syncro
-              lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
+              lambda = GLONASS_C_m_s / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN))));
           }
       if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
           {
@@ -5381,8 +5379,7 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
         }
     if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
         {
-            //TODO Need to add slot number and freq number to gnss syncro
-            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
+            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
         }
     if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
         {
@@ -5470,8 +5467,7 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
         }
     if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
         {
-            //TODO Need to add slot number and freq number to gnss syncro
-            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
+            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
         }
     if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
         {

From e5ffc2b46c4009e839a515b1937403286a06a63d Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 30 Aug 2017 22:44:03 -0600
Subject: [PATCH 270/379] Adding proper TOW computation for GLONASS processing

---
 src/core/system_parameters/GLONASS_L1_CA.h    | 25 +++++++++++++++++++
 .../glonass_gnav_navigation_message.cc        | 17 +++++++++----
 .../glonass_gnav_navigation_message.h         |  4 ++-
 3 files changed, 40 insertions(+), 6 deletions(-)

diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 913f42fcd..56c208d31 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -88,6 +88,31 @@ const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
 const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;
 
+//FIXME Probably should use leap seconds definitions of rtklib
+const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
+        {2019, 1, 1, 0, 0, 0, -20},
+        {2018, 1, 1, 0, 0, 0, -19},
+        {2017, 1, 1, 0, 0, 0, -18},
+        {2015, 7, 1, 0, 0, 0, -17},
+        {2012, 7, 1, 0, 0, 0, -16},
+        {2009, 1, 1, 0, 0, 0, -15},
+        {2006, 1, 1, 0, 0, 0, -14},
+        {1999, 1, 1, 0, 0, 0, -13},
+        {1997, 7, 1, 0, 0, 0, -12},
+        {1996, 1, 1, 0, 0, 0, -11},
+        {1994, 7, 1, 0, 0, 0, -10},
+        {1993, 7, 1, 0, 0, 0,  -9},
+        {1992, 7, 1, 0, 0, 0,  -8},
+        {1991, 1, 1, 0, 0, 0,  -7},
+        {1990, 1, 1, 0, 0, 0,  -6},
+        {1988, 1, 1, 0, 0, 0,  -5},
+        {1985, 7, 1, 0, 0, 0,  -4},
+        {1983, 7, 1, 0, 0, 0,  -3},
+        {1982, 7, 1, 0, 0, 0,  -2},
+        {1981, 7, 1, 0, 0, 0,  -1},
+        {}
+};
+
 // GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN =
                                                {{ 0, 8,},  //For test
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 424376129..5149d5b46 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -319,11 +319,12 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
 
     TOW = gnav_ephemeris.d_t_k + glot2utcsu + utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
 
-    for (i = 0; leaps[i][0]>0; i++)
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
         {
-            if (leaps[i][0] == gnav_ephemeris.d_yr)
+            if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
             {
-                TOW -= leaps[i][6];
+                TOW -= GLONASS_LEAP_SECONDS[i][6];
+            }
         }
     return TOW;
 }
@@ -354,8 +355,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
 
             flag_ephemeris_str_1 = true;
-            d_TOW = get_TOW();
-            flag_TOW_set = true;
 
             break;
 
@@ -441,6 +440,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     // 2). Current year in common form is calculated by the following formula:
                     gnav_ephemeris.d_yr = 1996 + 4.0*(gnav_utc_model.d_N_4  - 1.0) + (J - 1.0);
                     gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
+
+                    // 3). Set TOW once the year has been defined, it helps with leap second determination
+                    if(flag_ephemeris_str_1 == true)
+                        {
+                            d_TOW = get_TOW();
+                            flag_TOW_set = true;
+                        }
+
                 }
             break;
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 0c71040f0..651ccbebd 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -156,9 +156,11 @@ public:
 
     /*
     * \brief Gets the time of week in GPS Time
+    * \details This converts from GLONASS Time to GPS Time of Week based on the
+    * start of frame
     */
     double get_TOW();
-    
+
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
      */

From 6b8973efe29fe66ff5a65d0ec75f330b17542d43 Mon Sep 17 00:00:00 2001
From: Damian Miralles <damian.miralles@colorado.edu>
Date: Thu, 31 Aug 2017 16:51:50 -0600
Subject: [PATCH 271/379] Fixing bugs in telemetry decoder code

---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 10 ++---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     | 24 +++++++-----
 src/core/system_parameters/GLONASS_L1_CA.h    |  2 +-
 .../glonass_gnav_navigation_message.cc        | 39 ++++++++++++-------
 .../glonass_gnav_navigation_message.h         |  3 +-
 src/core/system_parameters/gnss_satellite.cc  |  2 +-
 src/core/system_parameters/rtcm.cc            |  8 ++--
 .../matlab/gps_l1_ca_dll_pll_plot_sample.m    |  8 ++--
 8 files changed, 55 insertions(+), 41 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 82f40644f..51f5b0096 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -12,7 +12,7 @@ SignalSource.sampling_frequency=6625000
 ;SignalSource.samples=66250000
 SignalSource.samples=0
 SignalSource.dump=false;
-SignalSource.dump_filename=./signal_glonass.bin
+SignalSource.dump_filename=/archive/signal_glonass.bin
 
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner.implementation=Signal_Conditioner
@@ -33,8 +33,8 @@ Channel2.signal=1G
 Channel3.signal=1G
 Channel4.signal=1G
 
-;Channel0.satellite=2
-;Channel1.satellite=21
+Channel0.satellite=11
+Channel1.satellite=15
 ;Channel2.satellite=12
 ;Channel3.satellite=23
 ; Possible list includes 2, 12, 21, 22
@@ -43,7 +43,7 @@ Channel4.signal=1G
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
 Acquisition_1G.item_type=gr_complex
 Acquisition_1G.threshold=0.0
-Acquisition_1G.pfa=0.01
+Acquisition_1G.pfa=0.0001
 Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
@@ -61,7 +61,7 @@ Tracking_1G.dump=true;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
-TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 21c549b88..894bac175 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -145,15 +145,19 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             chip_acc += frame_symbols[i];
             chip_acc_counter += 1;
 
-            if(chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT - 1))
+            if(chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT))
               {
                 if (chip_acc > 0)
                     {
                         bi_binary_code.push_back('1');
+                        chip_acc_counter = 0;
+                        chip_acc = 0;
                     }
                 else
                     {
                         bi_binary_code.push_back('0');
+                        chip_acc_counter = 0;
+                        chip_acc = 0;
                     }
               }
         }
@@ -171,18 +175,16 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         }
 
     // 2. Call the GLONASS GNAV string decoder
-    d_nav.string_decoder(relative_code.c_str());
+    d_nav.string_decoder(relative_code);
 
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
         {
-            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite;
-            std::cout << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
+            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite ";// << d_satellite;
         }
     else
         {
-            std::cout << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite << std::endl;
-            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
+            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " ;//<< d_satellite;
         }
 
     // 4. Push the new navigation data to the queues
@@ -225,7 +227,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     consume_each(1);
 
     d_flag_preamble = false;
-    unsigned int required_symbols=GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
+    unsigned int required_symbols=GLONASS_GNAV_STRING_SYMBOLS;
 
     if (d_symbol_history.size()>required_symbols)
     {
@@ -264,7 +266,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                     if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
                         {
                             //try to decode frame
-                            LOG(INFO) << "Starting page decoder for GLONASS L1 C/A SAT " << this->d_satellite;
+                            LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
                             d_preamble_index = d_sample_counter; //record the preamble sample stamp
                             d_stat = 2;
                         }
@@ -274,17 +276,19 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                                 {
                                     d_stat = 0; // start again
                                 }
+                            DLOG(INFO) << "Failed string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
                         }
                 }
         }
     else if (d_stat == 2)
         {
-            if (d_sample_counter == d_preamble_index + GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS)
+    				// FIXME: The preamble index marks the first symbol of the string count. Here I just wait for another full string to be received before processing
+            if (d_sample_counter == d_preamble_index + GLONASS_GNAV_STRING_SYMBOLS)
                 {
                     // NEW GLONASS string received
                     // 0. fetch the symbols into an array
                     int string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
-                    double string_symbols[string_length];
+                    double string_symbols[string_length] = {0};
 
                     //******* SYMBOL TO BIT *******
                     for (int i = 0; i < string_length; i++)
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 56c208d31..f5c4d450a 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -151,7 +151,7 @@ const int GLONASS_L1_CA_HISTORY_DEEP = 100;
 const double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.3;
 const int GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
 const int GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
-const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
+const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 2000;
 const int GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
 const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
 const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 5149d5b46..636605064 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -81,6 +81,10 @@ void Glonass_Gnav_Navigation_Message::reset()
     d_TOW_F4 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
     d_TOW_F5 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
+    flag_CRC_test = false;
+    d_frame_ID = 0;
+    d_string_ID = 0;
+
     // Clock terms
     d_satClkCorr = 0.0;
     d_dtr = 0.0;
@@ -310,6 +314,7 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
     return frame_ID;
 }
 
+
 double Glonass_Gnav_Navigation_Message::get_TOW()
 {
     double TOW = 0.0;
@@ -329,20 +334,21 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
     return TOW;
 }
 
+
 int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 {
-    int string_ID = 0;
     int J = 0;
-    frame_ID = 0;
+    d_string_ID = 0;
+    d_frame_ID = 0;
 
     // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
     std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
-    string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
+    d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
 
-    CRC_test(string_bits);
+    flag_CRC_test = CRC_test(string_bits);
 
     // Decode all 15 string messages
-    switch (string_ID)
+    switch (d_string_ID)
         {
         case 1:
             //--- It is string 1 -----------------------------------------------
@@ -454,7 +460,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 6:
             // --- It is string 6 ----------------------------------------------
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            frame_ID = get_frame_number(i_satellite_slot_number);
+            d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -499,7 +505,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 8:
             // --- It is string 8 ----------------------------------------------
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            frame_ID = get_frame_number(i_satellite_slot_number);
+            d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -538,7 +544,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 10:
             // --- It is string 10 ---------------------------------------------
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            frame_ID = get_frame_number(i_satellite_slot_number);
+            d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -577,7 +583,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 12:
             // --- It is string 12 ---------------------------------------------
             i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            frame_ID = get_frame_number(i_satellite_slot_number);
+            d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -615,7 +621,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 14:
             // --- It is string 14 ---------------------------------------------
-            if( frame_ID == 5)
+            if( d_frame_ID == 5)
               {
                 gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
                 gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
@@ -623,7 +629,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             else
               {
                 i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                frame_ID = get_frame_number(i_satellite_slot_number);
+                d_frame_ID = get_frame_number(i_satellite_slot_number);
 
                 gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
                 gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -641,7 +647,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 15:
             // --- It is string 9 ----------------------------------------------
-            if (frame_ID != 5 and flag_almanac_str_14 == true )
+            if (d_frame_ID != 5 and flag_almanac_str_14 == true )
               {
                 gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
                 gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
@@ -662,10 +668,13 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
               }
             break;
         default:
-            break;
-        } // switch subframeID ...
+        		LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID << ", but acceptable range is from 1-15";
 
-    return frame_ID;
+
+            break;
+        } // switch string ID ...
+
+    return d_string_ID;
 }
 
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 651ccbebd..6a8cf194e 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -61,7 +61,8 @@ private:
 
 public:
     bool flag_CRC_test;
-    unsigned int frame_ID;
+    unsigned int d_frame_ID;
+    unsigned int d_string_ID;
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index a64ba740d..7fb9c38ec 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -356,7 +356,7 @@ std::string Gnss_Satellite::what_block(const std::string& system_, unsigned int
         }
 
 
-    if (system_.compare("GLONASS") == 0)
+    if (system_.compare("Glonass") == 0)
         {
             switch ( PRN_ )
             {
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 7dd60969a..20c5141b2 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -3960,7 +3960,7 @@ int Rtcm::set_DF041(const Gnss_Synchro & gnss_synchro)
 
 int Rtcm::set_DF042(const Gnss_Synchro & gnss_synchro)
 {
-    const double lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
+    const double lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
     double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
     double glonass_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
     double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 299792.458;
@@ -5270,7 +5270,7 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
         }
       if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
           {
-              lambda = GLONASS_C_m_s / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN))));
+              lambda = GLONASS_C_m_s / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN))));
           }
       if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
           {
@@ -5379,7 +5379,7 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
         }
     if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
         {
-            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
+            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
         }
     if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
         {
@@ -5467,7 +5467,7 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
         }
     if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
         {
-            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
+            lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ *  GLONASS_PRN.at(gnss_synchro.PRN)));
         }
     if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
         {
diff --git a/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m b/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
index c1c884eaa..fed82d412 100644
--- a/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
+++ b/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
@@ -35,14 +35,14 @@ if ~exist('gps_l1_ca_dll_pll_read_tracking_dump.m','file')
 end
 
 
-samplingFreq = 2600000;     %[Hz]
-channels = 2;
+samplingFreq = 6625000;     %[Hz]
+channels = 5;
 first_channel = 0;
 
-path = '/home/javier/git/gnss-sdr/build/';  %% CHANGE THIS PATH
+path = '/archive/';  %% CHANGE THIS PATH
 
 for N=1:1:channels
-    tracking_log_path = [path 'tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
+    tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
     GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
 end
 

From a3d2c563c9e7378f470af44246882c6a2269b07e Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 31 Aug 2017 20:51:40 -0600
Subject: [PATCH 272/379] Fixing bugs and adding plotting tool for GLONASS
 measurements

Adds tracking results plot for GLONASS processing following code for
GPS. Also fix a couple of bugs in the code and address bugs from
acq and trk modules
---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   6 +-
 .../glonass_gnav_navigation_message.cc        |  10 +-
 .../glonass_gnav_navigation_message.h         |   2 +-
 .../glonass_l1_ca_dll_pll_plot_sample.m       |  73 +++++++
 ...glonass_l1_ca_dll_pll_read_tracking_dump.m | 193 ++++++++++++++++++
 5 files changed, 275 insertions(+), 9 deletions(-)
 create mode 100644 src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
 create mode 100644 src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 894bac175..5cc51b758 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -180,11 +180,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
         {
-            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite ";// << d_satellite;
+            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite "<< d_satellite;
         }
     else
         {
-            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " ;//<< d_satellite;
+            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
         }
 
     // 4. Push the new navigation data to the queues
@@ -399,7 +399,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 void glonass_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
 {
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
+    DLOG(INFO) << "Setting decoder Finite State Machine to satellite "<< d_satellite;
     DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
 }
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 636605064..f92dcf57a 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -459,7 +459,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 6:
             // --- It is string 6 ----------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -504,7 +504,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 8:
             // --- It is string 8 ----------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -543,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 10:
             // --- It is string 10 ---------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -582,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 12:
             // --- It is string 12 ---------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -628,7 +628,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
               }
             else
               {
-                i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
                 d_frame_ID = get_frame_number(i_satellite_slot_number);
 
                 gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 6a8cf194e..04836fc62 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -155,7 +155,7 @@ public:
      */
     int string_decoder(std::string frame_string);
 
-    /*
+    /*!
     * \brief Gets the time of week in GPS Time
     * \details This converts from GLONASS Time to GPS Time of Week based on the
     * start of frame
diff --git a/src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m b/src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
new file mode 100644
index 000000000..18965a31d
--- /dev/null
+++ b/src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
@@ -0,0 +1,73 @@
+% /*!
+%  * \file glonass_l1_ca_dll_pll_plot_sample.m
+%  * \brief Read GNSS-SDR Tracking dump binary file using the provided
+%  function and plot some internal variables
+%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */
+close all;
+clear all;
+
+if ~exist('glonass_l1_ca_dll_pll_read_tracking_dump.m','file')
+    addpath('./libs')
+end
+
+
+samplingFreq = 6625000;     %[Hz]
+channels = 5;
+first_channel = 0;
+
+path = '/archive/';  %% CHANGE THIS PATH
+
+for N=1:1:channels
+    tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
+    GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
+end
+
+% GNSS-SDR format conversion to MATLAB GPS receiver
+
+for N=1:1:channels
+        trackResults(N).status = 'T'; %fake track
+        trackResults(N).codeFreq       = GNSS_tracking(N).code_freq_hz.';
+        trackResults(N).carrFreq       = GNSS_tracking(N).carrier_doppler_hz.';
+        trackResults(N).dllDiscr       = GNSS_tracking(N).code_error.';
+        trackResults(N).dllDiscrFilt   = GNSS_tracking(N).code_nco.';
+        trackResults(N).pllDiscr       = GNSS_tracking(N).carr_error.';
+        trackResults(N).pllDiscrFilt   = GNSS_tracking(N).carr_nco.';
+
+        trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
+        trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
+
+        trackResults(N).I_E = GNSS_tracking(N).E.';
+        trackResults(N).I_L = GNSS_tracking(N).L.';
+        trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
+        trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
+        trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
+
+        % Use original MATLAB tracking plot function
+        settings.numberOfChannels = channels;
+        settings.msToProcess = length(GNSS_tracking(N).E);
+        plotTracking(N,trackResults,settings)
+end
diff --git a/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m b/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
new file mode 100644
index 000000000..8b1e54243
--- /dev/null
+++ b/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
@@ -0,0 +1,193 @@
+% /*!
+%  * \file glonass_l1_ca_dll_pll_read_tracking_dump.m
+%  * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
+%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */
+function [GNSS_tracking] = glonass_l1_ca_dll_pll_read_tracking_dump (filename, count)
+
+  %% usage: glonass_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
+  %%
+  %% open GNSS-SDR tracking binary log file .dat and return the contents
+  %%
+
+  m = nargchk (1,2,nargin);
+  num_float_vars=5;
+  num_unsigned_long_int_vars=1;
+  num_double_vars=11;
+  num_unsigned_int_vars=1;
+  double_size_bytes=8;
+  unsigned_long_int_size_bytes=8;
+  float_size_bytes=4;
+  long_int_size_bytes=4;
+
+  skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
+  bytes_shift=0;
+  if (m)
+    usage (m);
+  end
+
+  if (nargin < 2)
+    %count = Inf;
+    file_stats = dir(filename);
+    %round num bytes to read to integer number of samples (to protect the script from binary
+    %dump end file transitory)
+    count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
+  end
+    %loops_counter = fread (f, count, 'uint32',4*12);
+  f = fopen (filename, 'rb');
+  if (f < 0)
+  else
+    v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
+    v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
+        bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
+    fclose (f);
+
+    %%%%%%%% output vars %%%%%%%%
+
+%                     // EPR
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+%                     // PROMPT I and Q (to analyze navigation symbols)
+%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+%                     // PRN start sample stamp
+%                     //tmp_float=(float)d_sample_counter;
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+%                     // accumulated carrier phase
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+%
+%                     // carrier and code frequency
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+%
+%                     //PLL commands
+%                     d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+%
+%                     //DLL commands
+%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+%
+%                     // CN0 and carrier lock test
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+%
+%                     // AUX vars (for debug purposes)
+%                     tmp_double = d_rem_code_phase_samples;
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+%                     tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+%                             // PRN
+%             unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+%             d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+    E=v1;
+    P=v2;
+    L=v3;
+    prompt_I=v4;
+    prompt_Q=v5;
+    PRN_start_sample=v6;
+    acc_carrier_phase_rad=v7;
+    carrier_doppler_hz=v8;
+    code_freq_hz=v9;
+    carr_error=v10;
+    carr_nco=v11;
+    code_error=v12;
+    code_nco=v13;
+    CN0_SNV_dB_Hz=v14;
+    carrier_lock_test=v15;
+    var1=v16;
+    var2=v17;
+    PRN=v18;
+
+    GNSS_tracking.E=E;
+    GNSS_tracking.P=P;
+    GNSS_tracking.L=L;
+    GNSS_tracking.prompt_I=prompt_I;
+    GNSS_tracking.prompt_Q=prompt_Q;
+    GNSS_tracking.PRN_start_sample=PRN_start_sample;
+    GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
+    GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
+    GNSS_tracking.code_freq_hz=code_freq_hz;
+    GNSS_tracking.carr_error=carr_error;
+    GNSS_tracking.carr_nco=carr_nco;
+    GNSS_tracking.code_error=code_error
+    GNSS_tracking.code_nco=code_nco;
+    GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
+    GNSS_tracking.carrier_lock_test=carrier_lock_test;
+    GNSS_tracking.d_rem_code_phase_samples=var1;
+    GNSS_tracking.var2=var2;
+    GNSS_tracking.PRN=PRN;
+  end

From 0ac2f7bd747afde2cf042fe2a89e91c8f8707487 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 2 Sep 2017 11:36:19 +0200
Subject: [PATCH 273/379] The global parameter name GNSS-SDR.internal_fs_hz has
 been replaced by GNSS-SDR.internal_fs_sps

---
 .../acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc    | 3 ++-
 .../tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc | 3 ++-
 .../tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc       | 3 ++-
 .../glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc           | 4 ++--
 .../acquisition/glonass_l1_ca_pcps_acquisition_test.cc        | 2 +-
 .../tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc     | 2 +-
 .../tracking/glonass_l1_ca_dll_pll_tracking_test.cc           | 2 +-
 7 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 5d81dc992..f495076a9 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -20,7 +20,8 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
 
     item_type_ = configuration_->property(role + ".item_type", default_item_type);
 
-    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
+    fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     if_ = configuration_->property(role + ".if", 0);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 4f73fa200..c303be5d9 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -26,7 +26,8 @@ GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
     float early_late_space_chips;
     item_type_ = configuration->property(role + ".item_type", default_item_type);
     //vector_length = configuration->property(role + ".vector_length", 2048);
-    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     f_if = configuration->property(role + ".if", 0);
     dump = configuration->property(role + ".dump", false);
     pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
index cce1b19a7..f9c0e6c9f 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
@@ -62,7 +62,8 @@ GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
     float dll_bw_hz;
     float early_late_space_chips;
     item_type = configuration->property(role + ".item_type", default_item_type);
-    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     f_if = configuration->property(role + ".if", 0);
     dump = configuration->property(role + ".dump", false);
     pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index 434e37d23..abc2bedb3 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -175,7 +175,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
 
     config = std::make_shared<InMemoryConfiguration>();
 
-    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
 
     config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
 
@@ -245,7 +245,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
 
     config = std::make_shared<InMemoryConfiguration>();
 
-    config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
+    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
 
     config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 902fcdf00..a49aa3952 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -104,7 +104,7 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     std::string signal = "1G";
     signal.copy(gnss_synchro.Signal, 2, 0);
     gnss_synchro.PRN = 1;
-    config->set_property("GNSS-SDR.internal_fs_hz", "62314000");
+    config->set_property("GNSS-SDR.internal_fs_sps", "62314000");
     config->set_property("Acquisition.item_type", "gr_complex");
     config->set_property("Acquisition.if", "9540000");
     config->set_property("Acquisition.coherent_integration_time_ms", "1");
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
index 9a65a43a6..9876b63f3 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -137,7 +137,7 @@ void GlonassL1CaDllPllCAidTrackingTest::init()
     signal.copy(gnss_synchro.Signal, 2, 0);
     gnss_synchro.PRN = 11;
 
-    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+    config->set_property("GNSS-SDR.internal_fs_sps", "6625000");
     config->set_property("Tracking_1G.item_type", "gr_complex");
     config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 0957b3b24..1158f368c 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -137,7 +137,7 @@ void GlonassL1CaDllPllTrackingTest::init()
     signal.copy(gnss_synchro.Signal, 2, 0);
     gnss_synchro.PRN = 11;
 
-    config->set_property("GNSS-SDR.internal_fs_hz", "6625000");
+    config->set_property("GNSS-SDR.internal_fs_sps", "6625000");
     config->set_property("Tracking_1G.item_type", "gr_complex");
     config->set_property("Tracking_1G.dump", "false");
     config->set_property("Tracking_1G.if", "0.0");

From 778fa4f5f818121fcc3208235788be108150cd57 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 7 Sep 2017 21:59:27 -0600
Subject: [PATCH 274/379] bugfix: Fixes bug for carrier frequency in pcps_acq
 for GLONASS

The code fixes the computation of the carrier frequency for pcps
acquisition of GLONASS satellites by making it relative to the IF. Also
new plotting features are added to visualize results
---
 .gitignore                                    |   2 +
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |   2 +-
 conf/gnss-sdr_GLONASS_L1_ibyte.conf           | 103 ----------
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |   4 +-
 src/core/receiver/gnss_flowgraph.cc           |  26 +--
 ...ple.m => glonass_ca_dll_pll_plot_sample.m} |   8 +-
 .../glonass_ca_dll_pll_read_tracking_dump.m   | 191 ++++++++++++++++++
 7 files changed, 213 insertions(+), 123 deletions(-)
 delete mode 100644 conf/gnss-sdr_GLONASS_L1_ibyte.conf
 rename src/utils/matlab/{glonass_l1_ca_dll_pll_plot_sample.m => glonass_ca_dll_pll_plot_sample.m} (89%)
 create mode 100644 src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m

diff --git a/.gitignore b/.gitignore
index cbccacdac..a128f1558 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,5 +9,7 @@ thirdparty/
 .settings
 .project
 .cproject
+.idea
+cmake-build-debug/
 /install
 .DS_Store
diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 51f5b0096..a7b6f6551 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -61,7 +61,7 @@ Tracking_1G.dump=true;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
-TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
diff --git a/conf/gnss-sdr_GLONASS_L1_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_ibyte.conf
deleted file mode 100644
index 0b16fa3d8..000000000
--- a/conf/gnss-sdr_GLONASS_L1_ibyte.conf
+++ /dev/null
@@ -1,103 +0,0 @@
-; You can define your own receiver and invoke it by doing
-; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
-;
-
-[GNSS-SDR]
-
-;######### GLOBAL OPTIONS ##################
-;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
-GNSS-SDR.internal_fs_hz=6625000
-
-;######### CONTROL_THREAD CONFIG ############
-ControlThread.wait_for_flowgraph=false
-
-;######### SIGNAL_SOURCE CONFIG ############
-SignalSource.implementation=File_Signal_Source
-SignalSource.filename=/home/dmiralles/Documents/GSOC/GSOC2017/gnss-sdr/data/dmirallesNT1065_L2_20160831_fs6625e6_60e3_schar_1H.bin
-SignalSource.item_type=ibyte
-SignalSource.sampling_frequency=6625000
-SignalSource.freq=1602000000
-SignalSource.samples=0
-SignalSource.repeat=false
-SignalSource.sample_type=iq
-SignalSource.seconds_to_skip=0
-SignalSource.dump=false
-SignalSource.dump_filename=../data/signal_source.dat
-SignalSource.enable_throttle_control=false
-
-
-;######### SIGNAL_CONDITIONER CONFIG ############
-SignalConditioner.implementation=Signal_Conditioner
-
-;DataTypeAdapter.implementation=Ishort_To_Complex
-DataTypeAdapter.implementation=Ibyte_To_Complex
-InputFilter.implementation=Pass_Through
-;InputFilter.input_item_type=gr_complex
-;InputFilter.output_item_type=gr_complex
-InputFilter.item_type=gr_complex
-;Resampler.implementation=Pass_Through
-;Resampler.item_type=gr_complex
-Resampler.implementation=Pass_Through
-;Resampler.sample_freq_in=4000000
-;Resampler.sample_freq_out=2000000
-;Resampler.item_type=gr_complex
-Resampler.item_type=gr_complex
-
-;######### CHANNELS GLOBAL CONFIG ############
-Channels_1R.count=8 ;Assuming here that identifier `1r=R` defines GLONASS SP signals
-Channels.in_acquisition=1
-Channel.signal=1R
-;Channel.item_type=cshort
-
-
-;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1R.dump=false
-Acquisition_1R.dump_filename=./acq_dump.dat
-Acquisition_1R.item_type=cshort
-Acquisition_1R.if=0
-Acquisition_1R.sampled_ms=1
-Acquisition_1R.implementation=GLONASS_L1_CA_PCPS_Acquisition
-Acquisition_1R.threshold=0.008
-;Acquisition_1C.pfa=0.000001
-Acquisition_1R.doppler_max=10000
-Acquisition_1R.doppler_step=250
-Acquisition_1R.tong_init_val=2
-Acquisition_1R.tong_max_val=10
-Acquisition_1R.tong_max_dwells=20
-
-;######### TRACKING GLOBAL CONFIG ############
-Tracking_1R.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
-Tracking_1R.item_type=cshort
-Tracking_1R.if=0
-Tracking_1R.dump=false
-Tracking_1R.dump_filename=../data/epl_tracking_ch_
-Tracking_1R.pll_bw_hz=40.0;
-Tracking_1R.dll_bw_hz=4.0;
-Tracking_1R.order=3;
-
-;######### TELEMETRY DECODER GPS CONFIG ############
-TelemetryDecoder_1R.implementation=GLONASS_L1_CA_Telemetry_Decoder
-TelemetryDecoder_1R.dump=false
-TelemetryDecoder_1R.decimation_factor=1;
-
-;######### OBSERVABLES CONFIG ############
-Observables.implementation=Hybrid_Observables
-Observables.dump=false
-Observables.dump_filename=./observables.dat
-
-
-;######### PVT CONFIG ############
-PVT.implementation=RTKLIB_PVT
-PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
-PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
-PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-PVT.output_rate_ms=100
-PVT.display_rate_ms=500
-PVT.dump_filename=./PVT
-PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-PVT.flag_nmea_tty_port=false;
-PVT.nmea_dump_devname=/dev/pts/4
-PVT.flag_rtcm_server=false
-PVT.flag_rtcm_tty_port=false
-PVT.rtcm_dump_devname=/dev/pts/1
-PVT.dump=false
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index cd314a342..6911cc958 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -194,8 +194,8 @@ bool pcps_acquisition_cc::is_fdma()
     // Dealing with FDMA system
     if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
         {
-            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            d_freq += d_old_freq * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     else
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 4529a1fba..6fae5b7b4 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -735,19 +735,19 @@ void GNSSFlowgraph::set_signals_list()
                 }
         }
 
-        if (configuration_->property("Channels_1G.count", 0) > 0 )
-        {
-            /*
-             * Loop to create the list of GLONASS L1 C/A signals
-             */
-            for (available_gnss_prn_iter = available_glonass_prn.begin();
-                    available_gnss_prn_iter != available_glonass_prn.end();
-                    available_gnss_prn_iter++)
-                {
-                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
-                            *available_gnss_prn_iter), std::string("1G")));
-                }
-        }
+    if (configuration_->property("Channels_1G.count", 0) > 0 )
+    {
+        /*
+         * Loop to create the list of GLONASS L1 C/A signals
+         */
+        for (available_gnss_prn_iter = available_glonass_prn.begin();
+                available_gnss_prn_iter != available_glonass_prn.end();
+                available_gnss_prn_iter++)
+            {
+                available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Glonass"),
+                        *available_gnss_prn_iter), std::string("1G")));
+            }
+    }
     /*
      * Ordering the list of signals from configuration file
      */
diff --git a/src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m b/src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
similarity index 89%
rename from src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
rename to src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
index 18965a31d..2e2c9b070 100644
--- a/src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
+++ b/src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
@@ -1,5 +1,5 @@
 % /*!
-%  * \file glonass_l1_ca_dll_pll_plot_sample.m
+%  * \file glonass_ca_dll_pll_plot_sample.m
 %  * \brief Read GNSS-SDR Tracking dump binary file using the provided
 %  function and plot some internal variables
 %  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@@ -30,7 +30,7 @@
 close all;
 clear all;
 
-if ~exist('glonass_l1_ca_dll_pll_read_tracking_dump.m','file')
+if ~exist('glonass_ca_dll_pll_read_tracking_dump.m','file')
     addpath('./libs')
 end
 
@@ -43,7 +43,7 @@ path = '/archive/';  %% CHANGE THIS PATH
 
 for N=1:1:channels
     tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
-    GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
+    GNSS_tracking(N)= glonass_ca_dll_pll_read_tracking_dump(tracking_log_path);
 end
 
 % GNSS-SDR format conversion to MATLAB GPS receiver
@@ -69,5 +69,5 @@ for N=1:1:channels
         % Use original MATLAB tracking plot function
         settings.numberOfChannels = channels;
         settings.msToProcess = length(GNSS_tracking(N).E);
-        plotTracking(N,trackResults,settings)
+        plotTracking(N,trackResults,settings);
 end
diff --git a/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m b/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m
new file mode 100644
index 000000000..098ee11f7
--- /dev/null
+++ b/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m
@@ -0,0 +1,191 @@
+% /*!
+%  * \file glonass_ca_dll_pll_read_tracking_dump.m
+%  * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
+%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */             
+function [GNSS_tracking] = glonass_ca_dll_pll_read_tracking_dump (filename, count)
+
+  %% usage: gps_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
+  %%
+  %% open GNSS-SDR tracking binary log file .dat and return the contents
+  %%
+
+  narginchk (1,2);
+  num_float_vars=5;
+  num_unsigned_long_int_vars=1;
+  num_double_vars=11;
+  num_unsigned_int_vars=1;
+  double_size_bytes=8;
+  unsigned_long_int_size_bytes=8;
+  float_size_bytes=4;
+  long_int_size_bytes=4;
+  
+  skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
+  bytes_shift=0;
+
+  if (nargin < 2)
+    %count = Inf;
+    file_stats = dir(filename);
+    %round num bytes to read to integer number of samples (to protect the script from binary
+    %dump end file transitory)
+    count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
+  end
+    %loops_counter = fread (f, count, 'uint32',4*12);
+  f = fopen (filename, 'rb');
+  if (f < 0)
+  else
+    v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
+    v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
+        bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
+    fclose (f);
+    
+    %%%%%%%% output vars %%%%%%%%
+    
+%                     // EPR
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+%                     // PROMPT I and Q (to analyze navigation symbols)
+%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+%                     // PRN start sample stamp
+%                     //tmp_float=(float)d_sample_counter;
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+%                     // accumulated carrier phase
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+% 
+%                     // carrier and code frequency
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+% 
+%                     //PLL commands
+%                     d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+% 
+%                     //DLL commands
+%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+% 
+%                     // CN0 and carrier lock test
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+% 
+%                     // AUX vars (for debug purposes)
+%                     tmp_double = d_rem_code_phase_samples;
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+%                     tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+%                             // PRN
+%             unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+%             d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+    E=v1;
+    P=v2;
+    L=v3;
+    prompt_I=v4;
+    prompt_Q=v5;
+    PRN_start_sample=v6;
+    acc_carrier_phase_rad=v7;
+    carrier_doppler_hz=v8;
+    code_freq_hz=v9;
+    carr_error=v10;
+    carr_nco=v11;
+    code_error=v12;
+    code_nco=v13;
+    CN0_SNV_dB_Hz=v14;
+    carrier_lock_test=v15;
+    var1=v16;
+    var2=v17;
+    PRN=v18;
+    
+    GNSS_tracking.E=E;
+    GNSS_tracking.P=P;
+    GNSS_tracking.L=L;
+    GNSS_tracking.prompt_I=prompt_I;
+    GNSS_tracking.prompt_Q=prompt_Q;
+    GNSS_tracking.PRN_start_sample=PRN_start_sample;
+    GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
+    GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
+    GNSS_tracking.code_freq_hz=code_freq_hz;
+    GNSS_tracking.carr_error=carr_error;
+    GNSS_tracking.carr_nco=carr_nco;
+    GNSS_tracking.code_error=code_error;
+    GNSS_tracking.code_nco=code_nco;
+    GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
+    GNSS_tracking.carrier_lock_test=carrier_lock_test;
+    GNSS_tracking.d_rem_code_phase_samples=var1;
+    GNSS_tracking.var2=var2;
+    GNSS_tracking.PRN=PRN;
+  end
+  

From 2946d36f846ff9505f480bfab540a0a58d4ae9a3 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sat, 9 Sep 2017 13:44:35 -0600
Subject: [PATCH 275/379] bugfix: Solves shared freq channel ambiguity and carr
 freq in plots

Adds code to solve the shared frequency channels for GLONASS satellites
during acq and trk, it is now decode responsability to fix the identifier
when decoding of ephemeris happens. It also adds more details in tracking
plotting and fixes silly bug that created false alarm.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 16 +++---
 conf/gnss-sdr_GPS_L1_gr_complex.conf          |  3 +-
 .../gnuradio_blocks/pcps_acquisition_cc.cc    |  4 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  2 +-
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |  5 +-
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h |  2 +-
 src/core/receiver/gnss_flowgraph.cc           |  4 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |  1 +
 .../galileo_e1_dll_pll_veml_plot_sample.m     |  1 +
 .../matlab/glonass_ca_dll_pll_plot_sample.m   |  3 +-
 .../matlab/gps_l1_ca_dll_pll_plot_sample.m    |  1 +
 .../glonass_ca_dll_pll_read_tracking_dump.m   |  4 +-
 src/utils/matlab/libs/plotTracking.m          | 49 ++++++++++++++++---
 13 files changed, 69 insertions(+), 26 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index a7b6f6551..4f3d513dc 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -26,7 +26,7 @@ Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
 Channels_1G.count=5
-Channels.in_acquisition=1
+Channels.in_acquisition=5
 Channel0.signal=1G
 Channel1.signal=1G
 Channel2.signal=1G
@@ -34,9 +34,10 @@ Channel3.signal=1G
 Channel4.signal=1G
 
 Channel0.satellite=11
-Channel1.satellite=15
-;Channel2.satellite=12
-;Channel3.satellite=23
+Channel1.satellite=2
+Channel2.satellite=18
+Channel3.satellite=12
+Channel4.satellite=21
 ; Possible list includes 2, 12, 21, 22
 
 ;######### ACQUISITION GLOBAL CONFIG ############
@@ -49,14 +50,15 @@ Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
 Acquisition_1G.dump=false;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
+;Acquisition_1G.coherent_integration_time_ms=10
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
 Tracking_1G.item_type=gr_complex
-Tracking_1G.if=0
+Tracking_1G.if=1
 Tracking_1G.early_late_space_chips=0.5
-Tracking_1G.pll_bw_hz=20.0;
-Tracking_1G.dll_bw_hz=4.0;
+Tracking_1G.pll_bw_hz=25.0;
+Tracking_1G.dll_bw_hz=3.0;
 Tracking_1G.dump=true;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
diff --git a/conf/gnss-sdr_GPS_L1_gr_complex.conf b/conf/gnss-sdr_GPS_L1_gr_complex.conf
index ca5af458c..c24eeae40 100644
--- a/conf/gnss-sdr_GPS_L1_gr_complex.conf
+++ b/conf/gnss-sdr_GPS_L1_gr_complex.conf
@@ -34,7 +34,7 @@ DataTypeAdapter.dump=false
 DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat
 
 ;######### CHANNELS GLOBAL CONFIG ############
-Channels_1C.count=8
+Channels_1C.count=5
 Channels.in_acquisition=1
 Channel.signal=1C
 
@@ -51,6 +51,7 @@ Acquisition_1C.threshold=0.05
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_step=250
 
+
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
 Tracking_1C.item_type=gr_complex
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
index 6911cc958..b61c6d4a1 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
@@ -194,8 +194,8 @@ bool pcps_acquisition_cc::is_fdma()
     // Dealing with FDMA system
     if( strcmp(d_gnss_synchro->Signal,"1G") == 0 )
         {
-            d_freq += d_old_freq * GLONASS_PRN.at(d_gnss_synchro->PRN);
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq * GLONASS_PRN.at(d_gnss_synchro->PRN) << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     else
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 5cc51b758..f80748f80 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -288,7 +288,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                     // NEW GLONASS string received
                     // 0. fetch the symbols into an array
                     int string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
-                    double string_symbols[string_length] = {0};
+                    double string_symbols[GLONASS_GNAV_DATA_SYMBOLS] = {0};
 
                     //******* SYMBOL TO BIT *******
                     for (int i = 0; i < string_length; i++)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 42f80725e..367bcb371 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -196,7 +196,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
     acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
     // Doppler effect
     // Fd=(C/(C+Vr))*F
-    d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
     double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
     // new chip and prn sequence periods based on acq Doppler
     double T_chip_mod_seconds;
@@ -576,7 +576,8 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
                     d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
 
                     // carrier and code frequency
-                    d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+                    double if_freq_carrier = d_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
+                    d_dump_file.write(reinterpret_cast<char*>(&if_freq_carrier), sizeof(double));
                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
 
                     //PLL commands
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index 280d590b1..262707535 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -85,7 +85,7 @@ private:
 
     long d_if_freq;
     long d_fs_in;
-    long d_glonass_freq_ch;
+    double d_glonass_freq_ch;
 
     double d_early_late_spc_chips;
     int d_n_correlator_taps;
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 6fae5b7b4..c83bf1e92 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -597,8 +597,8 @@ void GNSSFlowgraph::set_signals_list()
             11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31, 32, 33, 34, 35, 36};
 
-    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
+    // Removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21 };
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index f5c4d450a..ca71ccd08 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -159,6 +159,7 @@ const int GLONASS_GNAV_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_GNAV_TELEMETRY_RA
 const int GLONASS_GNAV_STRING_SYMBOLS = 2000;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
 const int GLONASS_GNAV_STRING_BITS = 85;            //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
 const int GLONASS_GNAV_HAMMING_CODE_BITS = 8;       //!< Number of bits in hamming code sequence of GNAV message
+const int GLONASS_GNAV_DATA_SYMBOLS = 1700; // STRING DATA WITHOUT PREAMBLE
 
 const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
 const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
diff --git a/src/utils/matlab/galileo_e1_dll_pll_veml_plot_sample.m b/src/utils/matlab/galileo_e1_dll_pll_veml_plot_sample.m
index 7e543b180..19bc3de13 100644
--- a/src/utils/matlab/galileo_e1_dll_pll_veml_plot_sample.m
+++ b/src/utils/matlab/galileo_e1_dll_pll_veml_plot_sample.m
@@ -68,6 +68,7 @@ for N=1:1:channels
         trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).L));
         trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
         trackResults(N).PRN = GNSS_tracking(N).PRN.';
+        trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
         
         % Use original MATLAB tracking plot function
         settings.numberOfChannels = channels;
diff --git a/src/utils/matlab/glonass_ca_dll_pll_plot_sample.m b/src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
index 2e2c9b070..7cb6753b4 100644
--- a/src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
+++ b/src/utils/matlab/glonass_ca_dll_pll_plot_sample.m
@@ -51,7 +51,7 @@ end
 for N=1:1:channels
         trackResults(N).status = 'T'; %fake track
         trackResults(N).codeFreq       = GNSS_tracking(N).code_freq_hz.';
-        trackResults(N).carrFreq       = GNSS_tracking(N).carrier_doppler_hz.';
+        trackResults(N).carrFreq       = GNSS_tracking(N).carrier_freq_hz.';
         trackResults(N).dllDiscr       = GNSS_tracking(N).code_error.';
         trackResults(N).dllDiscrFilt   = GNSS_tracking(N).code_nco.';
         trackResults(N).pllDiscr       = GNSS_tracking(N).carr_error.';
@@ -64,6 +64,7 @@ for N=1:1:channels
         trackResults(N).I_L = GNSS_tracking(N).L.';
         trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
         trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
+        trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
         trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
 
         % Use original MATLAB tracking plot function
diff --git a/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m b/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
index fed82d412..22ef63f79 100644
--- a/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
+++ b/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
@@ -65,6 +65,7 @@ for N=1:1:channels
         trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
         trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
         trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
+        trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
         
         % Use original MATLAB tracking plot function
         settings.numberOfChannels = channels;
diff --git a/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m b/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m
index 098ee11f7..7141d1970 100644
--- a/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m
+++ b/src/utils/matlab/libs/glonass_ca_dll_pll_read_tracking_dump.m
@@ -157,7 +157,7 @@ function [GNSS_tracking] = glonass_ca_dll_pll_read_tracking_dump (filename, coun
     prompt_Q=v5;
     PRN_start_sample=v6;
     acc_carrier_phase_rad=v7;
-    carrier_doppler_hz=v8;
+    carrier_freq_hz=v8;
     code_freq_hz=v9;
     carr_error=v10;
     carr_nco=v11;
@@ -176,7 +176,7 @@ function [GNSS_tracking] = glonass_ca_dll_pll_read_tracking_dump (filename, coun
     GNSS_tracking.prompt_Q=prompt_Q;
     GNSS_tracking.PRN_start_sample=PRN_start_sample;
     GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
-    GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
+    GNSS_tracking.carrier_freq_hz=carrier_freq_hz;
     GNSS_tracking.code_freq_hz=code_freq_hz;
     GNSS_tracking.carr_error=carr_error;
     GNSS_tracking.carr_nco=carr_nco;
diff --git a/src/utils/matlab/libs/plotTracking.m b/src/utils/matlab/libs/plotTracking.m
index d2e31f537..ec0c418d3 100644
--- a/src/utils/matlab/libs/plotTracking.m
+++ b/src/utils/matlab/libs/plotTracking.m
@@ -54,15 +54,20 @@ for channelNr = channelList
 
 %% Draw axes ==============================================================
         % Row 1
-        handles(1, 1) = subplot(3, 3, 1);
-        handles(1, 2) = subplot(3, 3, [2 3]);
+        handles(1, 1) = subplot(4, 3, 1);
+        handles(1, 2) = subplot(4, 3, [2 3]);
         % Row 2
-        handles(2, 1) = subplot(3, 3, 4);
-        handles(2, 2) = subplot(3, 3, [5 6]);
+        handles(2, 1) = subplot(4, 3, 4);
+        handles(2, 2) = subplot(4, 3, [5 6]);
         % Row 3
-        handles(3, 1) = subplot(3, 3, 7);
-        handles(3, 2) = subplot(3, 3, 8);
-        handles(3, 3) = subplot(3, 3, 9);
+        handles(3, 1) = subplot(4, 3, 7);
+        handles(3, 2) = subplot(4, 3, 8);
+        handles(3, 3) = subplot(4, 3, 9);
+        % Row 4
+        handles(4, 1) = subplot(4, 3, 10);
+        handles(4, 2) = subplot(4, 3, 11);
+        handles(4, 3) = subplot(4, 3, 12);
+        
 
 %% Plot all figures =======================================================
 
@@ -149,5 +154,35 @@ for channelNr = channelList
         xlabel(handles(3, 3), 'Time (s)');
         ylabel(handles(3, 3), 'Amplitude');
         title (handles(3, 3), 'Filtered DLL discriminator');
+        
+        %----- CNo for signal----------------------------------
+        plot  (handles(4, 1), timeAxisInSeconds, ...
+            trackResults(channelNr).CNo(1:settings.msToProcess), 'b');      
+
+        grid  (handles(4, 1));
+        axis  (handles(4, 1), 'tight');
+        xlabel(handles(4, 1), 'Time (s)');
+        ylabel(handles(4, 1), 'CNo (dB-Hz)');
+        title (handles(4, 1), 'Carrier to Noise Ratio');
+
+        %----- Carrier Frequency --------------------------------
+        plot  (handles(4, 2), timeAxisInSeconds, ...
+            trackResults(channelNr).carrFreq(1:settings.msToProcess), 'Color',[0.42 0.25 0.39]);    
+
+        grid  (handles(4, 2));
+        axis  (handles(4, 2), 'tight');
+        xlabel(handles(4, 2), 'Time (s)');
+        ylabel(handles(4, 2), 'Freq (hz)');
+        title (handles(4, 2), 'Carrier Freq');
+
+        %----- Code Frequency----------------------------------
+        plot  (handles(4, 3), timeAxisInSeconds, ...
+             trackResults(channelNr).codeFreq(1:settings.msToProcess), 'Color',[0.2 0.3 0.49]);      
+
+        grid  (handles(4, 3));
+        axis  (handles(4, 3), 'tight');
+        xlabel(handles(4, 3), 'Time (s)');
+        ylabel(handles(4, 3), 'Freq (Hz)');
+        title (handles(4, 3), 'Code Freq');        
 
 end % for channelNr = channelList

From e60c93da7204d0c5e06b547211d080aa527253a6 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 10 Sep 2017 11:04:53 +0200
Subject: [PATCH 276/379] Remove extraneous parentheses warnings

---
 src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc           | 4 ++--
 src/core/system_parameters/glonass_gnav_navigation_message.cc | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 083aee259..f5bf5e503 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -920,11 +920,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
-                                                    if((type_of_rx == 26)) //  GPS L1 C/A + GLONASS L1 C/A
+                                                    if(type_of_rx == 26) //  GPS L1 C/A + GLONASS L1 C/A
                                                         {
                                                             rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
-                                                    if((type_of_rx == 27)) //  Galileo E1B + GLONASS L1 C/A
+                                                    if(type_of_rx == 27) //  Galileo E1B + GLONASS L1 C/A
                                                         {
                                                             rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->galileo_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index f92dcf57a..7555324ef 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -709,7 +709,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
 {
     if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
         {
-            if ((gnav_ephemeris.d_P_4 == 1) )
+            if (gnav_ephemeris.d_P_4 == 1)
                 {
                     flag_ephemeris_str_1 = false;// clear the flag
                     flag_ephemeris_str_2 = false;// clear the flag

From 1fc06067d47784b7fef87bbfacc977e5fbc0de40 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 10 Sep 2017 11:29:32 +0200
Subject: [PATCH 277/379] Replace internal_fs_hz by intrenal_fs_sps

---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 4f3d513dc..af8929c2d 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -1,11 +1,11 @@
 [GNSS-SDR]
 
 ;######### GLOBAL OPTIONS ##################
-GNSS-SDR.internal_fs_hz=6625000
+GNSS-SDR.internal_fs_sps=6625000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=File_Signal_Source
-SignalSource.filename=/archive/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin
+SignalSource.filename=/archive/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
 ;SignalSource.freq=0

From 67312f9f784d9b0e971fb163f1be8a5080d7245c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 13 Sep 2017 20:55:09 -0300
Subject: [PATCH 278/379] Add missing headers

---
 .../glonass_l1_ca_dll_pll_c_aid_tracking.cc   | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    | 39 +++++++++++++++++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h | 39 +++++++++++++++++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.h       | 39 +++++++++++++++++++
 8 files changed, 312 insertions(+)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 7d52ff931..800d1d4bd 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 #include <glog/logging.h>
 #include "GLONASS_L1_CA.h"
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
index 3da85c58e..4cdd59ce6 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 367bcb371..ac8e1bffe 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
 #include <cmath>
 #include <iostream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index 262707535..320d51b0c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 37b9ebaa7..c4eff7003 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
 #include <cmath>
 #include <iostream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index dbc0a084a..0e008e04c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 4bdb0abf3..b60a0ef67 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_tracking_cc.h"
 #include <cmath>
 #include <iostream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 0c40ef9fd..57dd77176 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
 

From 69e54c32c09498ae0d938680ff74d420d243104c Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 14 Sep 2017 13:19:27 -0300
Subject: [PATCH 279/379] Add carrier frequency variable

---
 .../glonass_l1_ca_dll_pll_tracking_cc.cc       | 18 ++++++++++--------
 .../glonass_l1_ca_dll_pll_tracking_cc.h        |  1 +
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index b60a0ef67..0c1a0b724 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -174,6 +174,7 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
     d_acq_code_phase_samples = 0.0;
     d_acq_carrier_doppler_hz = 0.0;
     d_carrier_doppler_hz = 0.0;
+    d_carrier_frequency_hz = 0.0;
     d_acc_carrier_phase_rad = 0.0;
     d_code_phase_samples = 0.0;
     d_rem_code_phase_chips = 0.0;
@@ -228,9 +229,9 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
-    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+    d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
 
     // DLL/PLL filter initialization
     d_carrier_loop_filter.initialize(); // initialize the carrier filter
@@ -264,7 +265,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     d_pull_in = true;
     d_enable_tracking = true;
 
-    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_frequency_hz
             << " Code Phase correction [samples]=" << delay_correction_samples
             << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
 }
@@ -334,7 +335,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             // take into account the carrier cycles accumulated in the pull in signal alignment
             d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+            current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
             current_synchro_data.fs = d_fs_in;
             current_synchro_data.correlation_length_ms = 1;
             *out[0] = current_synchro_data;
@@ -358,6 +359,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         // Carrier discriminator filter
         carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
         // New carrier Doppler frequency estimation
+        d_carrier_frequency_hz += carr_error_filt_hz;
         d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
         d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
@@ -382,7 +384,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
 
         //################### PLL COMMANDS #################################################
         // carrier phase step (NCO phase increment per sample) [rads/sample]
-        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
         // remnant carrier phase to prevent overflow in the code NCO
         d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
         d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
@@ -434,7 +436,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
         current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
         current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-        current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+        current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
         current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
         current_synchro_data.Flag_valid_symbol_output = true;
         current_synchro_data.correlation_length_ms = 1;
@@ -483,7 +485,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
 
             // carrier and code frequency
-            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_frequency_hz), sizeof(double));
             d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
 
             // PLL commands
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 57dd77176..cf1923fb6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -140,6 +140,7 @@ private:
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
+    double d_carrier_frequency_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_rad;
     double d_code_phase_samples;

From 7273c227e4b25dd608e924130414dee365dc24b1 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Wed, 13 Sep 2017 20:55:09 -0300
Subject: [PATCH 280/379] Add missing headers

---
 .../glonass_l1_ca_dll_pll_c_aid_tracking.cc   | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking.h    | 39 +++++++++++++++++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h | 39 +++++++++++++++++++
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 39 +++++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.h       | 39 +++++++++++++++++++
 8 files changed, 312 insertions(+)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 7d52ff931..800d1d4bd 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
 #include <glog/logging.h>
 #include "GLONASS_L1_CA.h"
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
index 3da85c58e..4cdd59ce6 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 367bcb371..ac8e1bffe 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
 #include <cmath>
 #include <iostream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index 262707535..320d51b0c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 37b9ebaa7..c4eff7003 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
 #include <cmath>
 #include <iostream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index dbc0a084a..0e008e04c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 4bdb0abf3..b60a0ef67 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_dll_pll_tracking_cc.h"
 #include <cmath>
 #include <iostream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 0c40ef9fd..57dd77176 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -1,3 +1,42 @@
+/*!
+ * \file glonass_l1_ca_dll_pll_tracking.h
+ * \brief  Interface of an adapter of a DLL+PLL tracking loop block
+ * for Glonass L1 C/A to a TrackingInterface
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+ *
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #ifndef GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
 #define GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H
 

From 385661bf594c6815dfce5f69906c58b6a931abf2 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Thu, 14 Sep 2017 13:19:27 -0300
Subject: [PATCH 281/379] Add carrier frequency variable

---
 .../glonass_l1_ca_dll_pll_tracking_cc.cc       | 18 ++++++++++--------
 .../glonass_l1_ca_dll_pll_tracking_cc.h        |  1 +
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index b60a0ef67..0c1a0b724 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -174,6 +174,7 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
     d_acq_code_phase_samples = 0.0;
     d_acq_carrier_doppler_hz = 0.0;
     d_carrier_doppler_hz = 0.0;
+    d_carrier_frequency_hz = 0.0;
     d_acc_carrier_phase_rad = 0.0;
     d_code_phase_samples = 0.0;
     d_rem_code_phase_chips = 0.0;
@@ -228,9 +229,9 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
-    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+    d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
 
     // DLL/PLL filter initialization
     d_carrier_loop_filter.initialize(); // initialize the carrier filter
@@ -264,7 +265,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     d_pull_in = true;
     d_enable_tracking = true;
 
-    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_frequency_hz
             << " Code Phase correction [samples]=" << delay_correction_samples
             << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
 }
@@ -334,7 +335,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             // take into account the carrier cycles accumulated in the pull in signal alignment
             d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+            current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
             current_synchro_data.fs = d_fs_in;
             current_synchro_data.correlation_length_ms = 1;
             *out[0] = current_synchro_data;
@@ -358,6 +359,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         // Carrier discriminator filter
         carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
         // New carrier Doppler frequency estimation
+        d_carrier_frequency_hz += carr_error_filt_hz;
         d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
         d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
@@ -382,7 +384,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
 
         //################### PLL COMMANDS #################################################
         // carrier phase step (NCO phase increment per sample) [rads/sample]
-        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+        d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
         // remnant carrier phase to prevent overflow in the code NCO
         d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
         d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
@@ -434,7 +436,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
         current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
         current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-        current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+        current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
         current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
         current_synchro_data.Flag_valid_symbol_output = true;
         current_synchro_data.correlation_length_ms = 1;
@@ -483,7 +485,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
 
             // carrier and code frequency
-            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+            d_dump_file.write(reinterpret_cast<char*>(&d_carrier_frequency_hz), sizeof(double));
             d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
 
             // PLL commands
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 57dd77176..cf1923fb6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -140,6 +140,7 @@ private:
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
+    double d_carrier_frequency_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_rad;
     double d_code_phase_samples;

From 0c65a4eb7c4546a0726bd2dd83428f3173b4db34 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 15 Sep 2017 22:25:37 -0600
Subject: [PATCH 282/379] bugfix: Adds conversion from relative code to data
 bits

Adds conversion from relative code to data bits while decoding GLONASS
GNAV data. It also fixes bugs with CRC computation and extraction of
data from navigation message
---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  10 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   4 +-
 .../glonass_gnav_navigation_message.cc        | 247 +++++++++---------
 .../glonass_gnav_almanac_test.cc              |  12 +-
 .../glonass_gnav_nav_message_test.cc          |  23 +-
 5 files changed, 164 insertions(+), 132 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index f80748f80..d0c262b87 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -139,6 +139,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     // 1. Transform from symbols to bits
     std::string bi_binary_code;
     std::string relative_code;
+    std::string data_bits;
+
     // Group samples into bi-binary code
     for(int i = 0; i < (frame_length); i++)
         {
@@ -173,9 +175,15 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
                 relative_code.push_back('0');
               }
         }
+    // Convert from relative code to data bits
+    data_bits.push_back('0');
+    for(int i = 1; i < (GLONASS_GNAV_STRING_BITS); i++)
+    {
+        data_bits.push_back(((relative_code[i-1]-'0') ^ (relative_code[i]-'0')) + '0');
+    }
 
     // 2. Call the GLONASS GNAV string decoder
-    d_nav.string_decoder(relative_code);
+    d_nav.string_decoder(data_bits);
 
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index ca71ccd08..79e43cc10 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -164,9 +164,9 @@ const int GLONASS_GNAV_DATA_SYMBOLS = 1700; // STRING DATA WITHOUT PREAMBLE
 const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
 const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
 const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34, 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
-const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
+const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {13, 14, 15, 16, 17, 18, 19, 27, 28, 29, 30, 31, 32, 33, 34, 42, 43, 44, 45, 46, 47, 48, 49, 58, 59, 60, 61, 62, 63, 64, 65, 73, 74, 75, 76, 77, 78, 79, 80};
 const std::vector<int> GLONASS_GNAV_CRC_M_INDEX {20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 81, 82, 83, 84, 85};
-const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
+const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65};
 const std::vector<int> GLONASS_GNAV_CRC_P_INDEX {66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
 const std::vector<int> GLONASS_GNAV_CRC_Q_INDEX {9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 7555324ef..addc8dbbc 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -134,7 +134,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_I_INDEX[i]-1];
         }
     C1 = string_bits[0]^(sum_bits%2);
 
@@ -142,7 +142,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_J_INDEX[j]-1];
         }
     C2 = (string_bits[1])^(sum_bits%2);
 
@@ -150,7 +150,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_K_INDEX[k]-1];
         }
     C3 = string_bits[2]^(sum_bits%2);
 
@@ -158,7 +158,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_L_INDEX[l]-1];
         }
     C4 = string_bits[3]^(sum_bits%2);
 
@@ -166,7 +166,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_M_INDEX[m]-1];
         }
     C5 = string_bits[4]^(sum_bits%2);
 
@@ -174,7 +174,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_N_INDEX[n]-1];
         }
     C6 = string_bits[5]^(sum_bits%2);
 
@@ -182,7 +182,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_P_INDEX[p]-1];
         }
     C7 = string_bits[6]^(sum_bits%2);
 
@@ -191,7 +191,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_hamming = 0;
     for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_Q_INDEX[q]-1];
         }
     for(int q = 0; q < 8; q++)
         {
@@ -200,17 +200,18 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     C_Sigma = (sum_hamming%2)^(sum_bits%2);
 
     //!< Verification of the data
-    // All of the checksums are equal to zero
-    if((C1 & C2 & C3 & C4 & C5 & C6 & C7 & C_Sigma) == 0 )
+    // (a-i) All checksums (C1,...,C7 and C_Sigma) are equal to zero
+    if((C1 + C2 + C3 + C4 + C5 + C6 + C7 + C_Sigma) == 0 )
         {
             return true;
         }
-    // only one of the checksums (C1,...,C7) is equal to zero but C_Sigma = 1
+    // (a-ii) Only one of the checksums (C1,...,C7) is equal to zero but C_Sigma = 1
     else if(C_Sigma == 1 && C1+C2+C3+C4+C5+C6+C7 == 6)
         {
             return true;
         }
     else
+    // All other conditions are assumed errors. TODO: Add correction for case B
         {
             return false;
         }
@@ -307,7 +308,7 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
         }
     else
         {
-            //TODO Find print statement and make it an error
+            LOG(WARNING) << "GLONASS GNAV: Invalid Satellite Slot Number";
             frame_ID = 0;
         }
 
@@ -341,21 +342,23 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
     d_string_ID = 0;
     d_frame_ID = 0;
 
-    // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
+    // Unpack bytes to bits
     std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
-    d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
 
+    // Perform data verification and exit code if error in bit sequence
     flag_CRC_test = CRC_test(string_bits);
+    if(flag_CRC_test == false)
+        return 0;
 
     // Decode all 15 string messages
-    switch (d_string_ID)
-        {
+    d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
+    switch (d_string_ID) {
         case 1:
             //--- It is string 1 -----------------------------------------------
-            gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1)*15;
-            gnav_ephemeris.d_t_k =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
-                                    static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
-                                    static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
+            gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1) * 15;
+            gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
+                                   static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
+                                   static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
             gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * TWO_N20;
             gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
             gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
@@ -370,12 +373,12 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 {
                     gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
                     gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
-                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*gnav_ephemeris.d_P_1*60;
-                    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
+                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * gnav_ephemeris.d_P_1 * 60;
+                    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
                     gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
                     gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
 
-                    gnav_ephemeris.d_iode   = read_navigation_unsigned(string_bits, T_B);
+                    gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
                     flag_ephemeris_str_2 = true;
                 }
 
@@ -424,18 +427,18 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
             flag_utc_model_str_5 = true;
             // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
-            if(flag_ephemeris_str_4 == true)
+            if (flag_ephemeris_str_4 == true)
                 {
                     //Current year number J in the four-year interval is calculated:
-                    if(gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
+                    if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
                         {
                             J = 1;
                         }
-                    else if ( gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
+                    else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
                         {
                             J = 2;
                         }
-                    else if (gnav_ephemeris.d_N_T >= 732  && gnav_ephemeris.d_N_T <= 1096)
+                    else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
                         {
                             J = 3;
                         }
@@ -444,11 +447,11 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                             J = 4;
                         }
                     // 2). Current year in common form is calculated by the following formula:
-                    gnav_ephemeris.d_yr = 1996 + 4.0*(gnav_utc_model.d_N_4  - 1.0) + (J - 1.0);
+                    gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
                     gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
 
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
-                    if(flag_ephemeris_str_1 == true)
+                    if (flag_ephemeris_str_1 == true)
                         {
                             d_TOW = get_TOW();
                             flag_TOW_set = true;
@@ -477,28 +480,28 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 7:
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
-              {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                if(i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
-                    {
-                        gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
-                    }
-                flag_almanac_str_7 = true;
-              }
+                    if (i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
+                        {
+                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
+                        }
+                    flag_almanac_str_7 = true;
+                }
 
 
             break;
@@ -521,25 +524,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 9:
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
-              {
-                // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                flag_almanac_str_9 = true;
-              }
+                    flag_almanac_str_9 = true;
+                }
             break;
         case 10:
             // --- It is string 10 ---------------------------------------------
@@ -561,24 +563,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 11:
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
-              {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                flag_almanac_str_11 = true;
-              }
+                    flag_almanac_str_11 = true;
+                }
             break;
         case 12:
             // --- It is string 12 ---------------------------------------------
@@ -600,64 +602,63 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 13:
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
-              {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                flag_almanac_str_13 = true;
-              }
+                    flag_almanac_str_13 = true;
+                }
             break;
         case 14:
             // --- It is string 14 ---------------------------------------------
-            if( d_frame_ID == 5)
-              {
-                gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
-                gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
-              }
+            if (d_frame_ID == 5)
+                {
+                    gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
+                    gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
+                }
             else
-              {
-                i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-                d_frame_ID = get_frame_number(i_satellite_slot_number);
+                {
+                    i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+                    d_frame_ID = get_frame_number(i_satellite_slot_number);
 
-                gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-                gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+                    gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+                    gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+                    gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                    gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
-                flag_almanac_str_14 = true;
-              }
+                    flag_almanac_str_14 = true;
+                }
 
 
             break;
 
         case 15:
             // --- It is string 9 ----------------------------------------------
-            if (d_frame_ID != 5 and flag_almanac_str_14 == true )
-              {
+            if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
                 gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
                 gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
                     {
                         gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
                     }
@@ -665,14 +666,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
                 flag_almanac_str_15 = true;
-              }
+            }
             break;
         default:
-        		LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID << ", but acceptable range is from 1-15";
+            LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID
+                      << ", but acceptable range is from 1-15";
 
 
             break;
-        } // switch string ID ...
+    } // switch string ID ...
+
 
     return d_string_ID;
 }
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
index 2c36f03cb..b53a4da38 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
@@ -67,10 +67,10 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
 
     gnav_almanac.satellite_position(N_A, N_i, t_i);
 
-    ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
 }
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index de814391f..5fabb4676 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -44,7 +44,7 @@
  * \test The provided string was generated with a version of MATLAB GNSS-SDR that
  * the author coded to perform proper decoding of GLONASS GNAV signals.
  */
-TEST(GlonassGnavNavigationMessageTest, CRCTest)
+TEST(GlonassGnavNavigationMessageTest, CRCTestSuccess)
 {
     // Variables declarations in code
     bool test_result;
@@ -59,6 +59,27 @@ TEST(GlonassGnavNavigationMessageTest, CRCTest)
     ASSERT_TRUE(test_result);
 }
 
+/*!
+ * \brief Testing CRC computation for GLONASS GNAV data bits of a string
+ * \test The provided string was generated with a version of MATLAB GNSS-SDR that
+ * the author coded to perform proper decoding of GLONASS GNAV signals.
+ */
+TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
+{
+    // Variables declarations in code
+    bool test_result;
+    // Constructor of string to bitset will flip the order of the bits. Needed for CRC computation
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits (std::string ("0111100100001100000000000000000000000000110011110001100000000000000001100100011000000"));
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    gnav_nav_message.reset();
+
+    // Call function to test
+    test_result = gnav_nav_message.CRC_test(string_bits);
+
+    // Check results in unit test assetions
+    ASSERT_FALSE(test_result);
+}
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of

From c1df56b7e3771dd2a9fe6dda94ad38e6b6194829 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sat, 16 Sep 2017 13:07:34 -0600
Subject: [PATCH 283/379] bugfix: Fixes reporting for new almanac data

Adds code to update the almanac information for satellites when decoded
by reducing the flags for the update. Almanac update is now reported
when the 2 required strings are decoded.
---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  10 +-
 .../glonass_gnav_navigation_message.cc        | 237 +++++++++---------
 .../glonass_gnav_navigation_message.h         |   7 +-
 3 files changed, 135 insertions(+), 119 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index d0c262b87..a6dee4c8f 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -194,7 +194,6 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         {
             LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
         }
-
     // 4. Push the new navigation data to the queues
     if (d_nav.have_new_ephemeris() == true)
         {
@@ -211,10 +210,17 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         }
     if (d_nav.have_new_almanac() == true)
         {
-            unsigned int slot_nbr = d_nav.get_ephemeris().i_satellite_slot_number;
+            unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
             std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
+    // 5. Update satellite information on system
+    if(d_nav.flag_update_slot_number == true)
+        {
+            LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel;
+            d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
+            d_nav.flag_update_slot_number = false;
+        }
 }
 
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index addc8dbbc..f7d3bae4a 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -43,9 +43,8 @@
 void Glonass_Gnav_Navigation_Message::reset()
 {
     //!< Satellite Identification
-    i_channel_ID = 0;               //!< Channel ID assigned by the receiver
-    i_satellite_freq_channel = 0;   //!< SV Frequency Slot Number
-    i_satellite_slot_number = 0;    //!< SV Orbit Slot Number
+    i_alm_satellite_slot_number = 0;    //!< SV Orbit Slot Number
+    flag_update_slot_number = false;
 
     //!< Ephmeris Flags
     flag_all_ephemeris = false;
@@ -410,8 +409,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
             // Fill in ephemeris deliverables in the code
-            gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
-            gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n;
+            flag_update_slot_number = true;
+            gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
+            gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
 
             flag_ephemeris_str_4 = true;
 
@@ -455,6 +455,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                         {
                             d_TOW = get_TOW();
                             flag_TOW_set = true;
+
                         }
 
                 }
@@ -462,16 +463,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 6:
             // --- It is string 6 ----------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_6 = true;
 
@@ -481,24 +482,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
-                    if (i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
+                    if (i_alm_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
                         {
-                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
+                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel;
                         }
                     flag_almanac_str_7 = true;
                 }
@@ -507,16 +508,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 8:
             // --- It is string 8 ----------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_8 = true;
 
@@ -525,36 +526,36 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_9 = true;
                 }
             break;
         case 10:
             // --- It is string 10 ---------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_10 = true;
 
@@ -564,36 +565,36 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_11 = true;
                 }
             break;
         case 12:
             // --- It is string 12 ---------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_12 = true;
 
@@ -603,20 +604,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_13 = true;
                 }
@@ -630,16 +631,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 }
             else
                 {
-                    i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-                    d_frame_ID = get_frame_number(i_satellite_slot_number);
+                    i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+                    d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-                    gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-                    gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                    gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-                    gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
                     flag_almanac_str_14 = true;
                 }
@@ -650,20 +651,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 15:
             // --- It is string 9 ----------------------------------------------
             if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
-                if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                     {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                     }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                 flag_almanac_str_15 = true;
             }
@@ -747,26 +748,38 @@ bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a
 
 bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a new almanac data set stored in the galileo navigation class
 {
-    if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true) and
-        (flag_almanac_str_8 == true) and (flag_almanac_str_9 == true) and
-        (flag_almanac_str_10 == true) and (flag_almanac_str_11 == true) and
-        (flag_almanac_str_12 == true) and (flag_almanac_str_13 == true) and
-        (flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
+    bool new_alm = false;
+    if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true))
         {
-            //All almanac have been received
+            //All almanac have been received for this satellite
             flag_almanac_str_6 = false;
             flag_almanac_str_7 = false;
+            new_alm = true;
+        }
+    if ((flag_almanac_str_8 == true) and (flag_almanac_str_9 == true))
+        {
             flag_almanac_str_8 = false;
             flag_almanac_str_9 = false;
+            new_alm = true;
+        }
+    if((flag_almanac_str_10 == true) and (flag_almanac_str_11 == true))
+        {
             flag_almanac_str_10 = false;
             flag_almanac_str_11 = false;
+            new_alm = true;
+        }
+    if((flag_almanac_str_12 == true) and (flag_almanac_str_13 == true))
+        {
             flag_almanac_str_12 = false;
             flag_almanac_str_13 = false;
+            new_alm = true;
+        }
+    if((flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
+        {
             flag_almanac_str_14 = false;
             flag_almanac_str_15 = false;
-            flag_all_almanac = true;
-            return true;
+            new_alm = true;
         }
-    else
-        return false;
+
+    return new_alm;
 }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 04836fc62..0ebe59d74 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -63,16 +63,12 @@ public:
     bool flag_CRC_test;
     unsigned int d_frame_ID;
     unsigned int d_string_ID;
+    bool flag_update_slot_number;
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
     Glonass_Gnav_Almanac gnav_almanac[24];    //!< Almanac information for all 24 satellites
 
-    //!< Satellite Identification
-    int i_channel_ID;                         //!< Channel ID assigned by the receiver
-    unsigned int i_satellite_freq_channel;    //!< SV Frequency Slot Number
-    unsigned int i_satellite_slot_number;     //!< SV Orbit Slot Number
-
     //!< Ephmeris Flags
     bool flag_all_ephemeris;      //!< Flag indicating that all strings containing ephemeris have been received
     bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
@@ -92,6 +88,7 @@ public:
     bool flag_almanac_str_13;     //!< Flag indicating that almanac of string 13 have been received
     bool flag_almanac_str_14;     //!< Flag indicating that almanac of string 14 have been received
     bool flag_almanac_str_15;     //!< Flag indicating that almanac of string 15 have been received
+    unsigned int i_alm_satellite_slot_number;     //!< SV Orbit Slot Number
 
     //!< UTC and System Clocks Flags
     bool flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled

From fa235e29a4b7012c1a2747c7122d4086f3c01e6a Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 18 Sep 2017 15:52:09 -0600
Subject: [PATCH 284/379] feature: Remove satellite position computation from
 GNAV Almanac

Removes the satellite position computation from the GNAV Almanac object
since it does not seems to be a great usage at the moment. Possible
addition of the fields should be added to the RTKLib API
---
 .../system_parameters/glonass_gnav_almanac.cc | 119 ------------------
 .../system_parameters/glonass_gnav_almanac.h  |  27 +---
 .../glonass_gnav_navigation_message.cc        |  30 ++---
 src/tests/test_main.cc                        |   1 -
 .../glonass_gnav_almanac_test.cc              |  76 -----------
 5 files changed, 19 insertions(+), 234 deletions(-)
 delete mode 100644 src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc

diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index 049d3a4c0..3b5ca7014 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -54,124 +54,5 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
   d_tau_n_A = 0.0;
   d_C_n = false;
   d_l_n = false;
-}
-
-void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i)
-{
-  double T_nom = 43200;     // [seconds]
-  double i_nom = D2R*63.0;  // [rad]
-
-  double Delta_t = 0.0;
-  double i = 0.0;
-  double T = 0.0;
-  double n = 0.0;
-  double a = 0.0;
-  double lambda_dot = 0.0;
-  double omega_dot = 0.0;
-  double lambda = 0.0;
-  double omega = 0.0;
-  double E_P = 0.0;
-  double Delta_T = 0.0;
-  double M = 0.0;
-  double E = 0.0;
-  double E_old = 0.0;
-  double dE = 0.0;
-
-  double e1_x = 0.0;
-  double e1_y = 0.0;
-  double e1_z = 0.0;
-
-  double e2_x = 0.0;
-  double e2_y = 0.0;
-  double e2_z = 0.0;
-  // Compute time difference to reference time
-  Delta_t = (N_i - N_A) * 86400 + (t_i + d_t_lambda_n_A);
-
-  // Compute the actual inclination
-  i = i_nom + d_Delta_i_n_A;
-
-  // Compute the actual orbital period:
-  T = T_nom + d_Delta_T_n_A;
-
-  // Compute the mean motion
-  n = 2*GLONASS_PI/T;
-
-  // Compute the semi-major axis:
-  a = cbrt(GLONASS_GM/(n*n));
-
-  // Compute correction to longitude of ascending node
-  lambda_dot = -10*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*cos(i)/86400;
-
-  // Compute correction to argument of perigee
-  omega_dot = 5*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*(5*cos(i)*cos(i) - 1)/86400;
-
-  // Compute corrected longitude of ascending node:
-  lambda = d_lambda_n_A + (lambda_dot - GLONASS_OMEGA_EARTH_DOT)*Delta_t;
-
-  // Compute corrected argument of perigee:
-  omega = d_omega_n_A + omega_dot*Delta_t;
-
-  // Compute eccentric anomaly at point P: Note: P is that point of the orbit the true anomaly of which is identical to the argument of perigee.
-  E_P = 2*atan(tan((omega/2)*(sqrt((1 - d_epsilon_n_A)*(1 + d_epsilon_n_A)))));
-
-  // Compute time difference to perigee passing
-  if (omega < GLONASS_PI)
-    {
-        Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n;
-    }
-  else
-    {
-      Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n + T;
-    }
-
-  // Compute mean anomaly at epoch t_i:
-  M = n * (Delta_t - Delta_T);
-
-  // Compute eccentric anomaly at epoch t_i. Note: Kepler’s equation has to be solved iteratively
-
-  // Initial guess of eccentric anomaly
-  E = M;
-
-  // --- Iteratively compute eccentric anomaly ----------------------------
-  for (int ii = 1; ii < 20; ii++)
-      {
-          E_old   = E;
-          E       = M + d_epsilon_n_A * sin(E);
-          dE      = fmod(E - E_old, 2.0 * GLONASS_PI);
-          if (fabs(dE) < 1e-12)
-              {
-                  //Necessary precision is reached, exit from the loop
-                  break;
-              }
-      }
-
-  // Compute position in orbital coordinate system
-  d_satpos_Xo = a*cos(E) - d_epsilon_n_A;
-  d_satpos_Yo = a*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*sin(E);
-  d_satpos_Zo = a*0;
-
-  // Compute velocity in orbital coordinate system
-  d_satvel_Xo = a/(1-d_epsilon_n_A*cos(E))*(-n*sin(E));
-  d_satvel_Yo = a/(1-d_epsilon_n_A*cos(E))*(n*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*cos(E));
-  d_satvel_Zo = a/(1-d_epsilon_n_A*cos(E))*(0);
-
-  // Determine orientation vectors of orbital coordinate system in ECEF system
-  e1_x = cos(omega)*cos(lambda) - sin(omega)*sin(lambda);
-  e1_y = cos(omega)*sin(lambda) + sin(omega)*cos(lambda)*cos(i);
-  e1_z = sin(omega)*sin(i);
-
-  e2_x = -sin(omega)*cos(lambda) - sin(omega)*sin(lambda)*cos(i);
-  e2_y = -sin(omega)*sin(lambda) + cos(omega)*cos(lambda)*cos(i);
-  e2_z = cos(omega)*sin(i);
-
-  // Convert position from orbital to ECEF system
-  d_satpos_X = d_satpos_Xo*e1_x + d_satpos_Xo*e2_x;
-  d_satpos_Y = d_satpos_Yo*e1_z + d_satpos_Yo*e2_y;
-  d_satpos_Z = d_satpos_Zo*e1_z + d_satpos_Zo*e2_z;
-
-  // Convert position from orbital to ECEF system
-  d_satvel_X = d_satvel_Xo*e1_x + d_satvel_Xo*e2_x + GLONASS_OMEGA_EARTH_DOT*d_satpos_Y;
-  d_satvel_Y = d_satvel_Yo*e1_z + d_satvel_Yo*e2_y - GLONASS_OMEGA_EARTH_DOT*d_satpos_X;
-  d_satvel_Z = d_satvel_Zo*e1_z + d_satvel_Zo*e2_z;
 
 }
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 3012708dd..3fc255118 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -49,13 +49,13 @@ class Glonass_Gnav_Almanac
 public:
     double d_n_A;               //!< Conventional number of satellite within GLONASS space segment [dimensionless]
     double d_H_n_A;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless]
-    double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
+    double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA [radians]
     double d_t_lambda_n_A;      //!< Time of first ascending node passage [s]
-    double d_Delta_i_n_A;       //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
-    double d_Delta_T_n_A;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period]
+    double d_Delta_i_n_A;       //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [radians]
+    double d_Delta_T_n_A;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period]
     double d_Delta_T_n_A_dot;   //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
     double d_epsilon_n_A;       //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
-    double d_omega_n_A;         //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles]
+    double d_omega_n_A;         //!< Argument of perigee of d_n_A satellite at instant t_lambdan_A [radians]
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
@@ -67,24 +67,6 @@ public:
     unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
     unsigned int i_satellite_slot_number;   //!< SV Slot Number
 
-    // satellite positions
-    double d_satpos_Xo;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Yo;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Zo;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    double d_satvel_Xo;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Yo;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Zo;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-
-    // satellite positions
-    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-
     template<class Archive>
     /*!
      * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the almanac data on disk file.
@@ -113,7 +95,6 @@ public:
         archive & make_nvp("d_l_n", d_l_n);
     }
 
-    void satellite_position(double N_A, double N_i, double t_i);
     /*!
      * Default constructor
      */
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index f7d3bae4a..d37f5e796 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -470,8 +470,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_6 = true;
@@ -482,7 +482,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -515,8 +515,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_8 = true;
@@ -526,7 +526,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -553,8 +553,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_10 = true;
@@ -565,7 +565,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -592,8 +592,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_12 = true;
@@ -604,7 +604,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -638,8 +638,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
                     flag_almanac_str_14 = true;
@@ -651,7 +651,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 15:
             // --- It is string 9 ----------------------------------------------
             if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
-                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index e27506c34..9699ca8de 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -144,7 +144,6 @@ DECLARE_string(log_dir);
 #endif
 
 #include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
-#include "unit-tests/system-parameters/glonass_gnav_almanac_test.cc"
 #include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
 
 // For GPS NAVIGATION (L1)
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
deleted file mode 100644
index b53a4da38..000000000
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-/*!
- * \file code_generation_test.cc
- * \note Code added as part of GSoC 2017 program
- * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
- * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-#include <complex>
-#include <ctime>
-#include "gps_sdr_signal_processing.h"
-#include "gnss_signal_processing.h"
-
-#include <complex>
-#include <ctime>
-#include "gnss_signal_processing.h"
-#include "glonass_gnav_almanac.h"
-
-// See A 3.2.3
-TEST(GlonassGnavAlmanacTest, SatellitePosition)
-{
-    double N_i = 615;           // [days]
-    double t_i = 33300.0;        // [seconds]
-    double Xoi = 10947.021572;  // [km]
-    double Yoi = 13078.978287;  // [km]
-    double Zoi = 18922.063362;  // [km]
-    double Vxoi = -3.375497;     // [m/s]
-    double Vyoi = -0.161453;    // [Кm/s]
-    double Vzoi = 2.060844;     // [Кm/s]
-    double N_A  = 615;          // [days]
-
-    Glonass_Gnav_Almanac gnav_almanac;
-
-
-    gnav_almanac.d_lambda_n_A       = -0.189986229;     // [half cycles]
-    gnav_almanac.d_t_lambda_n_A     = 27122.09375;      // [second]
-    gnav_almanac.d_Delta_i_n_A      = 0.011929512;      // [half cycle]
-    gnav_almanac.d_Delta_T_n_A      = -2655.76171875;   // [seconds]
-    gnav_almanac.d_Delta_T_n_A_dot  = 0.000549316;      // [Secjnds/cycle2]
-    gnav_almanac.d_epsilon_n_A      = 0.001482010;      // [unitless]
-    gnav_almanac.d_omega_n_A        = 0.440277100;      // [Half cycle]
-
-    gnav_almanac.satellite_position(N_A, N_i, t_i);
-
-    //ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
-}

From 2ab93f2599859f13c5eb0307c904e30851dd39ca Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 20 Sep 2017 08:42:01 -0600
Subject: [PATCH 285/379] bugfix: Fixes bugs with units in GNAV Almanac
 decoding

Forces conversion of semicircles to radians units  in some GNAV Almanac
parameters. In addition, adds safeguards in code to avoid invalid
slot number identification.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |  15 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   3 +
 .../glonass_gnav_navigation_message.cc        | 149 ++++++++++--------
 3 files changed, 89 insertions(+), 78 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index af8929c2d..a5bb1572f 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -25,20 +25,15 @@ Resampler.sample_freq_out=6625000
 Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
+Channel.signal=1G
+Channels.in_acquisition=1
 Channels_1G.count=5
-Channels.in_acquisition=5
-Channel0.signal=1G
-Channel1.signal=1G
-Channel2.signal=1G
-Channel3.signal=1G
-Channel4.signal=1G
 
 Channel0.satellite=11
 Channel1.satellite=2
 Channel2.satellite=18
 Channel3.satellite=12
 Channel4.satellite=21
-; Possible list includes 2, 12, 21, 22
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
@@ -53,9 +48,9 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 ;Acquisition_1G.coherent_integration_time_ms=10
 
 ;######### TRACKING GLOBAL CONFIG ############
-Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
 Tracking_1G.item_type=gr_complex
-Tracking_1G.if=1
+Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=25.0;
 Tracking_1G.dll_bw_hz=3.0;
@@ -63,7 +58,7 @@ Tracking_1G.dump=true;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
-TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index a6dee4c8f..e12e83b7e 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -200,6 +200,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             // get object for this SV (mandatory)
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;
 
         }
     if (d_nav.have_new_utc_model() == true)
@@ -207,12 +208,14 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             // get object for this SV (mandatory)
             std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            LOG(INFO) << "GLONASS GNAV UTC Model have been received on channel" << d_channel << " from satellite " << d_satellite;
         }
     if (d_nav.have_new_almanac() == true)
         {
             unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
             std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            LOG(INFO) << "GLONASS GNAV Almanac have been received on channel" << d_channel << " in slot number " << slot_nbr;
         }
     // 5. Update satellite information on system
     if(d_nav.flag_update_slot_number == true)
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index f7d3bae4a..60922fc24 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -385,86 +385,97 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 3:
             // --- It is string 3 ----------------------------------------------
-            gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
-            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
-            gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
-            gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
-            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
-            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
-            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
+            if (flag_ephemeris_str_2 == true)
+                {
+                    gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
+                    gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
+                    gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
+                    gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
+                    gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
+                    gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
+                    gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
 
-            flag_ephemeris_str_3 = true;
+                    flag_ephemeris_str_3 = true;
+                }
 
             break;
 
         case 4:
             // --- It is string 4 ----------------------------------------------
-            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
-            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
-            gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
-            gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
-            gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
-            gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
-            gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
-            gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
+            if (flag_ephemeris_str_3 == true)
+                {
+                    gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
+                    gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
+                    gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
+                    gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
+                    gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
+                    gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
+                    gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
+                    gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
-            // Fill in ephemeris deliverables in the code
-            flag_update_slot_number = true;
-            gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
-            gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
+                    // Fill in ephemeris deliverables in the code
+                    flag_update_slot_number = true;
+                    gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
+                    gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
 
-            flag_ephemeris_str_4 = true;
+                    flag_ephemeris_str_4 = true;
+                }
 
             break;
 
         case 5:
             // --- It is string 5 ----------------------------------------------
-            gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
-            gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
-            gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
-            gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
-
-            flag_utc_model_str_5 = true;
-            // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
             if (flag_ephemeris_str_4 == true)
                 {
-                    //Current year number J in the four-year interval is calculated:
+                    gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                    gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
+                    gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
+                    gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
+                    gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+
+                    flag_utc_model_str_5 = true;
+
+                    // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
+                    // 1). Current year number J in the four-year interval is calculated
                     if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
-                        {
-                            J = 1;
-                        }
+                    {
+                        J = 1;
+                    }
                     else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
-                        {
-                            J = 2;
-                        }
+                    {
+                        J = 2;
+                    }
                     else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
-                        {
-                            J = 3;
-                        }
+                    {
+                        J = 3;
+                    }
                     else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461)
-                        {
-                            J = 4;
-                        }
+                    {
+                        J = 4;
+                    }
                     // 2). Current year in common form is calculated by the following formula:
                     gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
                     gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
 
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
                     if (flag_ephemeris_str_1 == true)
-                        {
-                            d_TOW = get_TOW();
-                            flag_TOW_set = true;
-
-                        }
+                    {
+                        d_TOW = get_TOW();
+                        flag_TOW_set = true;
+                    }
 
                 }
+
+
             break;
 
         case 6:
             // --- It is string 6 ----------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
 
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -510,6 +521,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 8 ----------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
 
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -548,6 +562,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 10 ---------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
 
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -587,7 +604,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 12 ---------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
@@ -633,7 +652,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 {
                     i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
                     d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-
+                    // Make sure a valid frame_ID or satellite slot number is returned
+                    if(d_frame_ID == 0)
+                        return 0;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
@@ -644,12 +665,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
                     flag_almanac_str_14 = true;
                 }
-
-
             break;
 
         case 15:
-            // --- It is string 9 ----------------------------------------------
+            // --- It is string 15 ----------------------------------------------
             if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
@@ -711,23 +730,17 @@ Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac(unsigned int s
 
 bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
-    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
+    // We need to make sure we have received the ephemeris info plus the time info
+    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and
+        (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
+        (flag_utc_model_str_5 == true))
         {
-            if (gnav_ephemeris.d_P_4 == 1)
-                {
-                    flag_ephemeris_str_1 = false;// clear the flag
-                    flag_ephemeris_str_2 = false;// clear the flag
-                    flag_ephemeris_str_3 = false;// clear the flag
-                    flag_ephemeris_str_4 = false;// clear the flag
-                    flag_all_ephemeris = true;
-                    DLOG(INFO) << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
-
-                    return true;
-                }
-            else
-                {
-                    return false;
-                }
+            flag_ephemeris_str_1 = false;// clear the flag
+            flag_ephemeris_str_2 = false;// clear the flag
+            flag_ephemeris_str_3 = false;// clear the flag
+            flag_ephemeris_str_4 = false;// clear the flag
+            flag_all_ephemeris = true;
+            DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
         }
     else
         return false;

From 081a78f603b3e8b2fcd5ee829af1adca95c066ad Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 22 Sep 2017 12:16:26 -0600
Subject: [PATCH 286/379] bugfix: Fix computation of TOW value for GLONASS GNAV

Fixes the TOW computation mapping from GLONASS Time to UTC time and then
conversion to TOW and WN. The logic of the conversion considers time
offsets but  may need to be reviewed.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |  12 +-
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |   6 +-
 src/core/receiver/gnss_flowgraph.cc           |   2 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   3 +-
 .../glonass_gnav_navigation_message.cc        | 138 ++++++++++++++----
 .../glonass_gnav_navigation_message.h         |  10 +-
 6 files changed, 132 insertions(+), 39 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index a5bb1572f..9bec04bd9 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -5,7 +5,7 @@ GNSS-SDR.internal_fs_sps=6625000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=File_Signal_Source
-SignalSource.filename=/archive/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin ; <- PUT YOUR FILE HERE
+SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
 ;SignalSource.freq=0
@@ -29,11 +29,11 @@ Channel.signal=1G
 Channels.in_acquisition=1
 Channels_1G.count=5
 
-Channel0.satellite=11
-Channel1.satellite=2
-Channel2.satellite=18
-Channel3.satellite=12
-Channel4.satellite=21
+Channel0.satellite=24   ; k=
+Channel1.satellite=1    ; k=1
+Channel2.satellite=2    ; k=-4
+Channel3.satellite=20   ; k=-5
+Channel4.satellite=21   ; k=4
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index f5bf5e503..85e6bba5e 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -191,7 +191,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     // insert new ephemeris record
                     DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
                                << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN
-                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b);
+                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
+                               << " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
                     // update/insert new ephemeris record to the global ephemeris map
                     d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
                 }
@@ -209,7 +210,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
                     glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
                     d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
-                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
+                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
+                    << ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
                 }
             else
                 {
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index c83bf1e92..388eb5dce 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -598,7 +598,7 @@ void GNSSFlowgraph::set_signals_list()
             29, 30, 31, 32, 33, 34, 35, 36};
 
     // Removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
-    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21 };
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 24 };
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 79e43cc10..83a768c93 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -87,6 +87,7 @@ const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;         //!< GLONASS L1 C/
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
 const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;
+const int GLONASS_L1_CA_NBR_SATS             = 24; // STRING DATA WITHOUT PREAMBLE
 
 //FIXME Probably should use leap seconds definitions of rtklib
 const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
@@ -135,7 +136,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {17, 4,},  //Plane 3
                                                 {18,-3,},  //Plane 3
                                                 {19, 3,},  //Plane 3
-                                                {20, 2,},  //Plane 3
+                                                {20, -5,},  //Plane 3
                                                 {21, 4,},  //Plane 3
                                                 {22,-3,},  //Plane 3
                                                 {23, 3,},  //Plane 3
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index ca5b4a9d0..5bec42b38 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -89,6 +89,11 @@ void Glonass_Gnav_Navigation_Message::reset()
     d_dtr = 0.0;
     d_satClkDrift = 0.0;
 
+    // Data update information
+    d_previous_tb = 0.0;
+    for(unsigned int i = 0; i < GLONASS_L1_CA_NBR_SATS; i++)
+        d_previous_Na[i] = 0.0;
+
 
     std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
 
@@ -314,23 +319,74 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
     return frame_ID;
 }
 
+double Glonass_Gnav_Navigation_Message::get_WN()
+{
+    double WN = 0.0;
+    double days = 0.0;
+    double total_sec = 0.0;
+    int i = 0;
+
+    boost::gregorian::date gps_epoch { 1980, 1, 6 };
+    // Map to UTC
+    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    glo_date = glo_date + d2;
+
+
+    boost::posix_time::time_duration t(-6, 0, 0);
+    boost::posix_time::ptime glo_time(glo_date, t);
+    boost::gregorian::date utc_date = glo_time.date();
+
+    days =  static_cast<double>((utc_date - gps_epoch).days());
+    total_sec = days*86400;
+
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+    {
+        if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
+        {
+            // We add the leap second when going from utc to gpst
+            total_sec += GLONASS_LEAP_SECONDS[i][6];
+        }
+    }
+
+
+    WN = floor(total_sec/604800);
+
+    return WN;
+}
+
 
 double Glonass_Gnav_Navigation_Message::get_TOW()
 {
+    double TOD = 0.0;
     double TOW = 0.0;
+    double dayofweek = 0.0;
     double utcsu2utc = 3*3600;
     double glot2utcsu = 3*3600;
     int i = 0;
 
-    TOW = gnav_ephemeris.d_t_k + glot2utcsu + utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
+    TOD = gnav_ephemeris.d_t_k - glot2utcsu - utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+
+
+    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    glo_date = glo_date + d2;
+
+    dayofweek = static_cast<double>(glo_date.day_of_week());
+    TOW = TOD + dayofweek*86400;
 
     for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
         {
             if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
             {
-                TOW -= GLONASS_LEAP_SECONDS[i][6];
+                // We add the leap second when going from utc to gpst
+                TOW += GLONASS_LEAP_SECONDS[i][6];
             }
         }
+    // Compute the arithmetic modules to wrap around range
+    TOW = TOW - 604800*floor(TOW/604800);
+
     return TOW;
 }
 
@@ -342,13 +398,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
     d_frame_ID = 0;
 
     // Unpack bytes to bits
-    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits (frame_string);
 
     // Perform data verification and exit code if error in bit sequence
     flag_CRC_test = CRC_test(string_bits);
     if(flag_CRC_test == false)
         return 0;
 
+
     // Decode all 15 string messages
     d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
     switch (d_string_ID) {
@@ -461,6 +518,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     if (flag_ephemeris_str_1 == true)
                     {
                         d_TOW = get_TOW();
+                        gnav_ephemeris.d_TOW = d_TOW;
+                        gnav_ephemeris.d_WN = get_WN();
                         flag_TOW_set = true;
                     }
 
@@ -730,20 +789,29 @@ Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac(unsigned int s
 
 bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
+    bool new_eph = false;
     // We need to make sure we have received the ephemeris info plus the time info
     if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and
         (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
         (flag_utc_model_str_5 == true))
         {
-            flag_ephemeris_str_1 = false;// clear the flag
-            flag_ephemeris_str_2 = false;// clear the flag
-            flag_ephemeris_str_3 = false;// clear the flag
-            flag_ephemeris_str_4 = false;// clear the flag
-            flag_all_ephemeris = true;
-            DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+            if(d_previous_tb != gnav_ephemeris.d_t_b)
+                {
+                    flag_ephemeris_str_1 = false;// clear the flag
+                    flag_ephemeris_str_2 = false;// clear the flag
+                    flag_ephemeris_str_3 = false;// clear the flag
+                    flag_ephemeris_str_4 = false;// clear the flag
+                    flag_all_ephemeris = true;
+                    // Update the time of ephemeris information
+                    d_previous_tb = gnav_ephemeris.d_t_b;
+                    DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+                    new_eph = true;
+                }
+
         }
-    else
-        return false;
+
+
+    return new_eph;
 }
 
 
@@ -764,34 +832,50 @@ bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a ne
     bool new_alm = false;
     if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true))
         {
-            //All almanac have been received for this satellite
-            flag_almanac_str_6 = false;
-            flag_almanac_str_7 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    //All almanac have been received for this satellite
+                    flag_almanac_str_6 = false;
+                    flag_almanac_str_7 = false;
+                    new_alm = true;
+                }
+
         }
     if ((flag_almanac_str_8 == true) and (flag_almanac_str_9 == true))
         {
-            flag_almanac_str_8 = false;
-            flag_almanac_str_9 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_8 = false;
+                    flag_almanac_str_9 = false;
+                    new_alm = true;
+                }
         }
     if((flag_almanac_str_10 == true) and (flag_almanac_str_11 == true))
         {
-            flag_almanac_str_10 = false;
-            flag_almanac_str_11 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_10 = false;
+                    flag_almanac_str_11 = false;
+                    new_alm = true;
+                }
         }
     if((flag_almanac_str_12 == true) and (flag_almanac_str_13 == true))
         {
-            flag_almanac_str_12 = false;
-            flag_almanac_str_13 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_12 = false;
+                    flag_almanac_str_13 = false;
+                    new_alm = true;
+                }
         }
     if((flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
         {
-            flag_almanac_str_14 = false;
-            flag_almanac_str_15 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_14 = false;
+                    flag_almanac_str_15 = false;
+                    new_alm = true;
+                }
         }
 
     return new_alm;
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 0ebe59d74..cf2ac3750 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -67,9 +67,9 @@ public:
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
-    Glonass_Gnav_Almanac gnav_almanac[24];    //!< Almanac information for all 24 satellites
+    Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS];    //!< Almanac information for all 24 satellites
 
-    //!< Ephmeris Flags
+    //!< Ephmeris Flags and control variables
     bool flag_all_ephemeris;      //!< Flag indicating that all strings containing ephemeris have been received
     bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
     bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (string 2) have been received
@@ -108,6 +108,10 @@ public:
     double d_dtr;            // Relativistic clock correction term
     double d_satClkDrift;    // Satellite clock drift
 
+    // Data update parameters
+    double d_previous_tb;
+    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];
+
     bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
 
     unsigned int get_frame_number(unsigned int satellite_slot_number);
@@ -159,6 +163,8 @@ public:
     */
     double get_TOW();
 
+    double get_WN();
+
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
      */

From 7cc27df0825f4a352ff3ae688c0258e343a58a17 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sat, 30 Sep 2017 12:54:08 -0600
Subject: [PATCH 287/379] bugfix: Fixes accumulation length for carrier lock
 detectors

Based on reference [2] of the lock_detectors file the accumulation
length for GLONASS satellite should be reduced to 10 ms instead of the
default value of 20. Because of the meander sequence of GLONASS system
the effective data bit is of length 10 ms as seen by tracking modules
---
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |   2 +-
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc |   2 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |   2 +-
 .../matlab/hybrid_observables_plot_sample.m   |   8 +-
 ...glonass_l1_ca_dll_pll_read_tracking_dump.m | 193 ------------------
 src/utils/matlab/libs/plotTracking.m          |  11 +-
 6 files changed, 13 insertions(+), 205 deletions(-)
 delete mode 100644 src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index ac8e1bffe..3fa066e5f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -58,7 +58,7 @@
 /*!
  * \todo Include in definition header file
  */
-#define CN0_ESTIMATION_SAMPLES 20
+#define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
 #define CARRIER_LOCK_THRESHOLD 0.85
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index c4eff7003..147a5642c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -59,7 +59,7 @@
 /*!
  * \todo Include in definition header file
  */
-#define CN0_ESTIMATION_SAMPLES 20
+#define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
 #define CARRIER_LOCK_THRESHOLD 0.85
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 0c1a0b724..a4e158ae8 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -56,7 +56,7 @@
 /*!
  * \todo Include in definition header file
  */
-#define CN0_ESTIMATION_SAMPLES 20
+#define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
 #define CARRIER_LOCK_THRESHOLD 0.85
diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m
index 8857da352..218527343 100644
--- a/src/utils/matlab/hybrid_observables_plot_sample.m
+++ b/src/utils/matlab/hybrid_observables_plot_sample.m
@@ -4,10 +4,10 @@
 clearvars;
 close all;
 addpath('./libs');
-samplingFreq       = 2600000;     %[Hz]
-channels=2;
-path='/home/javier/git/gnss-sdr/build/';
-observables_log_path=[path 'observables.dat'];
+samplingFreq       = 6625000;     %[Hz]
+channels=5;
+path='/archive/';
+observables_log_path=[path 'glo_observables'];
 GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
 
 %optional:
diff --git a/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m b/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
deleted file mode 100644
index 8b1e54243..000000000
--- a/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
+++ /dev/null
@@ -1,193 +0,0 @@
-% /*!
-%  * \file glonass_l1_ca_dll_pll_read_tracking_dump.m
-%  * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
-%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
-%  * -------------------------------------------------------------------------
-%  *
-%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
-%  *
-%  * GNSS-SDR is a software defined Global Navigation
-%  *          Satellite Systems receiver
-%  *
-%  * This file is part of GNSS-SDR.
-%  *
-%  * GNSS-SDR is free software: you can redistribute it and/or modify
-%  * it under the terms of the GNU General Public License as published by
-%  * the Free Software Foundation, either version 3 of the License, or
-%  * at your option) any later version.
-%  *
-%  * GNSS-SDR is distributed in the hope that it will be useful,
-%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
-%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-%  * GNU General Public License for more details.
-%  *
-%  * You should have received a copy of the GNU General Public License
-%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
-%  *
-%  * -------------------------------------------------------------------------
-%  */
-function [GNSS_tracking] = glonass_l1_ca_dll_pll_read_tracking_dump (filename, count)
-
-  %% usage: glonass_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
-  %%
-  %% open GNSS-SDR tracking binary log file .dat and return the contents
-  %%
-
-  m = nargchk (1,2,nargin);
-  num_float_vars=5;
-  num_unsigned_long_int_vars=1;
-  num_double_vars=11;
-  num_unsigned_int_vars=1;
-  double_size_bytes=8;
-  unsigned_long_int_size_bytes=8;
-  float_size_bytes=4;
-  long_int_size_bytes=4;
-
-  skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
-  bytes_shift=0;
-  if (m)
-    usage (m);
-  end
-
-  if (nargin < 2)
-    %count = Inf;
-    file_stats = dir(filename);
-    %round num bytes to read to integer number of samples (to protect the script from binary
-    %dump end file transitory)
-    count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
-  end
-    %loops_counter = fread (f, count, 'uint32',4*12);
-  f = fopen (filename, 'rb');
-  if (f < 0)
-  else
-    v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
-    v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
-        bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
-    fclose (f);
-
-    %%%%%%%% output vars %%%%%%%%
-
-%                     // EPR
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
-%                     // PROMPT I and Q (to analyze navigation symbols)
-%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
-%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
-%                     // PRN start sample stamp
-%                     //tmp_float=(float)d_sample_counter;
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
-%                     // accumulated carrier phase
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
-%
-%                     // carrier and code frequency
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
-%
-%                     //PLL commands
-%                     d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
-%
-%                     //DLL commands
-%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
-%
-%                     // CN0 and carrier lock test
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
-%
-%                     // AUX vars (for debug purposes)
-%                     tmp_double = d_rem_code_phase_samples;
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-%                     tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-%                             // PRN
-%             unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
-%             d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
-    E=v1;
-    P=v2;
-    L=v3;
-    prompt_I=v4;
-    prompt_Q=v5;
-    PRN_start_sample=v6;
-    acc_carrier_phase_rad=v7;
-    carrier_doppler_hz=v8;
-    code_freq_hz=v9;
-    carr_error=v10;
-    carr_nco=v11;
-    code_error=v12;
-    code_nco=v13;
-    CN0_SNV_dB_Hz=v14;
-    carrier_lock_test=v15;
-    var1=v16;
-    var2=v17;
-    PRN=v18;
-
-    GNSS_tracking.E=E;
-    GNSS_tracking.P=P;
-    GNSS_tracking.L=L;
-    GNSS_tracking.prompt_I=prompt_I;
-    GNSS_tracking.prompt_Q=prompt_Q;
-    GNSS_tracking.PRN_start_sample=PRN_start_sample;
-    GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
-    GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
-    GNSS_tracking.code_freq_hz=code_freq_hz;
-    GNSS_tracking.carr_error=carr_error;
-    GNSS_tracking.carr_nco=carr_nco;
-    GNSS_tracking.code_error=code_error
-    GNSS_tracking.code_nco=code_nco;
-    GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
-    GNSS_tracking.carrier_lock_test=carrier_lock_test;
-    GNSS_tracking.d_rem_code_phase_samples=var1;
-    GNSS_tracking.var2=var2;
-    GNSS_tracking.PRN=PRN;
-  end
diff --git a/src/utils/matlab/libs/plotTracking.m b/src/utils/matlab/libs/plotTracking.m
index ec0c418d3..9abe9c729 100644
--- a/src/utils/matlab/libs/plotTracking.m
+++ b/src/utils/matlab/libs/plotTracking.m
@@ -166,18 +166,19 @@ for channelNr = channelList
         title (handles(4, 1), 'Carrier to Noise Ratio');
 
         %----- Carrier Frequency --------------------------------
-        plot  (handles(4, 2), timeAxisInSeconds, ...
-            trackResults(channelNr).carrFreq(1:settings.msToProcess), 'Color',[0.42 0.25 0.39]);    
+        plot  (handles(4, 2), timeAxisInSeconds(2:end), ...
+            trackResults(channelNr).carrFreq(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);    
 
         grid  (handles(4, 2));
-        axis  (handles(4, 2), 'tight');
+        axis  (handles(4, 2));
         xlabel(handles(4, 2), 'Time (s)');
         ylabel(handles(4, 2), 'Freq (hz)');
         title (handles(4, 2), 'Carrier Freq');
 
         %----- Code Frequency----------------------------------
-        plot  (handles(4, 3), timeAxisInSeconds, ...
-             trackResults(channelNr).codeFreq(1:settings.msToProcess), 'Color',[0.2 0.3 0.49]);      
+        %--- Skip sample 0 to help with results display
+        plot  (handles(4, 3), timeAxisInSeconds(2:end), ...
+             trackResults(channelNr).codeFreq(2:settings.msToProcess), 'Color',[0.2 0.3 0.49]);      
 
         grid  (handles(4, 3));
         axis  (handles(4, 3), 'tight');

From e0dfd90916bf4e351e58b82cf4a9cd0091c22426 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 2 Oct 2017 23:00:45 -0600
Subject: [PATCH 288/379] GLONASS Observables: Fixes bug in TOW updating

Fixes bug in TOW update when a new value has been computed. This adds a
new flag to keep track of TOW update given the tk component. The code
fix improves the pseudorange measurement for code
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf                 |  2 ++
 .../glonass_l1_ca_telemetry_decoder_cc.cc              |  5 +++--
 .../glonass_gnav_navigation_message.cc                 | 10 ++++------
 .../glonass_gnav_navigation_message.h                  |  8 ++------
 src/utils/matlab/hybrid_observables_plot_sample.m      |  5 +++--
 5 files changed, 14 insertions(+), 16 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 9bec04bd9..3b08957b4 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -62,6 +62,8 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index e12e83b7e..1e3f86622 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -351,10 +351,11 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 
     // UPDATE GNSS SYNCHRO DATA
     //2. Add the telemetry decoder information
-    if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
+    if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
         //update TOW at the preamble instant
         {
-            d_TOW_at_current_symbol = floor((d_nav.d_TOW + 2*GLONASS_L1_CA_CODE_PERIOD + GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
+            d_TOW_at_current_symbol = floor((d_nav.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
+            d_nav.flag_TOW_new = false;
 
         }
     else //if there is not a new preamble, we define the TOW of the current symbol
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 5bec42b38..1f3b5291d 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -73,12 +73,8 @@ void Glonass_Gnav_Navigation_Message::reset()
 
     //broadcast orbit 1
     flag_TOW_set = false;
+    flag_TOW_new = false;
     d_TOW = 0.0;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    d_TOW_F1 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    d_TOW_F2 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    d_TOW_F3 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    d_TOW_F4 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    d_TOW_F5 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     flag_CRC_test = false;
     d_frame_ID = 0;
@@ -366,7 +362,8 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
     int i = 0;
 
     // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
-    TOD = gnav_ephemeris.d_t_k - glot2utcsu - utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+    // tk plus 10 sec is the true tod since get_TOW is called when in str5
+    TOD = (gnav_ephemeris.d_t_k + 10) - glot2utcsu - utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
 
 
     boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
@@ -521,6 +518,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                         gnav_ephemeris.d_TOW = d_TOW;
                         gnav_ephemeris.d_WN = get_WN();
                         flag_TOW_set = true;
+                        flag_TOW_new = true;
                     }
 
                 }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index cf2ac3750..743f4cefa 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -95,13 +95,9 @@ public:
     bool flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
     bool flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
 
-    bool flag_TOW_set;
+    bool flag_TOW_set;      //!< Flag indicating when the TOW has been set
+    bool flag_TOW_new;      //!< Flag indicating when a new TOW has been computed
     double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    double d_TOW_F2;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    double d_TOW_F3;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    double d_TOW_F4;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    double d_TOW_F5;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     // Clock terms
     double d_satClkCorr;     // Satellite clock error
diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m
index 218527343..538575bee 100644
--- a/src/utils/matlab/hybrid_observables_plot_sample.m
+++ b/src/utils/matlab/hybrid_observables_plot_sample.m
@@ -7,16 +7,17 @@ addpath('./libs');
 samplingFreq       = 6625000;     %[Hz]
 channels=5;
 path='/archive/';
-observables_log_path=[path 'glo_observables'];
+observables_log_path=[path 'glo_observables.dat'];
 GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
 
+%%
 %optional:
 %search all channels having good satellite simultaneously
 min_idx=1;
 for n=1:1:channels
     idx=find(GNSS_observables.valid(n,:)>0,1,'first');
     if min_idx<idx
-        min_idx=idx;
+        min_idx=idx
     end
 end
 

From 4d844cfa43c5429be4c4d199918b6b4d93af2da9 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 15 Sep 2017 22:25:37 -0600
Subject: [PATCH 289/379] bugfix: Adds conversion from relative code to data
 bits

Adds conversion from relative code to data bits while decoding GLONASS
GNAV data. It also fixes bugs with CRC computation and extraction of
data from navigation message
---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  10 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   4 +-
 .../glonass_gnav_navigation_message.cc        | 247 +++++++++---------
 .../glonass_gnav_almanac_test.cc              |  12 +-
 .../glonass_gnav_nav_message_test.cc          |  23 +-
 5 files changed, 164 insertions(+), 132 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index f80748f80..d0c262b87 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -139,6 +139,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     // 1. Transform from symbols to bits
     std::string bi_binary_code;
     std::string relative_code;
+    std::string data_bits;
+
     // Group samples into bi-binary code
     for(int i = 0; i < (frame_length); i++)
         {
@@ -173,9 +175,15 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
                 relative_code.push_back('0');
               }
         }
+    // Convert from relative code to data bits
+    data_bits.push_back('0');
+    for(int i = 1; i < (GLONASS_GNAV_STRING_BITS); i++)
+    {
+        data_bits.push_back(((relative_code[i-1]-'0') ^ (relative_code[i]-'0')) + '0');
+    }
 
     // 2. Call the GLONASS GNAV string decoder
-    d_nav.string_decoder(relative_code);
+    d_nav.string_decoder(data_bits);
 
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index ca71ccd08..79e43cc10 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -164,9 +164,9 @@ const int GLONASS_GNAV_DATA_SYMBOLS = 1700; // STRING DATA WITHOUT PREAMBLE
 const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
 const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
 const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34, 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
-const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
+const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {13, 14, 15, 16, 17, 18, 19, 27, 28, 29, 30, 31, 32, 33, 34, 42, 43, 44, 45, 46, 47, 48, 49, 58, 59, 60, 61, 62, 63, 64, 65, 73, 74, 75, 76, 77, 78, 79, 80};
 const std::vector<int> GLONASS_GNAV_CRC_M_INDEX {20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 81, 82, 83, 84, 85};
-const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
+const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65};
 const std::vector<int> GLONASS_GNAV_CRC_P_INDEX {66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
 const std::vector<int> GLONASS_GNAV_CRC_Q_INDEX {9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 7555324ef..addc8dbbc 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -134,7 +134,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_I_INDEX[i]-1];
         }
     C1 = string_bits[0]^(sum_bits%2);
 
@@ -142,7 +142,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_J_INDEX[j]-1];
         }
     C2 = (string_bits[1])^(sum_bits%2);
 
@@ -150,7 +150,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_K_INDEX[k]-1];
         }
     C3 = string_bits[2]^(sum_bits%2);
 
@@ -158,7 +158,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_L_INDEX[l]-1];
         }
     C4 = string_bits[3]^(sum_bits%2);
 
@@ -166,7 +166,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_M_INDEX[m]-1];
         }
     C5 = string_bits[4]^(sum_bits%2);
 
@@ -174,7 +174,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_N_INDEX[n]-1];
         }
     C6 = string_bits[5]^(sum_bits%2);
 
@@ -182,7 +182,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_bits = 0;
     for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_P_INDEX[p]-1];
         }
     C7 = string_bits[6]^(sum_bits%2);
 
@@ -191,7 +191,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     sum_hamming = 0;
     for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
         {
-            sum_bits += string_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
+            sum_bits += string_bits[GLONASS_GNAV_CRC_Q_INDEX[q]-1];
         }
     for(int q = 0; q < 8; q++)
         {
@@ -200,17 +200,18 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     C_Sigma = (sum_hamming%2)^(sum_bits%2);
 
     //!< Verification of the data
-    // All of the checksums are equal to zero
-    if((C1 & C2 & C3 & C4 & C5 & C6 & C7 & C_Sigma) == 0 )
+    // (a-i) All checksums (C1,...,C7 and C_Sigma) are equal to zero
+    if((C1 + C2 + C3 + C4 + C5 + C6 + C7 + C_Sigma) == 0 )
         {
             return true;
         }
-    // only one of the checksums (C1,...,C7) is equal to zero but C_Sigma = 1
+    // (a-ii) Only one of the checksums (C1,...,C7) is equal to zero but C_Sigma = 1
     else if(C_Sigma == 1 && C1+C2+C3+C4+C5+C6+C7 == 6)
         {
             return true;
         }
     else
+    // All other conditions are assumed errors. TODO: Add correction for case B
         {
             return false;
         }
@@ -307,7 +308,7 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
         }
     else
         {
-            //TODO Find print statement and make it an error
+            LOG(WARNING) << "GLONASS GNAV: Invalid Satellite Slot Number";
             frame_ID = 0;
         }
 
@@ -341,21 +342,23 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
     d_string_ID = 0;
     d_frame_ID = 0;
 
-    // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
+    // Unpack bytes to bits
     std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
-    d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
 
+    // Perform data verification and exit code if error in bit sequence
     flag_CRC_test = CRC_test(string_bits);
+    if(flag_CRC_test == false)
+        return 0;
 
     // Decode all 15 string messages
-    switch (d_string_ID)
-        {
+    d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
+    switch (d_string_ID) {
         case 1:
             //--- It is string 1 -----------------------------------------------
-            gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1)*15;
-            gnav_ephemeris.d_t_k =  static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
-                                    static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
-                                    static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
+            gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1) * 15;
+            gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
+                                   static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
+                                   static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
             gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * TWO_N20;
             gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
             gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
@@ -370,12 +373,12 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 {
                     gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
                     gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
-                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*gnav_ephemeris.d_P_1*60;
-                    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
+                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * gnav_ephemeris.d_P_1 * 60;
+                    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
                     gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
                     gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
 
-                    gnav_ephemeris.d_iode   = read_navigation_unsigned(string_bits, T_B);
+                    gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
                     flag_ephemeris_str_2 = true;
                 }
 
@@ -424,18 +427,18 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
             flag_utc_model_str_5 = true;
             // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
-            if(flag_ephemeris_str_4 == true)
+            if (flag_ephemeris_str_4 == true)
                 {
                     //Current year number J in the four-year interval is calculated:
-                    if(gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
+                    if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
                         {
                             J = 1;
                         }
-                    else if ( gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
+                    else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
                         {
                             J = 2;
                         }
-                    else if (gnav_ephemeris.d_N_T >= 732  && gnav_ephemeris.d_N_T <= 1096)
+                    else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
                         {
                             J = 3;
                         }
@@ -444,11 +447,11 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                             J = 4;
                         }
                     // 2). Current year in common form is calculated by the following formula:
-                    gnav_ephemeris.d_yr = 1996 + 4.0*(gnav_utc_model.d_N_4  - 1.0) + (J - 1.0);
+                    gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
                     gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
 
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
-                    if(flag_ephemeris_str_1 == true)
+                    if (flag_ephemeris_str_1 == true)
                         {
                             d_TOW = get_TOW();
                             flag_TOW_set = true;
@@ -477,28 +480,28 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 7:
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
-              {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                if(i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
-                    {
-                        gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
-                    }
-                flag_almanac_str_7 = true;
-              }
+                    if (i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
+                        {
+                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
+                        }
+                    flag_almanac_str_7 = true;
+                }
 
 
             break;
@@ -521,25 +524,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 9:
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
-              {
-                // TODO signed vs unsigned reading from datasheet
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                flag_almanac_str_9 = true;
-              }
+                    flag_almanac_str_9 = true;
+                }
             break;
         case 10:
             // --- It is string 10 ---------------------------------------------
@@ -561,24 +563,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 11:
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
-              {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                flag_almanac_str_11 = true;
-              }
+                    flag_almanac_str_11 = true;
+                }
             break;
         case 12:
             // --- It is string 12 ---------------------------------------------
@@ -600,64 +602,63 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 13:
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
-              {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                {
+                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
-                    {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
-                    }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    // Set satellite information for redundancy purposes
+                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                        {
+                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        }
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
-                flag_almanac_str_13 = true;
-              }
+                    flag_almanac_str_13 = true;
+                }
             break;
         case 14:
             // --- It is string 14 ---------------------------------------------
-            if( d_frame_ID == 5)
-              {
-                gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
-                gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
-              }
+            if (d_frame_ID == 5)
+                {
+                    gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
+                    gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
+                }
             else
-              {
-                i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-                d_frame_ID = get_frame_number(i_satellite_slot_number);
+                {
+                    i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+                    d_frame_ID = get_frame_number(i_satellite_slot_number);
 
-                gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-                gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-                gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+                    gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+                    gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                    gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+                    gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                    gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
-                flag_almanac_str_14 = true;
-              }
+                    flag_almanac_str_14 = true;
+                }
 
 
             break;
 
         case 15:
             // --- It is string 9 ----------------------------------------------
-            if (d_frame_ID != 5 and flag_almanac_str_14 == true )
-              {
+            if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
                 gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
                 gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
+                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
                 gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
-                if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
                     {
                         gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
                     }
@@ -665,14 +666,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
 
                 flag_almanac_str_15 = true;
-              }
+            }
             break;
         default:
-        		LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID << ", but acceptable range is from 1-15";
+            LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID
+                      << ", but acceptable range is from 1-15";
 
 
             break;
-        } // switch string ID ...
+    } // switch string ID ...
+
 
     return d_string_ID;
 }
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
index 2c36f03cb..b53a4da38 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
@@ -67,10 +67,10 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
 
     gnav_almanac.satellite_position(N_A, N_i, t_i);
 
-    ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
-    ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
+    //ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
 }
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index de814391f..5fabb4676 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -44,7 +44,7 @@
  * \test The provided string was generated with a version of MATLAB GNSS-SDR that
  * the author coded to perform proper decoding of GLONASS GNAV signals.
  */
-TEST(GlonassGnavNavigationMessageTest, CRCTest)
+TEST(GlonassGnavNavigationMessageTest, CRCTestSuccess)
 {
     // Variables declarations in code
     bool test_result;
@@ -59,6 +59,27 @@ TEST(GlonassGnavNavigationMessageTest, CRCTest)
     ASSERT_TRUE(test_result);
 }
 
+/*!
+ * \brief Testing CRC computation for GLONASS GNAV data bits of a string
+ * \test The provided string was generated with a version of MATLAB GNSS-SDR that
+ * the author coded to perform proper decoding of GLONASS GNAV signals.
+ */
+TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
+{
+    // Variables declarations in code
+    bool test_result;
+    // Constructor of string to bitset will flip the order of the bits. Needed for CRC computation
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits (std::string ("0111100100001100000000000000000000000000110011110001100000000000000001100100011000000"));
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    gnav_nav_message.reset();
+
+    // Call function to test
+    test_result = gnav_nav_message.CRC_test(string_bits);
+
+    // Check results in unit test assetions
+    ASSERT_FALSE(test_result);
+}
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of

From 529da490c30c898e511e82b6155cb67d32849cdf Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sat, 16 Sep 2017 13:07:34 -0600
Subject: [PATCH 290/379] bugfix: Fixes reporting for new almanac data

Adds code to update the almanac information for satellites when decoded
by reducing the flags for the update. Almanac update is now reported
when the 2 required strings are decoded.
---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  10 +-
 .../glonass_gnav_navigation_message.cc        | 237 +++++++++---------
 .../glonass_gnav_navigation_message.h         |   7 +-
 3 files changed, 135 insertions(+), 119 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index d0c262b87..a6dee4c8f 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -194,7 +194,6 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         {
             LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
         }
-
     // 4. Push the new navigation data to the queues
     if (d_nav.have_new_ephemeris() == true)
         {
@@ -211,10 +210,17 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
         }
     if (d_nav.have_new_almanac() == true)
         {
-            unsigned int slot_nbr = d_nav.get_ephemeris().i_satellite_slot_number;
+            unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
             std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
+    // 5. Update satellite information on system
+    if(d_nav.flag_update_slot_number == true)
+        {
+            LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel;
+            d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
+            d_nav.flag_update_slot_number = false;
+        }
 }
 
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index addc8dbbc..f7d3bae4a 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -43,9 +43,8 @@
 void Glonass_Gnav_Navigation_Message::reset()
 {
     //!< Satellite Identification
-    i_channel_ID = 0;               //!< Channel ID assigned by the receiver
-    i_satellite_freq_channel = 0;   //!< SV Frequency Slot Number
-    i_satellite_slot_number = 0;    //!< SV Orbit Slot Number
+    i_alm_satellite_slot_number = 0;    //!< SV Orbit Slot Number
+    flag_update_slot_number = false;
 
     //!< Ephmeris Flags
     flag_all_ephemeris = false;
@@ -410,8 +409,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
             // Fill in ephemeris deliverables in the code
-            gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
-            gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n;
+            flag_update_slot_number = true;
+            gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
+            gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
 
             flag_ephemeris_str_4 = true;
 
@@ -455,6 +455,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                         {
                             d_TOW = get_TOW();
                             flag_TOW_set = true;
+
                         }
 
                 }
@@ -462,16 +463,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 6:
             // --- It is string 6 ----------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_6 = true;
 
@@ -481,24 +482,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
-                    if (i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
+                    if (i_alm_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
                         {
-                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
+                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel;
                         }
                     flag_almanac_str_7 = true;
                 }
@@ -507,16 +508,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 8:
             // --- It is string 8 ----------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_8 = true;
 
@@ -525,36 +526,36 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_9 = true;
                 }
             break;
         case 10:
             // --- It is string 10 ---------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_10 = true;
 
@@ -564,36 +565,36 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_11 = true;
                 }
             break;
         case 12:
             // --- It is string 12 ---------------------------------------------
-            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_satellite_slot_number);
+            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-            gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-            gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_12 = true;
 
@@ -603,20 +604,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
                 {
-                    gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                    gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                     // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                         {
-                            gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_13 = true;
                 }
@@ -630,16 +631,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 }
             else
                 {
-                    i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-                    d_frame_ID = get_frame_number(i_satellite_slot_number);
+                    i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+                    d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
 
-                    gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-                    gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                    gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                    gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-                    gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
-                    gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
                     flag_almanac_str_14 = true;
                 }
@@ -650,20 +651,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 15:
             // --- It is string 9 ----------------------------------------------
             if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
-                gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
-                gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
                 // Set satellite information for redundancy purposes
-                if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
+                if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
                     {
-                        gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
+                        gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                     }
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
-                gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                 flag_almanac_str_15 = true;
             }
@@ -747,26 +748,38 @@ bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a
 
 bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a new almanac data set stored in the galileo navigation class
 {
-    if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true) and
-        (flag_almanac_str_8 == true) and (flag_almanac_str_9 == true) and
-        (flag_almanac_str_10 == true) and (flag_almanac_str_11 == true) and
-        (flag_almanac_str_12 == true) and (flag_almanac_str_13 == true) and
-        (flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
+    bool new_alm = false;
+    if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true))
         {
-            //All almanac have been received
+            //All almanac have been received for this satellite
             flag_almanac_str_6 = false;
             flag_almanac_str_7 = false;
+            new_alm = true;
+        }
+    if ((flag_almanac_str_8 == true) and (flag_almanac_str_9 == true))
+        {
             flag_almanac_str_8 = false;
             flag_almanac_str_9 = false;
+            new_alm = true;
+        }
+    if((flag_almanac_str_10 == true) and (flag_almanac_str_11 == true))
+        {
             flag_almanac_str_10 = false;
             flag_almanac_str_11 = false;
+            new_alm = true;
+        }
+    if((flag_almanac_str_12 == true) and (flag_almanac_str_13 == true))
+        {
             flag_almanac_str_12 = false;
             flag_almanac_str_13 = false;
+            new_alm = true;
+        }
+    if((flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
+        {
             flag_almanac_str_14 = false;
             flag_almanac_str_15 = false;
-            flag_all_almanac = true;
-            return true;
+            new_alm = true;
         }
-    else
-        return false;
+
+    return new_alm;
 }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 04836fc62..0ebe59d74 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -63,16 +63,12 @@ public:
     bool flag_CRC_test;
     unsigned int d_frame_ID;
     unsigned int d_string_ID;
+    bool flag_update_slot_number;
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
     Glonass_Gnav_Almanac gnav_almanac[24];    //!< Almanac information for all 24 satellites
 
-    //!< Satellite Identification
-    int i_channel_ID;                         //!< Channel ID assigned by the receiver
-    unsigned int i_satellite_freq_channel;    //!< SV Frequency Slot Number
-    unsigned int i_satellite_slot_number;     //!< SV Orbit Slot Number
-
     //!< Ephmeris Flags
     bool flag_all_ephemeris;      //!< Flag indicating that all strings containing ephemeris have been received
     bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
@@ -92,6 +88,7 @@ public:
     bool flag_almanac_str_13;     //!< Flag indicating that almanac of string 13 have been received
     bool flag_almanac_str_14;     //!< Flag indicating that almanac of string 14 have been received
     bool flag_almanac_str_15;     //!< Flag indicating that almanac of string 15 have been received
+    unsigned int i_alm_satellite_slot_number;     //!< SV Orbit Slot Number
 
     //!< UTC and System Clocks Flags
     bool flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled

From c4c90dcad225f3b4b28e6b52bc6b50ec0bb13603 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 18 Sep 2017 15:52:09 -0600
Subject: [PATCH 291/379] feature: Remove satellite position computation from
 GNAV Almanac

Removes the satellite position computation from the GNAV Almanac object
since it does not seems to be a great usage at the moment. Possible
addition of the fields should be added to the RTKLib API
---
 .../system_parameters/glonass_gnav_almanac.cc | 119 ------------------
 .../system_parameters/glonass_gnav_almanac.h  |  27 +---
 .../glonass_gnav_navigation_message.cc        |  30 ++---
 src/tests/test_main.cc                        |   1 -
 .../glonass_gnav_almanac_test.cc              |  76 -----------
 5 files changed, 19 insertions(+), 234 deletions(-)
 delete mode 100644 src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc

diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index 049d3a4c0..3b5ca7014 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -54,124 +54,5 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
   d_tau_n_A = 0.0;
   d_C_n = false;
   d_l_n = false;
-}
-
-void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i)
-{
-  double T_nom = 43200;     // [seconds]
-  double i_nom = D2R*63.0;  // [rad]
-
-  double Delta_t = 0.0;
-  double i = 0.0;
-  double T = 0.0;
-  double n = 0.0;
-  double a = 0.0;
-  double lambda_dot = 0.0;
-  double omega_dot = 0.0;
-  double lambda = 0.0;
-  double omega = 0.0;
-  double E_P = 0.0;
-  double Delta_T = 0.0;
-  double M = 0.0;
-  double E = 0.0;
-  double E_old = 0.0;
-  double dE = 0.0;
-
-  double e1_x = 0.0;
-  double e1_y = 0.0;
-  double e1_z = 0.0;
-
-  double e2_x = 0.0;
-  double e2_y = 0.0;
-  double e2_z = 0.0;
-  // Compute time difference to reference time
-  Delta_t = (N_i - N_A) * 86400 + (t_i + d_t_lambda_n_A);
-
-  // Compute the actual inclination
-  i = i_nom + d_Delta_i_n_A;
-
-  // Compute the actual orbital period:
-  T = T_nom + d_Delta_T_n_A;
-
-  // Compute the mean motion
-  n = 2*GLONASS_PI/T;
-
-  // Compute the semi-major axis:
-  a = cbrt(GLONASS_GM/(n*n));
-
-  // Compute correction to longitude of ascending node
-  lambda_dot = -10*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*cos(i)/86400;
-
-  // Compute correction to argument of perigee
-  omega_dot = 5*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*(5*cos(i)*cos(i) - 1)/86400;
-
-  // Compute corrected longitude of ascending node:
-  lambda = d_lambda_n_A + (lambda_dot - GLONASS_OMEGA_EARTH_DOT)*Delta_t;
-
-  // Compute corrected argument of perigee:
-  omega = d_omega_n_A + omega_dot*Delta_t;
-
-  // Compute eccentric anomaly at point P: Note: P is that point of the orbit the true anomaly of which is identical to the argument of perigee.
-  E_P = 2*atan(tan((omega/2)*(sqrt((1 - d_epsilon_n_A)*(1 + d_epsilon_n_A)))));
-
-  // Compute time difference to perigee passing
-  if (omega < GLONASS_PI)
-    {
-        Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n;
-    }
-  else
-    {
-      Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n + T;
-    }
-
-  // Compute mean anomaly at epoch t_i:
-  M = n * (Delta_t - Delta_T);
-
-  // Compute eccentric anomaly at epoch t_i. Note: Kepler’s equation has to be solved iteratively
-
-  // Initial guess of eccentric anomaly
-  E = M;
-
-  // --- Iteratively compute eccentric anomaly ----------------------------
-  for (int ii = 1; ii < 20; ii++)
-      {
-          E_old   = E;
-          E       = M + d_epsilon_n_A * sin(E);
-          dE      = fmod(E - E_old, 2.0 * GLONASS_PI);
-          if (fabs(dE) < 1e-12)
-              {
-                  //Necessary precision is reached, exit from the loop
-                  break;
-              }
-      }
-
-  // Compute position in orbital coordinate system
-  d_satpos_Xo = a*cos(E) - d_epsilon_n_A;
-  d_satpos_Yo = a*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*sin(E);
-  d_satpos_Zo = a*0;
-
-  // Compute velocity in orbital coordinate system
-  d_satvel_Xo = a/(1-d_epsilon_n_A*cos(E))*(-n*sin(E));
-  d_satvel_Yo = a/(1-d_epsilon_n_A*cos(E))*(n*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*cos(E));
-  d_satvel_Zo = a/(1-d_epsilon_n_A*cos(E))*(0);
-
-  // Determine orientation vectors of orbital coordinate system in ECEF system
-  e1_x = cos(omega)*cos(lambda) - sin(omega)*sin(lambda);
-  e1_y = cos(omega)*sin(lambda) + sin(omega)*cos(lambda)*cos(i);
-  e1_z = sin(omega)*sin(i);
-
-  e2_x = -sin(omega)*cos(lambda) - sin(omega)*sin(lambda)*cos(i);
-  e2_y = -sin(omega)*sin(lambda) + cos(omega)*cos(lambda)*cos(i);
-  e2_z = cos(omega)*sin(i);
-
-  // Convert position from orbital to ECEF system
-  d_satpos_X = d_satpos_Xo*e1_x + d_satpos_Xo*e2_x;
-  d_satpos_Y = d_satpos_Yo*e1_z + d_satpos_Yo*e2_y;
-  d_satpos_Z = d_satpos_Zo*e1_z + d_satpos_Zo*e2_z;
-
-  // Convert position from orbital to ECEF system
-  d_satvel_X = d_satvel_Xo*e1_x + d_satvel_Xo*e2_x + GLONASS_OMEGA_EARTH_DOT*d_satpos_Y;
-  d_satvel_Y = d_satvel_Yo*e1_z + d_satvel_Yo*e2_y - GLONASS_OMEGA_EARTH_DOT*d_satpos_X;
-  d_satvel_Z = d_satvel_Zo*e1_z + d_satvel_Zo*e2_z;
 
 }
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 3012708dd..3fc255118 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -49,13 +49,13 @@ class Glonass_Gnav_Almanac
 public:
     double d_n_A;               //!< Conventional number of satellite within GLONASS space segment [dimensionless]
     double d_H_n_A;             //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless]
-    double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA  [semi-circles]
+    double d_lambda_n_A;        //!< Longitude of the first (within the d_NA day) ascending node of d_nA [radians]
     double d_t_lambda_n_A;      //!< Time of first ascending node passage [s]
-    double d_Delta_i_n_A;       //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
-    double d_Delta_T_n_A;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period]
+    double d_Delta_i_n_A;       //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [radians]
+    double d_Delta_T_n_A;       //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period]
     double d_Delta_T_n_A_dot;   //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
     double d_epsilon_n_A;       //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
-    double d_omega_n_A;         //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles]
+    double d_omega_n_A;         //!< Argument of perigee of d_n_A satellite at instant t_lambdan_A [radians]
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
@@ -67,24 +67,6 @@ public:
     unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
     unsigned int i_satellite_slot_number;   //!< SV Slot Number
 
-    // satellite positions
-    double d_satpos_Xo;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Yo;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Zo;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    double d_satvel_Xo;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Yo;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Zo;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-
-    // satellite positions
-    double d_satpos_X;        //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-    double d_satpos_Y;        //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-    double d_satpos_Z;        //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-    // Satellite velocity
-    double d_satvel_X;        //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Y;        //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-    double d_satvel_Z;        //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-
     template<class Archive>
     /*!
      * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the almanac data on disk file.
@@ -113,7 +95,6 @@ public:
         archive & make_nvp("d_l_n", d_l_n);
     }
 
-    void satellite_position(double N_A, double N_i, double t_i);
     /*!
      * Default constructor
      */
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index f7d3bae4a..d37f5e796 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -470,8 +470,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_6 = true;
@@ -482,7 +482,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 7 ----------------------------------------------
             if (flag_almanac_str_6 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -515,8 +515,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_8 = true;
@@ -526,7 +526,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 9 ----------------------------------------------
             if (flag_almanac_str_8 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -553,8 +553,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_10 = true;
@@ -565,7 +565,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 11 ---------------------------------------------
             if (flag_almanac_str_10 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -592,8 +592,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
             flag_almanac_str_12 = true;
@@ -604,7 +604,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 13 ---------------------------------------------
             if (flag_almanac_str_12 == true)
                 {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
@@ -638,8 +638,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
                     flag_almanac_str_14 = true;
@@ -651,7 +651,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
         case 15:
             // --- It is string 9 ----------------------------------------------
             if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
-                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 548b2d4e9..d0a8e0c1c 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -145,7 +145,6 @@ DECLARE_string(log_dir);
 #endif
 
 #include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
-#include "unit-tests/system-parameters/glonass_gnav_almanac_test.cc"
 #include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
 
 // For GPS NAVIGATION (L1)
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
deleted file mode 100644
index b53a4da38..000000000
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-/*!
- * \file code_generation_test.cc
- * \note Code added as part of GSoC 2017 program
- * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
- * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-#include <complex>
-#include <ctime>
-#include "gps_sdr_signal_processing.h"
-#include "gnss_signal_processing.h"
-
-#include <complex>
-#include <ctime>
-#include "gnss_signal_processing.h"
-#include "glonass_gnav_almanac.h"
-
-// See A 3.2.3
-TEST(GlonassGnavAlmanacTest, SatellitePosition)
-{
-    double N_i = 615;           // [days]
-    double t_i = 33300.0;        // [seconds]
-    double Xoi = 10947.021572;  // [km]
-    double Yoi = 13078.978287;  // [km]
-    double Zoi = 18922.063362;  // [km]
-    double Vxoi = -3.375497;     // [m/s]
-    double Vyoi = -0.161453;    // [Кm/s]
-    double Vzoi = 2.060844;     // [Кm/s]
-    double N_A  = 615;          // [days]
-
-    Glonass_Gnav_Almanac gnav_almanac;
-
-
-    gnav_almanac.d_lambda_n_A       = -0.189986229;     // [half cycles]
-    gnav_almanac.d_t_lambda_n_A     = 27122.09375;      // [second]
-    gnav_almanac.d_Delta_i_n_A      = 0.011929512;      // [half cycle]
-    gnav_almanac.d_Delta_T_n_A      = -2655.76171875;   // [seconds]
-    gnav_almanac.d_Delta_T_n_A_dot  = 0.000549316;      // [Secjnds/cycle2]
-    gnav_almanac.d_epsilon_n_A      = 0.001482010;      // [unitless]
-    gnav_almanac.d_omega_n_A        = 0.440277100;      // [Half cycle]
-
-    gnav_almanac.satellite_position(N_A, N_i, t_i);
-
-    //ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON );
-    //ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON );
-}

From d8f697401e3e59371dbe9e8df9535ea0e97ac886 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 20 Sep 2017 08:42:01 -0600
Subject: [PATCH 292/379] bugfix: Fixes bugs with units in GNAV Almanac
 decoding

Forces conversion of semicircles to radians units  in some GNAV Almanac
parameters. In addition, adds safeguards in code to avoid invalid
slot number identification.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |  15 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   3 +
 .../glonass_gnav_navigation_message.cc        | 149 ++++++++++--------
 3 files changed, 89 insertions(+), 78 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index af8929c2d..a5bb1572f 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -25,20 +25,15 @@ Resampler.sample_freq_out=6625000
 Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
+Channel.signal=1G
+Channels.in_acquisition=1
 Channels_1G.count=5
-Channels.in_acquisition=5
-Channel0.signal=1G
-Channel1.signal=1G
-Channel2.signal=1G
-Channel3.signal=1G
-Channel4.signal=1G
 
 Channel0.satellite=11
 Channel1.satellite=2
 Channel2.satellite=18
 Channel3.satellite=12
 Channel4.satellite=21
-; Possible list includes 2, 12, 21, 22
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
@@ -53,9 +48,9 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 ;Acquisition_1G.coherent_integration_time_ms=10
 
 ;######### TRACKING GLOBAL CONFIG ############
-Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
 Tracking_1G.item_type=gr_complex
-Tracking_1G.if=1
+Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=25.0;
 Tracking_1G.dll_bw_hz=3.0;
@@ -63,7 +58,7 @@ Tracking_1G.dump=true;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
-TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index a6dee4c8f..e12e83b7e 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -200,6 +200,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             // get object for this SV (mandatory)
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;
 
         }
     if (d_nav.have_new_utc_model() == true)
@@ -207,12 +208,14 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             // get object for this SV (mandatory)
             std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            LOG(INFO) << "GLONASS GNAV UTC Model have been received on channel" << d_channel << " from satellite " << d_satellite;
         }
     if (d_nav.have_new_almanac() == true)
         {
             unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
             std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+            LOG(INFO) << "GLONASS GNAV Almanac have been received on channel" << d_channel << " in slot number " << slot_nbr;
         }
     // 5. Update satellite information on system
     if(d_nav.flag_update_slot_number == true)
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index d37f5e796..ca5b4a9d0 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -385,86 +385,97 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 3:
             // --- It is string 3 ----------------------------------------------
-            gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
-            gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
-            gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
-            gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
-            gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
-            gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
-            gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
+            if (flag_ephemeris_str_2 == true)
+                {
+                    gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
+                    gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
+                    gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
+                    gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
+                    gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
+                    gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
+                    gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
 
-            flag_ephemeris_str_3 = true;
+                    flag_ephemeris_str_3 = true;
+                }
 
             break;
 
         case 4:
             // --- It is string 4 ----------------------------------------------
-            gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
-            gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
-            gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
-            gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
-            gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
-            gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
-            gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
-            gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
+            if (flag_ephemeris_str_3 == true)
+                {
+                    gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
+                    gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
+                    gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
+                    gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
+                    gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
+                    gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
+                    gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
+                    gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
-            // Fill in ephemeris deliverables in the code
-            flag_update_slot_number = true;
-            gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
-            gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
+                    // Fill in ephemeris deliverables in the code
+                    flag_update_slot_number = true;
+                    gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
+                    gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
 
-            flag_ephemeris_str_4 = true;
+                    flag_ephemeris_str_4 = true;
+                }
 
             break;
 
         case 5:
             // --- It is string 5 ----------------------------------------------
-            gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-            gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
-            gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
-            gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
-            gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
-
-            flag_utc_model_str_5 = true;
-            // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
             if (flag_ephemeris_str_4 == true)
                 {
-                    //Current year number J in the four-year interval is calculated:
+                    gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                    gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
+                    gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
+                    gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
+                    gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+
+                    flag_utc_model_str_5 = true;
+
+                    // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
+                    // 1). Current year number J in the four-year interval is calculated
                     if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
-                        {
-                            J = 1;
-                        }
+                    {
+                        J = 1;
+                    }
                     else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
-                        {
-                            J = 2;
-                        }
+                    {
+                        J = 2;
+                    }
                     else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
-                        {
-                            J = 3;
-                        }
+                    {
+                        J = 3;
+                    }
                     else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461)
-                        {
-                            J = 4;
-                        }
+                    {
+                        J = 4;
+                    }
                     // 2). Current year in common form is calculated by the following formula:
                     gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
                     gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
 
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
                     if (flag_ephemeris_str_1 == true)
-                        {
-                            d_TOW = get_TOW();
-                            flag_TOW_set = true;
-
-                        }
+                    {
+                        d_TOW = get_TOW();
+                        flag_TOW_set = true;
+                    }
 
                 }
+
+
             break;
 
         case 6:
             // --- It is string 6 ----------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
 
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -510,6 +521,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 8 ----------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
 
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -548,6 +562,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 10 ---------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
 
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -587,7 +604,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             // --- It is string 12 ---------------------------------------------
             i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-
+            // Make sure a valid frame_ID or satellite slot number is returned
+            if(d_frame_ID == 0)
+                return 0;
             gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
             gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
@@ -633,7 +652,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 {
                     i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
                     d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-
+                    // Make sure a valid frame_ID or satellite slot number is returned
+                    if(d_frame_ID == 0)
+                        return 0;
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
                     gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
@@ -644,12 +665,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
                     flag_almanac_str_14 = true;
                 }
-
-
             break;
 
         case 15:
-            // --- It is string 9 ----------------------------------------------
+            // --- It is string 15 ----------------------------------------------
             if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
@@ -711,23 +730,17 @@ Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac(unsigned int s
 
 bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
-    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
+    // We need to make sure we have received the ephemeris info plus the time info
+    if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and
+        (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
+        (flag_utc_model_str_5 == true))
         {
-            if (gnav_ephemeris.d_P_4 == 1)
-                {
-                    flag_ephemeris_str_1 = false;// clear the flag
-                    flag_ephemeris_str_2 = false;// clear the flag
-                    flag_ephemeris_str_3 = false;// clear the flag
-                    flag_ephemeris_str_4 = false;// clear the flag
-                    flag_all_ephemeris = true;
-                    DLOG(INFO) << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
-
-                    return true;
-                }
-            else
-                {
-                    return false;
-                }
+            flag_ephemeris_str_1 = false;// clear the flag
+            flag_ephemeris_str_2 = false;// clear the flag
+            flag_ephemeris_str_3 = false;// clear the flag
+            flag_ephemeris_str_4 = false;// clear the flag
+            flag_all_ephemeris = true;
+            DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
         }
     else
         return false;

From cd0d65ecc056f2def7f0c8bd0aaeb92e3661aabb Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 22 Sep 2017 12:16:26 -0600
Subject: [PATCH 293/379] bugfix: Fix computation of TOW value for GLONASS GNAV

Fixes the TOW computation mapping from GLONASS Time to UTC time and then
conversion to TOW and WN. The logic of the conversion considers time
offsets but  may need to be reviewed.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |  12 +-
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |   6 +-
 src/core/receiver/gnss_flowgraph.cc           |   2 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   3 +-
 .../glonass_gnav_navigation_message.cc        | 138 ++++++++++++++----
 .../glonass_gnav_navigation_message.h         |  10 +-
 6 files changed, 132 insertions(+), 39 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index a5bb1572f..9bec04bd9 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -5,7 +5,7 @@ GNSS-SDR.internal_fs_sps=6625000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=File_Signal_Source
-SignalSource.filename=/archive/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_schar_1m.bin ; <- PUT YOUR FILE HERE
+SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
 ;SignalSource.freq=0
@@ -29,11 +29,11 @@ Channel.signal=1G
 Channels.in_acquisition=1
 Channels_1G.count=5
 
-Channel0.satellite=11
-Channel1.satellite=2
-Channel2.satellite=18
-Channel3.satellite=12
-Channel4.satellite=21
+Channel0.satellite=24   ; k=
+Channel1.satellite=1    ; k=1
+Channel2.satellite=2    ; k=-4
+Channel3.satellite=20   ; k=-5
+Channel4.satellite=21   ; k=4
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index f5bf5e503..85e6bba5e 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -191,7 +191,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     // insert new ephemeris record
                     DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
                                << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN
-                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b);
+                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
+                               << " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
                     // update/insert new ephemeris record to the global ephemeris map
                     d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
                 }
@@ -209,7 +210,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
                     glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
                     d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
-                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
+                    DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
+                    << ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
                 }
             else
                 {
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index c83bf1e92..388eb5dce 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -598,7 +598,7 @@ void GNSSFlowgraph::set_signals_list()
             29, 30, 31, 32, 33, 34, 35, 36};
 
     // Removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
-    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21 };
+    std::set<unsigned int> available_glonass_prn = { 1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 24 };
 
     std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
 
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 79e43cc10..83a768c93 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -87,6 +87,7 @@ const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;         //!< GLONASS L1 C/
 const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/A code period [seconds]
 const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
 const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;
+const int GLONASS_L1_CA_NBR_SATS             = 24; // STRING DATA WITHOUT PREAMBLE
 
 //FIXME Probably should use leap seconds definitions of rtklib
 const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
@@ -135,7 +136,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {17, 4,},  //Plane 3
                                                 {18,-3,},  //Plane 3
                                                 {19, 3,},  //Plane 3
-                                                {20, 2,},  //Plane 3
+                                                {20, -5,},  //Plane 3
                                                 {21, 4,},  //Plane 3
                                                 {22,-3,},  //Plane 3
                                                 {23, 3,},  //Plane 3
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index ca5b4a9d0..5bec42b38 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -89,6 +89,11 @@ void Glonass_Gnav_Navigation_Message::reset()
     d_dtr = 0.0;
     d_satClkDrift = 0.0;
 
+    // Data update information
+    d_previous_tb = 0.0;
+    for(unsigned int i = 0; i < GLONASS_L1_CA_NBR_SATS; i++)
+        d_previous_Na[i] = 0.0;
+
 
     std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
 
@@ -314,23 +319,74 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
     return frame_ID;
 }
 
+double Glonass_Gnav_Navigation_Message::get_WN()
+{
+    double WN = 0.0;
+    double days = 0.0;
+    double total_sec = 0.0;
+    int i = 0;
+
+    boost::gregorian::date gps_epoch { 1980, 1, 6 };
+    // Map to UTC
+    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    glo_date = glo_date + d2;
+
+
+    boost::posix_time::time_duration t(-6, 0, 0);
+    boost::posix_time::ptime glo_time(glo_date, t);
+    boost::gregorian::date utc_date = glo_time.date();
+
+    days =  static_cast<double>((utc_date - gps_epoch).days());
+    total_sec = days*86400;
+
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+    {
+        if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
+        {
+            // We add the leap second when going from utc to gpst
+            total_sec += GLONASS_LEAP_SECONDS[i][6];
+        }
+    }
+
+
+    WN = floor(total_sec/604800);
+
+    return WN;
+}
+
 
 double Glonass_Gnav_Navigation_Message::get_TOW()
 {
+    double TOD = 0.0;
     double TOW = 0.0;
+    double dayofweek = 0.0;
     double utcsu2utc = 3*3600;
     double glot2utcsu = 3*3600;
     int i = 0;
 
-    TOW = gnav_ephemeris.d_t_k + glot2utcsu + utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
+    TOD = gnav_ephemeris.d_t_k - glot2utcsu - utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+
+
+    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    glo_date = glo_date + d2;
+
+    dayofweek = static_cast<double>(glo_date.day_of_week());
+    TOW = TOD + dayofweek*86400;
 
     for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
         {
             if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
             {
-                TOW -= GLONASS_LEAP_SECONDS[i][6];
+                // We add the leap second when going from utc to gpst
+                TOW += GLONASS_LEAP_SECONDS[i][6];
             }
         }
+    // Compute the arithmetic modules to wrap around range
+    TOW = TOW - 604800*floor(TOW/604800);
+
     return TOW;
 }
 
@@ -342,13 +398,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
     d_frame_ID = 0;
 
     // Unpack bytes to bits
-    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
+    std::bitset<GLONASS_GNAV_STRING_BITS> string_bits (frame_string);
 
     // Perform data verification and exit code if error in bit sequence
     flag_CRC_test = CRC_test(string_bits);
     if(flag_CRC_test == false)
         return 0;
 
+
     // Decode all 15 string messages
     d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
     switch (d_string_ID) {
@@ -461,6 +518,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     if (flag_ephemeris_str_1 == true)
                     {
                         d_TOW = get_TOW();
+                        gnav_ephemeris.d_TOW = d_TOW;
+                        gnav_ephemeris.d_WN = get_WN();
                         flag_TOW_set = true;
                     }
 
@@ -730,20 +789,29 @@ Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac(unsigned int s
 
 bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
 {
+    bool new_eph = false;
     // We need to make sure we have received the ephemeris info plus the time info
     if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and
         (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
         (flag_utc_model_str_5 == true))
         {
-            flag_ephemeris_str_1 = false;// clear the flag
-            flag_ephemeris_str_2 = false;// clear the flag
-            flag_ephemeris_str_3 = false;// clear the flag
-            flag_ephemeris_str_4 = false;// clear the flag
-            flag_all_ephemeris = true;
-            DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+            if(d_previous_tb != gnav_ephemeris.d_t_b)
+                {
+                    flag_ephemeris_str_1 = false;// clear the flag
+                    flag_ephemeris_str_2 = false;// clear the flag
+                    flag_ephemeris_str_3 = false;// clear the flag
+                    flag_ephemeris_str_4 = false;// clear the flag
+                    flag_all_ephemeris = true;
+                    // Update the time of ephemeris information
+                    d_previous_tb = gnav_ephemeris.d_t_b;
+                    DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
+                    new_eph = true;
+                }
+
         }
-    else
-        return false;
+
+
+    return new_eph;
 }
 
 
@@ -764,34 +832,50 @@ bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a ne
     bool new_alm = false;
     if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true))
         {
-            //All almanac have been received for this satellite
-            flag_almanac_str_6 = false;
-            flag_almanac_str_7 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    //All almanac have been received for this satellite
+                    flag_almanac_str_6 = false;
+                    flag_almanac_str_7 = false;
+                    new_alm = true;
+                }
+
         }
     if ((flag_almanac_str_8 == true) and (flag_almanac_str_9 == true))
         {
-            flag_almanac_str_8 = false;
-            flag_almanac_str_9 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_8 = false;
+                    flag_almanac_str_9 = false;
+                    new_alm = true;
+                }
         }
     if((flag_almanac_str_10 == true) and (flag_almanac_str_11 == true))
         {
-            flag_almanac_str_10 = false;
-            flag_almanac_str_11 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_10 = false;
+                    flag_almanac_str_11 = false;
+                    new_alm = true;
+                }
         }
     if((flag_almanac_str_12 == true) and (flag_almanac_str_13 == true))
         {
-            flag_almanac_str_12 = false;
-            flag_almanac_str_13 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_12 = false;
+                    flag_almanac_str_13 = false;
+                    new_alm = true;
+                }
         }
     if((flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
         {
-            flag_almanac_str_14 = false;
-            flag_almanac_str_15 = false;
-            new_alm = true;
+            if (d_previous_Na[i_alm_satellite_slot_number] != gnav_utc_model.d_N_A)
+                {
+                    flag_almanac_str_14 = false;
+                    flag_almanac_str_15 = false;
+                    new_alm = true;
+                }
         }
 
     return new_alm;
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 0ebe59d74..cf2ac3750 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -67,9 +67,9 @@ public:
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
-    Glonass_Gnav_Almanac gnav_almanac[24];    //!< Almanac information for all 24 satellites
+    Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS];    //!< Almanac information for all 24 satellites
 
-    //!< Ephmeris Flags
+    //!< Ephmeris Flags and control variables
     bool flag_all_ephemeris;      //!< Flag indicating that all strings containing ephemeris have been received
     bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
     bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (string 2) have been received
@@ -108,6 +108,10 @@ public:
     double d_dtr;            // Relativistic clock correction term
     double d_satClkDrift;    // Satellite clock drift
 
+    // Data update parameters
+    double d_previous_tb;
+    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];
+
     bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
 
     unsigned int get_frame_number(unsigned int satellite_slot_number);
@@ -159,6 +163,8 @@ public:
     */
     double get_TOW();
 
+    double get_WN();
+
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
      */

From e5e9cc97ad5a15419c9ece51edb8b88d86ee4610 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sat, 30 Sep 2017 12:54:08 -0600
Subject: [PATCH 294/379] bugfix: Fixes accumulation length for carrier lock
 detectors

Based on reference [2] of the lock_detectors file the accumulation
length for GLONASS satellite should be reduced to 10 ms instead of the
default value of 20. Because of the meander sequence of GLONASS system
the effective data bit is of length 10 ms as seen by tracking modules
---
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc |   2 +-
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc |   2 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |   2 +-
 .../matlab/hybrid_observables_plot_sample.m   |   8 +-
 ...glonass_l1_ca_dll_pll_read_tracking_dump.m | 193 ------------------
 src/utils/matlab/libs/plotTracking.m          |  11 +-
 6 files changed, 13 insertions(+), 205 deletions(-)
 delete mode 100644 src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index ac8e1bffe..3fa066e5f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -58,7 +58,7 @@
 /*!
  * \todo Include in definition header file
  */
-#define CN0_ESTIMATION_SAMPLES 20
+#define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
 #define CARRIER_LOCK_THRESHOLD 0.85
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index c4eff7003..147a5642c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -59,7 +59,7 @@
 /*!
  * \todo Include in definition header file
  */
-#define CN0_ESTIMATION_SAMPLES 20
+#define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
 #define CARRIER_LOCK_THRESHOLD 0.85
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 0c1a0b724..a4e158ae8 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -56,7 +56,7 @@
 /*!
  * \todo Include in definition header file
  */
-#define CN0_ESTIMATION_SAMPLES 20
+#define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
 #define CARRIER_LOCK_THRESHOLD 0.85
diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m
index 8857da352..218527343 100644
--- a/src/utils/matlab/hybrid_observables_plot_sample.m
+++ b/src/utils/matlab/hybrid_observables_plot_sample.m
@@ -4,10 +4,10 @@
 clearvars;
 close all;
 addpath('./libs');
-samplingFreq       = 2600000;     %[Hz]
-channels=2;
-path='/home/javier/git/gnss-sdr/build/';
-observables_log_path=[path 'observables.dat'];
+samplingFreq       = 6625000;     %[Hz]
+channels=5;
+path='/archive/';
+observables_log_path=[path 'glo_observables'];
 GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
 
 %optional:
diff --git a/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m b/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
deleted file mode 100644
index 8b1e54243..000000000
--- a/src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
+++ /dev/null
@@ -1,193 +0,0 @@
-% /*!
-%  * \file glonass_l1_ca_dll_pll_read_tracking_dump.m
-%  * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
-%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
-%  * -------------------------------------------------------------------------
-%  *
-%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
-%  *
-%  * GNSS-SDR is a software defined Global Navigation
-%  *          Satellite Systems receiver
-%  *
-%  * This file is part of GNSS-SDR.
-%  *
-%  * GNSS-SDR is free software: you can redistribute it and/or modify
-%  * it under the terms of the GNU General Public License as published by
-%  * the Free Software Foundation, either version 3 of the License, or
-%  * at your option) any later version.
-%  *
-%  * GNSS-SDR is distributed in the hope that it will be useful,
-%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
-%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-%  * GNU General Public License for more details.
-%  *
-%  * You should have received a copy of the GNU General Public License
-%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
-%  *
-%  * -------------------------------------------------------------------------
-%  */
-function [GNSS_tracking] = glonass_l1_ca_dll_pll_read_tracking_dump (filename, count)
-
-  %% usage: glonass_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
-  %%
-  %% open GNSS-SDR tracking binary log file .dat and return the contents
-  %%
-
-  m = nargchk (1,2,nargin);
-  num_float_vars=5;
-  num_unsigned_long_int_vars=1;
-  num_double_vars=11;
-  num_unsigned_int_vars=1;
-  double_size_bytes=8;
-  unsigned_long_int_size_bytes=8;
-  float_size_bytes=4;
-  long_int_size_bytes=4;
-
-  skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
-  bytes_shift=0;
-  if (m)
-    usage (m);
-  end
-
-  if (nargin < 2)
-    %count = Inf;
-    file_stats = dir(filename);
-    %round num bytes to read to integer number of samples (to protect the script from binary
-    %dump end file transitory)
-    count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
-  end
-    %loops_counter = fread (f, count, 'uint32',4*12);
-  f = fopen (filename, 'rb');
-  if (f < 0)
-  else
-    v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
-        bytes_shift=bytes_shift+float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
-    v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
-        bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
-        bytes_shift=bytes_shift+double_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved double
-    v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
-    fclose (f);
-
-    %%%%%%%% output vars %%%%%%%%
-
-%                     // EPR
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
-%                     // PROMPT I and Q (to analyze navigation symbols)
-%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
-%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
-%                     // PRN start sample stamp
-%                     //tmp_float=(float)d_sample_counter;
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
-%                     // accumulated carrier phase
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
-%
-%                     // carrier and code frequency
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
-%
-%                     //PLL commands
-%                     d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
-%
-%                     //DLL commands
-%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
-%
-%                     // CN0 and carrier lock test
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
-%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
-%
-%                     // AUX vars (for debug purposes)
-%                     tmp_double = d_rem_code_phase_samples;
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-%                     tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
-%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-%                             // PRN
-%             unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
-%             d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
-    E=v1;
-    P=v2;
-    L=v3;
-    prompt_I=v4;
-    prompt_Q=v5;
-    PRN_start_sample=v6;
-    acc_carrier_phase_rad=v7;
-    carrier_doppler_hz=v8;
-    code_freq_hz=v9;
-    carr_error=v10;
-    carr_nco=v11;
-    code_error=v12;
-    code_nco=v13;
-    CN0_SNV_dB_Hz=v14;
-    carrier_lock_test=v15;
-    var1=v16;
-    var2=v17;
-    PRN=v18;
-
-    GNSS_tracking.E=E;
-    GNSS_tracking.P=P;
-    GNSS_tracking.L=L;
-    GNSS_tracking.prompt_I=prompt_I;
-    GNSS_tracking.prompt_Q=prompt_Q;
-    GNSS_tracking.PRN_start_sample=PRN_start_sample;
-    GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
-    GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
-    GNSS_tracking.code_freq_hz=code_freq_hz;
-    GNSS_tracking.carr_error=carr_error;
-    GNSS_tracking.carr_nco=carr_nco;
-    GNSS_tracking.code_error=code_error
-    GNSS_tracking.code_nco=code_nco;
-    GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
-    GNSS_tracking.carrier_lock_test=carrier_lock_test;
-    GNSS_tracking.d_rem_code_phase_samples=var1;
-    GNSS_tracking.var2=var2;
-    GNSS_tracking.PRN=PRN;
-  end
diff --git a/src/utils/matlab/libs/plotTracking.m b/src/utils/matlab/libs/plotTracking.m
index ec0c418d3..9abe9c729 100644
--- a/src/utils/matlab/libs/plotTracking.m
+++ b/src/utils/matlab/libs/plotTracking.m
@@ -166,18 +166,19 @@ for channelNr = channelList
         title (handles(4, 1), 'Carrier to Noise Ratio');
 
         %----- Carrier Frequency --------------------------------
-        plot  (handles(4, 2), timeAxisInSeconds, ...
-            trackResults(channelNr).carrFreq(1:settings.msToProcess), 'Color',[0.42 0.25 0.39]);    
+        plot  (handles(4, 2), timeAxisInSeconds(2:end), ...
+            trackResults(channelNr).carrFreq(2:settings.msToProcess), 'Color',[0.42 0.25 0.39]);    
 
         grid  (handles(4, 2));
-        axis  (handles(4, 2), 'tight');
+        axis  (handles(4, 2));
         xlabel(handles(4, 2), 'Time (s)');
         ylabel(handles(4, 2), 'Freq (hz)');
         title (handles(4, 2), 'Carrier Freq');
 
         %----- Code Frequency----------------------------------
-        plot  (handles(4, 3), timeAxisInSeconds, ...
-             trackResults(channelNr).codeFreq(1:settings.msToProcess), 'Color',[0.2 0.3 0.49]);      
+        %--- Skip sample 0 to help with results display
+        plot  (handles(4, 3), timeAxisInSeconds(2:end), ...
+             trackResults(channelNr).codeFreq(2:settings.msToProcess), 'Color',[0.2 0.3 0.49]);      
 
         grid  (handles(4, 3));
         axis  (handles(4, 3), 'tight');

From c5a690cf1efe578e627ee15240dbeae807e30cc2 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 2 Oct 2017 23:00:45 -0600
Subject: [PATCH 295/379] GLONASS Observables: Fixes bug in TOW updating

Fixes bug in TOW update when a new value has been computed. This adds a
new flag to keep track of TOW update given the tk component. The code
fix improves the pseudorange measurement for code
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf                 |  2 ++
 .../glonass_l1_ca_telemetry_decoder_cc.cc              |  5 +++--
 .../glonass_gnav_navigation_message.cc                 | 10 ++++------
 .../glonass_gnav_navigation_message.h                  |  8 ++------
 src/utils/matlab/hybrid_observables_plot_sample.m      |  5 +++--
 5 files changed, 14 insertions(+), 16 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 9bec04bd9..3b08957b4 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -62,6 +62,8 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index e12e83b7e..1e3f86622 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -351,10 +351,11 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 
     // UPDATE GNSS SYNCHRO DATA
     //2. Add the telemetry decoder information
-    if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
+    if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
         //update TOW at the preamble instant
         {
-            d_TOW_at_current_symbol = floor((d_nav.d_TOW + 2*GLONASS_L1_CA_CODE_PERIOD + GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
+            d_TOW_at_current_symbol = floor((d_nav.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
+            d_nav.flag_TOW_new = false;
 
         }
     else //if there is not a new preamble, we define the TOW of the current symbol
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 5bec42b38..1f3b5291d 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -73,12 +73,8 @@ void Glonass_Gnav_Navigation_Message::reset()
 
     //broadcast orbit 1
     flag_TOW_set = false;
+    flag_TOW_new = false;
     d_TOW = 0.0;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    d_TOW_F1 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    d_TOW_F2 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    d_TOW_F3 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    d_TOW_F4 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    d_TOW_F5 = 0.0;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     flag_CRC_test = false;
     d_frame_ID = 0;
@@ -366,7 +362,8 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
     int i = 0;
 
     // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
-    TOD = gnav_ephemeris.d_t_k - glot2utcsu - utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
+    // tk plus 10 sec is the true tod since get_TOW is called when in str5
+    TOD = (gnav_ephemeris.d_t_k + 10) - glot2utcsu - utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
 
 
     boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
@@ -521,6 +518,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                         gnav_ephemeris.d_TOW = d_TOW;
                         gnav_ephemeris.d_WN = get_WN();
                         flag_TOW_set = true;
+                        flag_TOW_new = true;
                     }
 
                 }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index cf2ac3750..743f4cefa 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -95,13 +95,9 @@ public:
     bool flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
     bool flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
 
-    bool flag_TOW_set;
+    bool flag_TOW_set;      //!< Flag indicating when the TOW has been set
+    bool flag_TOW_new;      //!< Flag indicating when a new TOW has been computed
     double d_TOW;           //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    double d_TOW_F1;        //!< Time of GPS Week from HOW word of Subframe 1 [s]
-    double d_TOW_F2;        //!< Time of GPS Week from HOW word of Subframe 2 [s]
-    double d_TOW_F3;        //!< Time of GPS Week from HOW word of Subframe 3 [s]
-    double d_TOW_F4;        //!< Time of GPS Week from HOW word of Subframe 4 [s]
-    double d_TOW_F5;        //!< Time of GPS Week from HOW word of Subframe 5 [s]
 
     // Clock terms
     double d_satClkCorr;     // Satellite clock error
diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m
index 218527343..538575bee 100644
--- a/src/utils/matlab/hybrid_observables_plot_sample.m
+++ b/src/utils/matlab/hybrid_observables_plot_sample.m
@@ -7,16 +7,17 @@ addpath('./libs');
 samplingFreq       = 6625000;     %[Hz]
 channels=5;
 path='/archive/';
-observables_log_path=[path 'glo_observables'];
+observables_log_path=[path 'glo_observables.dat'];
 GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
 
+%%
 %optional:
 %search all channels having good satellite simultaneously
 min_idx=1;
 for n=1:1:channels
     idx=find(GNSS_observables.valid(n,:)>0,1,'first');
     if min_idx<idx
-        min_idx=idx;
+        min_idx=idx
     end
 end
 

From 05320178571c4d9612ba2999a725e0dfdbadfeed Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 4 Oct 2017 01:38:00 +0200
Subject: [PATCH 296/379] Add blocking parameter to Glonass acquisition

---
 .../acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc   | 5 +++--
 .../acquisition/adapters/glonass_l1_ca_pcps_acquisition.h    | 1 +
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 1066eae1f..5afc7e073 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -24,6 +24,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     if_ = configuration_->property(role + ".if", 0);
     dump_ = configuration_->property(role + ".dump", false);
+    blocking_ = configuration_->property(role + ".blocking", true);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
 
@@ -51,14 +52,14 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
             item_size_ = sizeof(lv_16sc_t);
             acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
                     doppler_max_, if_, fs_in_, code_length_, code_length_,
-                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
             DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
 
         }else{
                 item_size_ = sizeof(gr_complex);
                 acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
                         doppler_max_, if_, fs_in_, code_length_, code_length_,
-                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, dump_filename_);
+                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
                 DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
         }
 
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
index ff01d7364..65f6b9874 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -126,6 +126,7 @@ private:
     long fs_in_;
     long if_;
     bool dump_;
+    bool blocking_;
     std::string dump_filename_;
     std::complex<float> * code_;
     Gnss_Synchro * gnss_synchro_;

From ea675b4baade67bdc77b5fea984269d1ac630845 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 10 Oct 2017 08:40:05 -0600
Subject: [PATCH 297/379] bugfix: Fixes signal identifier for GLONASS GNAV

Signal identifier for GLONASS L1 C/A was changed internally to be `1G`
instead of the '1C' originally conceived from the navigation software.
Also, forces PRN number update from decoding interface
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 15 ++++++--
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 17 +++++----
 src/algorithms/PVT/libs/rinex_printer.cc      | 12 +++----
 src/algorithms/PVT/libs/rtklib_solver.cc      |  5 +--
 .../libs/rtklib/rtklib_conversions.cc         | 36 +++++++++----------
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  1 +
 6 files changed, 48 insertions(+), 38 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 3b08957b4..4f5abda49 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -67,7 +67,16 @@ Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
-PVT.averaging_depth=100
-PVT.flag_averaging=true
-PVT.output_rate_ms=10
+PVT.positioning_mode=PPP_Static
+PVT.output_rate_ms=100
 PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 85e6bba5e..3e6758e58 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -547,8 +547,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                     || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
                                     || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
                                     || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))
-                                    || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
-                                    || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2C") == 0)))
+                                    || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1G") == 0))
+                                    || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2G") == 0)))
                                 {
                                     // store valid observables in a map.
                                     gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch]));
@@ -579,7 +579,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                 {
                                     if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
                                         {
-                                            //d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
+                                            d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
                                         }
                                 }
 
@@ -839,7 +839,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 }
                                             if(type_of_rx == 23) // GLONASS L1 C/A only
                                                 {
-                                                    std::string signal("1C");
+                                                    std::string signal("1G");
                                                     if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
@@ -849,7 +849,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 }
                                             if(type_of_rx == 24) // GLONASS L2 C/A only
                                                 {
-                                                    std::string signal("2C");
+                                                    std::string signal("2G");
                                                     if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
@@ -859,7 +859,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 }
                                             if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
                                                 {
-                                                    std::string signal("1C 2C");
+                                                    std::string signal("1G 2G");
                                                     if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
@@ -872,7 +872,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
                                                         {
-                                                            std::string glo_signal("1C");
+                                                            std::string glo_signal("1G");
                                                             rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
                                                             rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
                                                             b_rinex_header_written = true; // do not write header anymore
@@ -882,7 +882,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
                                                         {
-                                                            std::string glo_signal("1C");
+                                                            std::string glo_signal("1G");
                                                             std::string gal_signal("1B");
                                                             rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
                                                             rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@@ -1112,7 +1112,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
                                                                 {
-                                                                    std::string glo_signal("1C");
                                                                     rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
 
                                                                 }
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 06508ee75..52863abe2 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -3208,9 +3208,9 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
             strm << numberTypesObservations;
             line += Rinex_Printer::rightJustify(strm.str(), 3);
 
-            std::string signal_ = "1C";
+            std::string signal_ = "1G";
             std::size_t found_1C = glonass_bands.find(signal_);
-            signal_ = "2C";
+            signal_ = "2G";
             std::size_t found_2C = glonass_bands.find(signal_);
 
             if(found_1C != std::string::npos)
@@ -3535,13 +3535,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 
     // Find GLONASS Signal in Mixed file
     unsigned int number_of_observations_glo = 0;
-    std::string signal_("1C");
+    std::string signal_("1G");
     std::size_t found_1C = glonass_bands.find(signal_);
     if(found_1C != std::string::npos)
         {
             number_of_observations_glo = number_of_observations_glo + 4;
         }
-    signal_ = "2C";
+    signal_ = "2G";
     std::size_t found_2C = glonass_bands.find(signal_);
     if(found_2C != std::string::npos)
         {
@@ -3851,13 +3851,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
 
     line.clear();
     unsigned int number_of_observations_glo = 0;
-    signal_ = "1C";
+    signal_ = "1G";
     std::size_t found_1C = glonass_bands.find(signal_);
     if(found_1C != std::string::npos)
         {
             number_of_observations_glo = number_of_observations_glo + 4;
         }
-    signal_ = "2C";
+    signal_ = "2G";
     std::size_t found_2C = glonass_bands.find(signal_);
     if(found_2C != std::string::npos)
         {
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index c19dd7f4b..612922dde 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -282,7 +282,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     			{
     				std::string sig_(gnss_observables_iter->second.Signal);
     				// GLONASS GNAV L1
-    				if(sig_.compare("1C") == 0)
+    				if(sig_.compare("1G") == 0)
     				{
     				    // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
     				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@@ -305,7 +305,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 
     				}
     				// GLONASS GNAV L2
-    				if(sig_.compare("2C") == 0)
+    				if(sig_.compare("2G") == 0)
     				{
     				    // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
     				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@@ -364,6 +364,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
             int result = 0;
             nav_t nav_data;
             nav_data.eph = eph_data;
+            nav_data.geph = geph_data;
             nav_data.n = valid_obs;
             for (int i = 0; i < MAXSAT; i++)
                 {
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index c495fc210..53d7bbe28 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -71,24 +71,24 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     gtime_t t_utc;
     struct tm utcinfo;
 
-    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;       /* satellite number */
-    rtklib_sat.iode   = glonass_gnav_eph.d_iode;                        /* IODE (0-6 bit of tb field) */
-    rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;      /* satellite frequency number */
-    rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                      /* satellite health*/
-    rtklib_sat.sva    = glonass_gnav_eph.d_F_T;                         /* satellite accuracy*/
-    rtklib_sat.age    = glonass_gnav_eph.d_E_n;                         /* satellite age*/
-    rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000;                     /* satellite position (ecef) (m) */
-    rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000;                     /* satellite position (ecef) (m) */
-    rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000;                     /* satellite position (ecef) (m) */
-    rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000;                    /* satellite velocity (ecef) (m/s) */
-    rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000;                    /* satellite velocity (ecef) (m/s) */
-    rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000;                    /* satellite velocity (ecef) (m/s) */
-    rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000;                    /* satellite acceleration (ecef) (m/s^2) */
-    rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000;                    /* satellite acceleration (ecef) (m/s^2) */
-    rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000;                    /* satellite acceleration (ecef) (m/s^2) */
-    rtklib_sat.taun   = glonass_gnav_eph.d_tau_n;                       /* SV clock bias (s) */
-    rtklib_sat.gamn   = glonass_gnav_eph.d_gamma_n;                     /* SV relative freq bias */
-    rtklib_sat.age    = glonass_gnav_eph.d_Delta_tau_n;                 /* delay between L1 and L2 (s) */
+    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;           /* satellite number */
+    rtklib_sat.iode   = static_cast<int>(glonass_gnav_eph.d_t_b);           /* IODE (0-6 bit of tb field) */
+    rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;          /* satellite frequency number */
+    rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                          /* satellite health*/
+    rtklib_sat.sva    = static_cast<int>(glonass_gnav_eph.d_F_T);           /* satellite accuracy*/
+    rtklib_sat.age    = static_cast<int>(glonass_gnav_eph.d_E_n);           /* satellite age*/
+    rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000;                         /* satellite position (ecef) (m) */
+    rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000;                         /* satellite position (ecef) (m) */
+    rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000;                         /* satellite position (ecef) (m) */
+    rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000;                        /* satellite velocity (ecef) (m/s) */
+    rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000;                        /* satellite velocity (ecef) (m/s) */
+    rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000;                        /* satellite velocity (ecef) (m/s) */
+    rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000;                        /* satellite acceleration (ecef) (m/s^2) */
+    rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000;                        /* satellite acceleration (ecef) (m/s^2) */
+    rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000;                        /* satellite acceleration (ecef) (m/s^2) */
+    rtklib_sat.taun   = glonass_gnav_eph.d_tau_n;                           /* SV clock bias (s) */
+    rtklib_sat.gamn   = glonass_gnav_eph.d_gamma_n;                         /* SV relative freq bias */
+    rtklib_sat.age    = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n);   /* delay between L1 and L2 (s) */
 
     utcinfo.tm_mon  = 0;
     utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 1e3f86622..5a61f5b5a 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -379,6 +379,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
             current_symbol.Flag_valid_word = false;
         }
 
+    current_symbol.PRN = this->d_satellite.get_PRN();
     current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
     current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
 

From 93640ffd465f8a03b6c32f404f88614453a73a38 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 11 Oct 2017 08:22:45 -0600
Subject: [PATCH 298/379] GLONASS bugfix: Fixes settings with rtklib obs_t and
 nav_t members

Adds settings in rtklib code to parse GLONASS measurements in `obs_t`
and 'nav_t' structures. It also adds the time of day field in gnav eph
to keep track as of when ephemeris are reported.
---
 src/algorithms/PVT/libs/rtklib_solver.cc      | 142 +++++++++---------
 src/algorithms/libs/rtklib/rtklib.h           |   7 +
 .../libs/rtklib/rtklib_conversions.cc         |  13 +-
 src/algorithms/libs/rtklib/rtklib_rtksvr.cc   |   8 +-
 .../glonass_gnav_ephemeris.h                  |   1 +
 .../glonass_gnav_navigation_message.cc        |   3 +
 6 files changed, 97 insertions(+), 77 deletions(-)

diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 612922dde..de34231d7 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -115,7 +115,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
     std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
     std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
-	std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
+    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
 
     this->set_averaging_flag(flag_averaging);
 
@@ -123,6 +123,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     // ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
     // ********************************************************************************
     int valid_obs = 0; //valid observations counter
+    int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
 
     obsd_t obs_data[MAXOBS];
     eph_t eph_data[MAXOBS];
@@ -278,76 +279,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                         }
                     break;
                 }
-			case 'R': //TODO This should be using rtk lib nomenclature
-    			{
-    				std::string sig_(gnss_observables_iter->second.Signal);
-    				// GLONASS GNAV L1
-    				if(sig_.compare("1G") == 0)
-    				{
-    				    // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
-    				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-    				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
-    				    {
-    				        //convert ephemeris from GNSS-SDR class to RTKLIB structure
-    				        geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
-    				        //convert observation from GNSS-SDR class to RTKLIB structure
-    				        obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-    				        obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
-    				                gnss_observables_iter->second,
-    				                glonass_gnav_ephemeris_iter->second.d_WN,
-    				                0);//TODO are THESE VALUES OK
-    				        valid_obs++;
-    				    }
-    				    else // the ephemeris are not available for this SV
-    				    {
-    				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
-    				    }
+						case 'R': //TODO This should be using rtk lib nomenclature
+								{
+									std::string sig_(gnss_observables_iter->second.Signal);
+									// GLONASS GNAV L1
+									if(sig_.compare("1G") == 0)
+									{
+											// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
+											glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+											if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
+											{
+													//convert ephemeris from GNSS-SDR class to RTKLIB structure
+													geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+													//convert observation from GNSS-SDR class to RTKLIB structure
+													obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+													obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+																	gnss_observables_iter->second,
+																	glonass_gnav_ephemeris_iter->second.d_WN,
+																	0);//Band 0 (L1)
+													glo_valid_obs++;
+											}
+											else // the ephemeris are not available for this SV
+											{
+													DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+											}
 
-    				}
-    				// GLONASS GNAV L2
-    				if(sig_.compare("2G") == 0)
-    				{
-    				    // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
-    				    glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-    				    if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
-    				    {
-    				        bool found_L1_obs=false;
-    				        for (int i = 0; i < valid_obs; i++)
-    				        {
-    				            // TODO what is this?
-    				            if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
-    				            {
-    				                obs_data[i] = insert_obs_to_rtklib(obs_data[i],
-    				                        gnss_observables_iter->second,
-    				                        glonass_gnav_ephemeris_iter->second.d_WN,
-    				                        2);//Band 3 (L5/E5)
-    				                found_L1_obs=true;
-    				                break;
-    				            }
-    				        }
-    				        if (!found_L1_obs)
-    				        {
-    				            //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
-    				            //convert ephemeris from GNSS-SDR class to RTKLIB structure
-    				            geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
-    				            //convert observation from GNSS-SDR class to RTKLIB structure
-    				            obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-    				            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
-    				                    gnss_observables_iter->second,
-    				                    galileo_ephemeris_iter->second.WN_5,
-    				                    2); //Band 3 (L5/E5)
-    				            valid_obs++;
-    				        }
-    				    }
-    				    else // the ephemeris are not available for this SV
-    				    {
-    				        DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
-    				    }
+									}
+									// GLONASS GNAV L2
+									if(sig_.compare("2G") == 0)
+									{
+											// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
+											glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+											if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
+											{
+													bool found_L1_obs=false;
+													for (int i = 0; i < glo_valid_obs; i++)
+														{
+																if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
+																	{
+																			obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+																							gnss_observables_iter->second,
+																							glonass_gnav_ephemeris_iter->second.d_WN,
+																							1);//Band 1 (L2)
+																			found_L1_obs=true;
+																			break;
+																	}
+														}
+													if (!found_L1_obs)
+													{
+															//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
+															//convert ephemeris from GNSS-SDR class to RTKLIB structure
+															geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+															//convert observation from GNSS-SDR class to RTKLIB structure
+															obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
+															obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+																			gnss_observables_iter->second,
+																			glonass_gnav_ephemeris_iter->second.d_WN,
+																			1); //Band 1 (L2)
+															glo_valid_obs++;
+													}
+											}
+											else // the ephemeris are not available for this SV
+											{
+													DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+											}
 
 
-    				}
-    				break;
-    			}
+									}
+									break;
+								}
             default :
                 DLOG(INFO) << "Hybrid observables: Unknown GNSS";
                 break;
@@ -359,13 +359,15 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     // **********************************************************************
 
     this->set_valid_position(false);
-    if (valid_obs > 0)
+    if (valid_obs > 0 || glo_valid_obs > 0)
         {
             int result = 0;
             nav_t nav_data;
             nav_data.eph = eph_data;
             nav_data.geph = geph_data;
             nav_data.n = valid_obs;
+            nav_data.ng = glo_valid_obs;
+
             for (int i = 0; i < MAXSAT; i++)
                 {
                     nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
@@ -373,7 +375,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                     nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
                 }
 
-            result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
+            result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
             if(result == 0)
                 {
                     LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
diff --git a/src/algorithms/libs/rtklib/rtklib.h b/src/algorithms/libs/rtklib/rtklib.h
index ec0274b71..7aa7ddf5f 100644
--- a/src/algorithms/libs/rtklib/rtklib.h
+++ b/src/algorithms/libs/rtklib/rtklib.h
@@ -182,6 +182,7 @@ const int SYS_ALL = 0xFF;             //!<   navigation system: all
 
 
 
+#define ENAGLO
 #ifdef ENAGLO
 const int MINPRNGLO = 1;                   //!<   min satellite slot number of GLONASS
 const int MAXPRNGLO = 27;                  //!<   max satellite slot number of GLONASS
@@ -194,6 +195,12 @@ const int NSATGLO = 0;
 const int NSYSGLO = 0;
 #endif
 
+/*
+const int MINPRNGLO = 1;                   //!<   min satellite slot number of GLONASS
+const int MAXPRNGLO = 27;                  //!<   max satellite slot number of GLONASS
+const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!<   number of GLONASS satellites
+const int NSYSGLO = 1;
+*/
 const int MINPRNGAL = 1;                   //!<   min satellite PRN number of Galileo
 const int MAXPRNGAL = 30;                  //!<   max satellite PRN number of Galileo
 const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!<   number of Galileo satellites
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index 53d7bbe28..8b1c8c726 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -52,7 +52,7 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
             rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
             break;
         case 'R':
-            rtklib_obs.sat = gnss_synchro.PRN;
+            rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
             break;
 
         default:
@@ -66,12 +66,13 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
 
 geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
+		int week;
     geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
         0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
     gtime_t t_utc;
     struct tm utcinfo;
 
-    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number;           /* satellite number */
+    rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
     rtklib_sat.iode   = static_cast<int>(glonass_gnav_eph.d_t_b);           /* IODE (0-6 bit of tb field) */
     rtklib_sat.frq    = glonass_gnav_eph.i_satellite_freq_channel;          /* satellite frequency number */
     rtklib_sat.svh    = glonass_gnav_eph.d_l3rd_n;                          /* satellite health*/
@@ -93,17 +94,17 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     utcinfo.tm_mon  = 0;
     utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
     utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = 6; // Diff between utc and (utc(su) + 3.00h)
+    utcinfo.tm_hour = -6;
     utcinfo.tm_min  = 0;
-    utcinfo.tm_sec  = glonass_gnav_eph.d_t_b;
+    utcinfo.tm_sec  = glonass_gnav_eph.d_tod;
     t_utc.time = mktime(&utcinfo);
     t_utc.sec = glonass_gnav_eph.d_tau_c;
-    rtklib_sat.toe    = utc2gpst(t_utc);      /* epoch of epherides (gpst) */
+    rtklib_sat.toe    = utc2gpst(t_utc);      /* message frame time (gpst) */
 
     utcinfo.tm_mon  = 0;
     utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
     utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = 6;
+    utcinfo.tm_hour = -6;
     utcinfo.tm_min  = 0;
     utcinfo.tm_sec  = glonass_gnav_eph.d_t_k;
     t_utc.time = mktime(&utcinfo);
diff --git a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
index 0c2aabedf..b8c0288db 100644
--- a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
@@ -350,6 +350,12 @@ int decoderaw(rtksvr_t *svr, int index)
 /* decode download file ------------------------------------------------------*/
 void decodefile(rtksvr_t *svr, int index)
 {
+		int i = 0;
+		char glo_fcn[MAXPRNGLO+1];
+
+		// Allocate space for GLONASS frequency channels depending on availability
+		for(i=0; i < MAXPRNGLO+1; i++)
+			glo_fcn[i]='0';
     pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } };
     sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0};
     sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0};
@@ -366,7 +372,7 @@ void decodefile(rtksvr_t *svr, int index)
     nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
             {0, 0, (erpd_t *){0}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0},
             {0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0},{0.0}}, {{0.0},{0.0}}, {{0.0},{0.0},{0.0}},
-            {0.0}, {0.0}, '0', {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0},  {*ssr0}, {*lexeph0},
+            {0.0}, {0.0}, {*glo_fcn}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0},  {*ssr0}, {*lexeph0},
             {{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ;
 
     char file[1024];
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 281237b48..46ece9f95 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -102,6 +102,7 @@ public:
     double d_tau_c;
     double d_TOW; // tow of the start of frame
     double d_WN; //  week number of the start of frame
+    double d_tod;
 
     template<class Archive>
 
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 1f3b5291d..7a9ea4ea8 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -521,6 +521,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                         flag_TOW_new = true;
                     }
 
+                    // 4) Set time of day (tod) when ephemeris data is complety decoded
+                    gnav_ephemeris.d_tod = gnav_ephemeris.d_t_k + 2*d_string_ID;
+
                 }
 
 

From f2aaf0c8511525133f37d4fb83f1b65fd4237532 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 12 Oct 2017 18:32:49 +0200
Subject: [PATCH 299/379] Pass GNSS_Satellite objects by reference instead of
 by value

Added override keyworkd
---
 .../adapters/glonass_l1_ca_telemetry_decoder.cc      |  2 +-
 .../adapters/glonass_l1_ca_telemetry_decoder.h       | 12 ++++++------
 .../glonass_l1_ca_telemetry_decoder_cc.cc            |  6 +++---
 .../glonass_l1_ca_telemetry_decoder_cc.h             | 12 ++++++------
 4 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
index 924efd2da..5e4b5a4bc 100644
--- a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
@@ -67,7 +67,7 @@ GlonassL1CaTelemetryDecoder::~GlonassL1CaTelemetryDecoder()
 {}
 
 
-void GlonassL1CaTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
+void GlonassL1CaTelemetryDecoder::set_satellite(const Gnss_Satellite & satellite)
 {
     satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
     telemetry_decoder_->set_satellite(satellite_);
diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
index e79f586c9..ddcc4dd40 100644
--- a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
@@ -63,12 +63,12 @@ public:
     {
         return "GLONASS_L1_CA_Telemetry_Decoder";
     }
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
-    void set_satellite(Gnss_Satellite satellite);
-    void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
+    void set_satellite(const Gnss_Satellite & satellite) override;
+    void set_channel(int channel) override {telemetry_decoder_->set_channel(channel);}
     void reset()
     {
         return;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 5a61f5b5a..d9f369527 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -49,14 +49,14 @@ using google::LogMessage;
 
 
 glonass_l1_ca_telemetry_decoder_cc_sptr
-glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump)
+glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump)
 {
     return glonass_l1_ca_telemetry_decoder_cc_sptr(new glonass_l1_ca_telemetry_decoder_cc(satellite, dump));
 }
 
 
 glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
-        Gnss_Satellite satellite,
+        const Gnss_Satellite & satellite,
         bool dump) :
         gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
         gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@@ -415,7 +415,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 }
 
 
-void glonass_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
+void glonass_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite & satellite)
 {
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
     DLOG(INFO) << "Setting decoder Finite State Machine to satellite "<< d_satellite;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index 5e4ff6df7..2dfeca167 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -51,7 +51,7 @@ class glonass_l1_ca_telemetry_decoder_cc;
 
 typedef boost::shared_ptr<glonass_l1_ca_telemetry_decoder_cc> glonass_l1_ca_telemetry_decoder_cc_sptr;
 
-glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
+glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
 
 /*!
  * \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD v5.1
@@ -62,9 +62,9 @@ glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(
 class glonass_l1_ca_telemetry_decoder_cc : public gr::block
 {
 public:
-    ~glonass_l1_ca_telemetry_decoder_cc();          //!< Class destructor
-    void set_satellite(Gnss_Satellite satellite);   //!< Set satellite PRN
-    void set_channel(int channel);                  //!< Set receiver's channel
+    ~glonass_l1_ca_telemetry_decoder_cc();                  //!< Class destructor
+    void set_satellite(const Gnss_Satellite & satellite);   //!< Set satellite PRN
+    void set_channel(int channel);                          //!< Set receiver's channel
 
     /*!
      * \brief This is where all signal processing takes place
@@ -74,8 +74,8 @@ public:
 
 private:
     friend glonass_l1_ca_telemetry_decoder_cc_sptr
-    glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
-    glonass_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
+    glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
+    glonass_l1_ca_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
 
     void decode_string(double *symbols, int frame_length);
 

From a1b9b092f57185fef5681c0687efcf6f5cbce1b5 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 19 Oct 2017 13:22:55 -0600
Subject: [PATCH 300/379] Debugging GLONASS code to obtain position solution

---
 CMakeLists.txt                                |   2 +-
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |   6 +-
 src/algorithms/PVT/libs/rtklib_solver.cc      |   5 +-
 src/algorithms/PVT/libs/rtklib_solver.h       |   2 +-
 .../libs/rtklib/rtklib_conversions.cc         |  37 ++---
 .../libs/rtklib/rtklib_conversions.h          |   3 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   3 +-
 src/core/system_parameters/GLONASS_L1_CA.h    |   2 -
 .../glonass_gnav_ephemeris.cc                 |  71 ++++++++-
 .../glonass_gnav_ephemeris.h                  |  11 ++
 .../glonass_gnav_navigation_message.cc        |  12 +-
 .../glonass_gnav_navigation_message.h         |   4 +
 src/core/system_parameters/gnss_satellite.cc  |  20 +++
 src/core/system_parameters/gnss_satellite.h   |   1 +
 .../glonass_gnav_nav_message_test.cc          |  32 ++++
 .../matlab/hybrid_observables_plot_sample.m   | 146 +++++++++---------
 16 files changed, 242 insertions(+), 115 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 265e79ec5..b49ad4217 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -271,7 +271,7 @@ endif(NOT CMAKE_BUILD_TYPE)
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
 
 # Append -O2 optimization flag for Debug builds
-set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
 
 # allow 'large' files in 32 bit builds
 if(UNIX)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 3e6758e58..b0c0c5666 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -190,8 +190,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     // TODO Add GLONASS with gps week number and tow,
                     // insert new ephemeris record
                     DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
-                               << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN
-                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
+                               << ", Week Number =" << glonass_gnav_eph->d_WN
+                               << " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
                                << " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
                     // update/insert new ephemeris record to the global ephemeris map
                     d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
@@ -542,7 +542,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                             std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
-							std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
+                            std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
                             if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
                                     || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
                                     || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index de34231d7..06dcc618b 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -116,6 +116,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
     std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
     std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
+    const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
 
     this->set_averaging_flag(flag_averaging);
 
@@ -290,7 +291,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 											if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
 											{
 													//convert ephemeris from GNSS-SDR class to RTKLIB structure
-													geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+													geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 													//convert observation from GNSS-SDR class to RTKLIB structure
 													obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
 													obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
@@ -329,7 +330,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 													{
 															//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
 															//convert ephemeris from GNSS-SDR class to RTKLIB structure
-															geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+															geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 															//convert observation from GNSS-SDR class to RTKLIB structure
 															obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
 															obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 40e0ab250..d8703548e 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -87,7 +87,7 @@ public:
     std::map<int,Galileo_Ephemeris> galileo_ephemeris_map;   //!< Map storing new Galileo_Ephemeris
     std::map<int,Gps_Ephemeris> gps_ephemeris_map;           //!< Map storing new GPS_Ephemeris
     std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
-	std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;    //!< Map storing new GLONASS GNAV Ephmeris
+    std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;    //!< Map storing new GLONASS GNAV Ephmeris
 
     Galileo_Utc_Model galileo_utc_model;
     Galileo_Iono galileo_iono;
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index 8b1c8c726..3257ab0bf 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -30,10 +30,11 @@
 
 #include "rtklib_conversions.h"
 #include "rtklib_rtkcmn.h"
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band)
 {
-    rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
+		rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
     rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
     rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI);
 
@@ -64,13 +65,12 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
     return rtklib_obs;
 }
 
-geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model)
 {
-		int week;
+		double week, sec;
+		int adj_week;
     geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
         0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
-    gtime_t t_utc;
-    struct tm utcinfo;
 
     rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
     rtklib_sat.iode   = static_cast<int>(glonass_gnav_eph.d_t_b);           /* IODE (0-6 bit of tb field) */
@@ -91,26 +91,15 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     rtklib_sat.gamn   = glonass_gnav_eph.d_gamma_n;                         /* SV relative freq bias */
     rtklib_sat.age    = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n);   /* delay between L1 and L2 (s) */
 
-    utcinfo.tm_mon  = 0;
-    utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
-    utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = -6;
-    utcinfo.tm_min  = 0;
-    utcinfo.tm_sec  = glonass_gnav_eph.d_tod;
-    t_utc.time = mktime(&utcinfo);
-    t_utc.sec = glonass_gnav_eph.d_tau_c;
-    rtklib_sat.toe    = utc2gpst(t_utc);      /* message frame time (gpst) */
-
-    utcinfo.tm_mon  = 0;
-    utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
-    utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = -6;
-    utcinfo.tm_min  = 0;
-    utcinfo.tm_sec  = glonass_gnav_eph.d_t_k;
-    t_utc.time = mktime(&utcinfo);
-    t_utc.sec = glonass_gnav_eph.d_tau_c;
-    rtklib_sat.tof    = utc2gpst(t_utc);      /* message frame time (gpst) */
+    // Time expressed in GPS Time but using RTKLib format
+    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_tod, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
+    adj_week = adjgpsweek(static_cast<int>(week));
+    rtklib_sat.toe = gpst2time(adj_week, sec);
 
+    // Time expressed in GPS Time but using RTKLib format
+    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
+    adj_week = adjgpsweek(static_cast<int>(week));
+    rtklib_sat.tof = gpst2time(adj_week, sec);
 
     return rtklib_sat;
 }
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.h b/src/algorithms/libs/rtklib/rtklib_conversions.h
index e620adaaa..e5a73e88d 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.h
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.h
@@ -37,6 +37,7 @@
 #include "gps_ephemeris.h"
 #include "gps_cnav_ephemeris.h"
 #include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_utc_model.h"
 
 eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph);
 eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph);
@@ -46,7 +47,7 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph);
  * \param glonass_gnav_eph GLONASS GNAV Ephemeris structure
  * \return Ephemeris structure for RTKLIB parsing
  */
-geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model);
 
 obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band);
 
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 5a61f5b5a..d04224ed5 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -221,7 +221,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     if(d_nav.flag_update_slot_number == true)
         {
             LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel;
-            d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
+            d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n);
+            d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n);
             d_nav.flag_update_slot_number = false;
         }
 }
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 83a768c93..8da14ffe2 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -91,8 +91,6 @@ const int GLONASS_L1_CA_NBR_SATS             = 24; // STRING DATA WITHOUT PREAMB
 
 //FIXME Probably should use leap seconds definitions of rtklib
 const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
-        {2019, 1, 1, 0, 0, 0, -20},
-        {2018, 1, 1, 0, 0, 0, -19},
         {2017, 1, 1, 0, 0, 0, -18},
         {2015, 7, 1, 0, 0, 0, -17},
         {2012, 7, 1, 0, 0, 0, -16},
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index b7b8e2d3a..b3e73e115 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -79,20 +79,87 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 	d_tau_c = 0.0;
 	d_TOW = 0.0; // tow of the start of frame
 	d_WN = 0.0; //  week number of the start of frame
+	d_tod = 0.0;
 }
 
 
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
 {
-    boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c);
+    boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
     boost::gregorian::date d1(d_yr, 1, 1);
-    boost::gregorian::days d2(d_N_T);
+    boost::gregorian::days d2(d_N_T - 1);
     boost::posix_time::ptime glonass_time(d1+d2, t);
 
     return glonass_time;
 }
 
 
+boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
+{
+		double tod = 0.0;
+		double utcsu2utc = 3*3600;
+		double glot2utcsu = 3*3600;
+
+		tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n;
+		boost::posix_time::time_duration t(0, 0, tod);
+		boost::gregorian::date d1(d_yr, 1, 1);
+		boost::gregorian::days d2(d_N_T - 1);
+		boost::posix_time::ptime utc_time(d1+d2, t);
+
+		return utc_time;
+}
+
+void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
+{
+			double tod = 0.0;
+	    double dayofweek = 0.0;
+	    double utcsu2utc = 3*3600;
+	    double glot2utcsu = 3*3600;
+	    double days = 0.0;
+	    double total_sec = 0.0, sec_of_day = 0.0;
+	    int i = 0;
+
+	    boost::gregorian::date gps_epoch { 1980, 1, 6 };
+
+	    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
+	    // tk plus 10 sec is the true tod since get_TOW is called when in str5
+	    tod = tod_offset - glot2utcsu - utcsu2utc ;
+
+
+	    boost::posix_time::time_duration t(0, 0, tod);
+	    boost::gregorian::date d1(d_yr, 1, 1);
+	    boost::gregorian::days d2(d_N_T - 1);
+	    boost::posix_time::ptime glonass_time(d1+d2, t);
+	    boost::gregorian::date utc_date = glonass_time.date();
+
+	    // Total number of days
+	    days =  static_cast<double>((utc_date - gps_epoch).days());
+
+	    // Total number of seconds
+	    sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
+	    total_sec = days*86400 + sec_of_day;
+
+	    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+	    {
+	        if (GLONASS_LEAP_SECONDS[i][0] == d_yr)
+	        {
+	            // We add the leap second when going from utc to gpst
+	            total_sec += abs(GLONASS_LEAP_SECONDS[i][6]);
+	        }
+	    }
+
+	    // Compute Week number
+	    *wn = floor(total_sec/604800);
+
+	    // Compute day of week
+	    dayofweek = modf (total_sec/604800 , wn);
+	    dayofweek = round(7*dayofweek);
+	    // Compute the arithmetic modules to wrap around range
+	    *tow = total_sec - 604800*floor(total_sec/604800);
+	    *tow = dayofweek*86400 + tod_offset + glot2utc_corr + glot2gpst_corr + d_tau_n;
+
+}
+
 double Glonass_Gnav_Ephemeris::check_t(double time)
 {
     double corrTime;
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 46ece9f95..929fa7262 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -159,6 +159,17 @@ public:
      */
     boost::posix_time::ptime compute_GLONASS_time(const double offset_time) const;
 
+    /*!
+     * \brief Converts from GLONASST to UTC
+     * \ param [I]
+     * \ param offset_time Is the start of day offset to compute the time
+     * \ returns UTC time as a boost::posix_time::ptime object
+     */
+    boost::posix_time::ptime glot_to_utc(const double offset_time, const double glot2utc_corr) const;
+
+
+    void glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * WN, double * TOW) const;
+
     /*!
      * Default constructor
      */
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 7a9ea4ea8..403e8eb1e 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -43,6 +43,7 @@
 void Glonass_Gnav_Navigation_Message::reset()
 {
     //!< Satellite Identification
+		i_satellite_PRN = 0;
     i_alm_satellite_slot_number = 0;    //!< SV Orbit Slot Number
     flag_update_slot_number = false;
 
@@ -325,7 +326,7 @@ double Glonass_Gnav_Navigation_Message::get_WN()
     boost::gregorian::date gps_epoch { 1980, 1, 6 };
     // Map to UTC
     boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T-1);
     glo_date = glo_date + d2;
 
 
@@ -367,7 +368,7 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
 
 
     boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T-1);
     glo_date = glo_date + d2;
 
     dayofweek = static_cast<double>(glo_date.day_of_week());
@@ -514,9 +515,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
                     if (flag_ephemeris_str_1 == true)
                     {
-                        d_TOW = get_TOW();
-                        gnav_ephemeris.d_TOW = d_TOW;
-                        gnav_ephemeris.d_WN = get_WN();
+                        //d_TOW = get_TOW();
+                        gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
+                        d_TOW = gnav_ephemeris.d_TOW;
+                        //gnav_ephemeris.d_WN = d_WN();
                         flag_TOW_set = true;
                         flag_TOW_new = true;
                     }
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 743f4cefa..1b24eaf64 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -65,6 +65,10 @@ public:
     unsigned int d_string_ID;
     bool flag_update_slot_number;
 
+    // satellite identification info
+    int i_channel_ID;
+    unsigned int i_satellite_PRN;
+
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
     Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS];    //!< Almanac information for all 24 satellites
diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index 7fb9c38ec..ba7d35b73 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -135,6 +135,26 @@ void Gnss_Satellite::set_system(const std::string& system_)
 }
 
 
+void Gnss_Satellite::update_PRN(unsigned int PRN_)
+{
+    if (system.compare("Glonass") != 0)
+				{
+						DLOG(INFO) << "Trying to update PRN for not GLONASS system";
+						PRN = 0;
+				}
+    else
+    		{
+				 if (PRN_ < 1 or PRN_ > 24)
+						 {
+								 DLOG(INFO) << "This PRN is not defined";
+								 PRN = 0;
+						 }
+				 else
+						 {
+								 PRN = PRN_;
+						 }
+    		}
+}
 
 
 void Gnss_Satellite::set_PRN(unsigned int PRN_)
diff --git a/src/core/system_parameters/gnss_satellite.h b/src/core/system_parameters/gnss_satellite.h
index cfdf1369f..1db5691c2 100644
--- a/src/core/system_parameters/gnss_satellite.h
+++ b/src/core/system_parameters/gnss_satellite.h
@@ -50,6 +50,7 @@ public:
     Gnss_Satellite();                          //!< Default Constructor.
     Gnss_Satellite(const std::string& system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor.
     ~Gnss_Satellite();                         //!< Default Destructor.
+    void update_PRN(unsigned int PRN);       	 //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
     unsigned int get_PRN() const;              //!< Gets satellite's PRN
     std::string get_system() const;            //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
     std::string get_system_short() const;      //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index 5fabb4676..f4ea3577d 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -80,6 +80,38 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
     ASSERT_FALSE(test_result);
 }
 
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, ComputeTOWandWN1)
+{
+    // Variable declarations
+		double tow, wn;
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Ephemeris gnav_ephemeris;
+
+    // Fill out ephemeris values for truth
+    gnav_nav_message.gnav_ephemeris.d_t_k    = 70200;
+    gnav_nav_message.gnav_ephemeris.d_tau_c  = 9.6391886472702e-08;
+    gnav_nav_message.gnav_ephemeris.d_yr     = 2005;
+    gnav_nav_message.gnav_ephemeris.d_N_T    = 28;
+
+    // Call target test method
+    tow = gnav_nav_message.get_TOW();
+    wn = gnav_nav_message.get_WN();
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_ephemeris.d_P_1 - gnav_nav_message.gnav_ephemeris.d_P_1 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Xn -  gnav_nav_message.gnav_ephemeris.d_Xn < FLT_EPSILON );
+}
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of
diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m
index 538575bee..45b6bf31d 100644
--- a/src/utils/matlab/hybrid_observables_plot_sample.m
+++ b/src/utils/matlab/hybrid_observables_plot_sample.m
@@ -41,76 +41,76 @@ title('Doppler frequency')
 xlabel('TOW [s]')
 ylabel('[Hz]');
 
-
-%read true obs from simulator (optional)
-GPS_STARTOFFSET_s = 68.802e-3;
-
-true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin';
-GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path);
-
-%correct the clock error using true values (it is not possible for a receiver to correct
-%the receiver clock offset error at the observables level because it is required the
-%decoding of the ephemeris data and solve the PVT equations)
-
-SPEED_OF_LIGHT_M_S = 299792458.0; 
-
-%find the reference satellite
-[~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1));
-shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s;
-
-
-%Compute deltas if required and interpolate to measurement time
-delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:);
-delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
-    delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
-true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
-    GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
-true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
-    GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap');
-
-%Compute measurement errors
-
-delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end);
-psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m;
-psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m))
-
-acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz...
-    -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1);
-
-acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz))
-
-acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz...
-    -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1);
-acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz))
-
-
-%plot results
-figure;
-plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g');
-hold on;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b');
-title('TRUE vs. measured Pseudoranges [m]')
-xlabel('TOW [s]')
-ylabel('[m]');
-
-figure;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m)
-title('Pseudoranges error [m]')
-xlabel('TOW [s]')
-ylabel('[m]');
-
-figure;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz)
-title('Accumulated carrier phase error CH1 [hz]')
-xlabel('TOW [s]')
-ylabel('[hz]');
-
-figure;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz)
-title('Accumulated carrier phase error CH2 [hz]')
-xlabel('TOW [s]')
-ylabel('[hz]');
-
-
-
-
+% 
+% %read true obs from simulator (optional)
+% GPS_STARTOFFSET_s = 68.802e-3;
+% 
+% true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin';
+% GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path);
+% 
+% %correct the clock error using true values (it is not possible for a receiver to correct
+% %the receiver clock offset error at the observables level because it is required the
+% %decoding of the ephemeris data and solve the PVT equations)
+% 
+% SPEED_OF_LIGHT_M_S = 299792458.0; 
+% 
+% %find the reference satellite
+% [~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1));
+% shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s;
+% 
+% 
+% %Compute deltas if required and interpolate to measurement time
+% delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:);
+% delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
+%     delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
+% true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
+%     GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
+% true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
+%     GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap');
+% 
+% %Compute measurement errors
+% 
+% delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end);
+% psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m;
+% psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m))
+% 
+% acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz...
+%     -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1);
+% 
+% acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz))
+% 
+% acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz...
+%     -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1);
+% acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz))
+% 
+% 
+% %plot results
+% figure;
+% plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g');
+% hold on;
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b');
+% title('TRUE vs. measured Pseudoranges [m]')
+% xlabel('TOW [s]')
+% ylabel('[m]');
+% 
+% figure;
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m)
+% title('Pseudoranges error [m]')
+% xlabel('TOW [s]')
+% ylabel('[m]');
+% 
+% figure;
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz)
+% title('Accumulated carrier phase error CH1 [hz]')
+% xlabel('TOW [s]')
+% ylabel('[hz]');
+% 
+% figure;
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz)
+% title('Accumulated carrier phase error CH2 [hz]')
+% xlabel('TOW [s]')
+% ylabel('[hz]');
+% 
+% 
+% 
+% 

From 791dfbd6d33355f0fdd0b59517ca061ef7b76b37 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 26 Oct 2017 18:43:18 -0600
Subject: [PATCH 301/379] bugfix: Adjusting time of week (TOW) computation for
 GLONASS

Fixing the time of week computation for GLONASS by treating N_T as a
day offset from January 1. It also adds more units test for TOW checks
---
 .../glonass_gnav_ephemeris.cc                 | 11 +----
 .../glonass_gnav_ephemeris_test.cc            | 47 +++++++++++++++++--
 2 files changed, 46 insertions(+), 12 deletions(-)

diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 43d337cc4..b1c9d2632 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -118,7 +118,6 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 	    double days = 0.0;
 	    double total_sec = 0.0, sec_of_day = 0.0;
 	    int i = 0;
-	    boost::gregorian::days d3(0);
 
 	    boost::gregorian::date gps_epoch { 1980, 1, 6 };
 
@@ -129,14 +128,8 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 
 	    boost::posix_time::time_duration t(0, 0, tod);
 	    boost::gregorian::date d1(d_yr, 1, 1);
-	    boost::gregorian::days d2(d_N_T);
-
-	    if(tod < 0)
-			{
-	    		d3 = boost::gregorian::days(-1);
-			}
-
-	    boost::posix_time::ptime glonass_time(d1+d2+d3, t);
+	    boost::gregorian::days d2(d_N_T-1);
+	    boost::posix_time::ptime glonass_time(d1+d2, t);
 	    boost::gregorian::date utc_date = glonass_time.date();
 
 	    // Total number of days
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 1d084ab4b..71aa40ac1 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -64,11 +64,12 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
 	ASSERT_TRUE(expected_gtime.seconds() -  t.seconds() < FLT_EPSILON );
 }
 
-TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT)
+// testing case where calendar
+TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
 {
     Glonass_Gnav_Ephemeris gnav_eph;
-    gnav_eph.d_yr = 2005;
-    gnav_eph.d_N_T = 32;
+    gnav_eph.d_yr = 2004;
+    gnav_eph.d_N_T = 366+28;
 
     double tod = 70200;
     double week = 0.0;
@@ -83,3 +84,43 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT)
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
 	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
 }
+
+TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
+{
+    Glonass_Gnav_Ephemeris gnav_eph;
+    gnav_eph.d_yr = 2016;
+    gnav_eph.d_N_T = 268;
+
+    double tod = 7560;
+    double week = 0.0;
+    double tow = 0.0;
+    double true_leap_sec = 13;
+    double true_week = 1915;
+    double true_tow = 480600+true_leap_sec;
+
+	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+
+    // Perform assertions of decoded fields
+	ASSERT_TRUE(week - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+}
+
+TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
+{
+    Glonass_Gnav_Ephemeris gnav_eph;
+    gnav_eph.d_yr = 2016;
+    gnav_eph.d_N_T = 62;
+
+    double tod = 7560 + 6*3600;
+    double week = 0.0;
+    double tow = 0.0;
+    double true_leap_sec = 13;
+    double true_week = 1307;
+    double true_tow = 480600+true_leap_sec;
+
+	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+
+    // Perform assertions of decoded fields
+	ASSERT_TRUE(week - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+}

From 6e223c42773d424cd300be6b0abb382f1f6df466 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 26 Oct 2017 20:46:16 -0600
Subject: [PATCH 302/379] bugfix: changing flooring operation for tow update

---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  5 ++--
 .../glonass_gnav_ephemeris.h                  | 25 +++++++++++++------
 .../glonass_gnav_ephemeris_test.cc            | 13 +++++++++-
 3 files changed, 31 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 2edbd447c..34e72231b 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -355,8 +355,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
         //update TOW at the preamble instant
         {
-    		double dummy_dtow = d_nav.get_TOW() - GLONASS_GNAV_PREAMBLE_DURATION_S;
-            d_TOW_at_current_symbol = d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S;
+            d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
             d_nav.flag_TOW_new = false;
 
         }
@@ -382,7 +381,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
         }
 
     current_symbol.PRN = this->d_satellite.get_PRN();
-    current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
+    current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
     current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
 
     if(d_dump == true)
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 929fa7262..5400e890f 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -99,10 +99,10 @@ public:
     double d_satClkDrift;                   //!< GLONASS clock error
     double d_dtr;                           //!< relativistic clock correction term
     double d_iode;                          //!< Issue of data, ephemeris (Bit 0-6 of tb)
-    double d_tau_c;
-    double d_TOW; // tow of the start of frame
-    double d_WN; //  week number of the start of frame
-    double d_tod;
+    double d_tau_c;							//!< GLONASST 2 UTC correction (todo) may be eliminated
+    double d_TOW; 							//!< GLONASST IN GPST seconds of week
+    double d_WN; 							//!< GLONASST IN GPST week number of the start of frame
+    double d_tod;							//!< Time of Day since ephemeris where decoded
 
     template<class Archive>
 
@@ -161,13 +161,22 @@ public:
 
     /*!
      * \brief Converts from GLONASST to UTC
-     * \ param [I]
-     * \ param offset_time Is the start of day offset to compute the time
-     * \ returns UTC time as a boost::posix_time::ptime object
+     * \details The function simply adjust for the 6 hrs offset between GLONASST and UTC
+     * \param[in] offset_time Is the start of day offset
+     * \param[in] glot2utc_corr Correction from GLONASST to UTC
+     * \returns UTC time as a boost::posix_time::ptime object
      */
     boost::posix_time::ptime glot_to_utc(const double offset_time, const double glot2utc_corr) const;
 
-
+    /*!
+     * \brief Converts from GLONASST to GPST
+     * \details Converts from GLONASST to GPST in time of week (TOW) and week number (WN) format
+     * \param[in] tod_offset Is the start of day offset
+     * \param[in] glot2utc_corr Correction from GLONASST to UTC
+     * \param[in] glot2gpst_corr Correction from GLONASST to GPST
+     * \param[out] WN Week Number, not in mod(1024) format
+     * \param[out] TOW Time of Week in seconds of week
+     */
     void glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * WN, double * TOW) const;
 
     /*!
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 71aa40ac1..2a4917357 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -64,7 +64,10 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
 	ASSERT_TRUE(expected_gtime.seconds() -  t.seconds() < FLT_EPSILON );
 }
 
-// testing case where calendar
+/*!
+ * \brief Testing conversion from GLONASST to GPST
+ * \test Tests scenario for N_T when greater than 365 days. Possible values here from 1 to 365*4
+ */
 TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
 {
     Glonass_Gnav_Ephemeris gnav_eph;
@@ -85,6 +88,10 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
 	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
 }
 
+/*!
+ * \brief Testing conversion from GLONASST to GPST
+ * \test This version tests the conversion for offsets greater than 30 in a leap year
+ */
 TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
 {
     Glonass_Gnav_Ephemeris gnav_eph;
@@ -105,6 +112,10 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
 	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
 }
 
+/*!
+ * \brief Testing conversion from GLONASST to GPST
+ * \test This version tests the conversion around the vicinity of February 29 days when in leap year
+ */
 TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
 {
     Glonass_Gnav_Ephemeris gnav_eph;

From d2879010415d9cca34aca0bac27235d2cca9ba9f Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 31 Oct 2017 07:31:43 +0100
Subject: [PATCH 303/379] Add override keyword

---
 .../adapters/glonass_l1_ca_telemetry_decoder.h            | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
index ddcc4dd40..6eef6e858 100644
--- a/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
+++ b/src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
@@ -53,13 +53,13 @@ public:
             unsigned int out_streams);
 
     virtual ~GlonassL1CaTelemetryDecoder();
-    std::string role()
+    std::string role() override
     {
         return role_;
     }
 
     //! Returns "GLONASS_L1_CA_Telemetry_Decoder"
-    std::string implementation()
+    std::string implementation() override
     {
         return "GLONASS_L1_CA_Telemetry_Decoder";
     }
@@ -69,11 +69,11 @@ public:
     gr::basic_block_sptr get_right_block() override;
     void set_satellite(const Gnss_Satellite & satellite) override;
     void set_channel(int channel) override {telemetry_decoder_->set_channel(channel);}
-    void reset()
+    void reset() override
     {
         return;
     }
-    size_t item_size()
+    size_t item_size() override
     {
         return 0;
     }

From 468b24c3a1cf2902997d9eb4a630475da3756753 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 31 Oct 2017 07:47:56 +0100
Subject: [PATCH 304/379] Optimize with O2 when debugging

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3f0f4adec..30d4f6eaf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -279,7 +279,7 @@ endif(NOT CMAKE_BUILD_TYPE)
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
 
 # Append -O2 optimization flag for Debug builds
-set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2")
 
 # allow 'large' files in 32 bit builds
 if(UNIX)

From e636bba59a58a8e6648fc425953dfc3f8cc0cd39 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 1 Nov 2017 21:05:40 -0600
Subject: [PATCH 305/379] position fix: First GLONASS position fix

First GLONASS L1 C/A position fix using GNSS-SDR. Fixes bug in toe
reporting for GLONASS and cleans up the code a bit. Small bug with
RINEX file still present but achievement deserves its own commit.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |  2 +-
 .../libs/rtklib/rtklib_conversions.cc         |  2 +-
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  2 +-
 .../glonass_gnav_ephemeris.cc                 |  1 +
 .../glonass_gnav_navigation_message.cc        | 87 +------------------
 .../glonass_gnav_navigation_message.h         | 57 ++++++------
 6 files changed, 34 insertions(+), 117 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 4f5abda49..353ce620a 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -67,7 +67,7 @@ Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
-PVT.positioning_mode=PPP_Static
+PVT.positioning_mode=Single
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
 PVT.trop_model=Saastamoinen
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index 8f267454c..4fca8081c 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -91,7 +91,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glon
     rtklib_sat.age    = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n);   /* delay between L1 and L2 (s) */
 
     // Time expressed in GPS Time but using RTKLib format
-    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_tod, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
+    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_b, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
     adj_week = adjgpsweek(static_cast<int>(week));
     rtklib_sat.toe = gpst2time(adj_week, sec);
 
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 34e72231b..166d6df17 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -355,7 +355,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
         //update TOW at the preamble instant
         {
-            d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
+            d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW-GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
             d_nav.flag_TOW_new = false;
 
         }
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index b1c9d2632..278cd5053 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -140,6 +140,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 	    sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
 	    total_sec = days*86400 + sec_of_day;
 
+	    // GLONASST already includes leap second addition or deletion
 	    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
 	    {
 	        if (d_yr >= GLONASS_LEAP_SECONDS[i][0])
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index d87f49f8d..102b57dfb 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -315,78 +315,6 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
     return frame_ID;
 }
 
-double Glonass_Gnav_Navigation_Message::get_WN()
-{
-    double WN = 0.0;
-    double days = 0.0;
-    double total_sec = 0.0;
-    int i = 0;
-
-    boost::gregorian::date gps_epoch { 1980, 1, 6 };
-    // Map to UTC
-    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T-1);
-    glo_date = glo_date + d2;
-
-
-    boost::posix_time::time_duration t(-6, 0, 0);
-    boost::posix_time::ptime glo_time(glo_date, t);
-    boost::gregorian::date utc_date = glo_time.date();
-
-    days =  static_cast<double>((utc_date - gps_epoch).days());
-    total_sec = days*86400;
-
-    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-    {
-        if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
-        {
-            // We add the leap second when going from utc to gpst
-            total_sec += GLONASS_LEAP_SECONDS[i][6];
-        }
-    }
-
-
-    WN = floor(total_sec/604800);
-
-    return WN;
-}
-
-
-double Glonass_Gnav_Navigation_Message::get_TOW()
-{
-    double TOD = 0.0;
-    double TOW = 0.0;
-    double dayofweek = 0.0;
-    double utcsu2utc = 3*3600;
-    double glot2utcsu = 3*3600;
-    int i = 0;
-
-    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
-    // tk plus 10 sec is the true tod since get_TOW is called when in str5
-    TOD = (gnav_ephemeris.d_t_k + 10) - glot2utcsu - utcsu2utc;// + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
-
-
-    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
-    glo_date = glo_date + d2;
-
-    dayofweek = static_cast<double>(glo_date.day_of_week());
-    TOW = TOD + dayofweek*86400;
-
-    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-        {
-            if (gnav_ephemeris.d_yr >= GLONASS_LEAP_SECONDS[i][0])
-            {
-                // We add the leap second when going from utc to gpst
-                TOW += fabs(GLONASS_LEAP_SECONDS[i][6]);
-            }
-        }
-    // Compute the arithmetic modules to wrap around range
-    TOW = TOW - 604800*floor(TOW/604800);
-
-    return TOW;
-}
-
 
 int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 {
@@ -426,7 +354,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 {
                     gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
                     gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
-                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * gnav_ephemeris.d_P_1 * 60;
+                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * 15 * 60;
                     gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
                     gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
                     gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
@@ -759,15 +687,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 }
 
 
-double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corrected) const
-{
-    double t_utc;
-
-    t_utc = glonass_time_corrected + 3*3600 + gnav_utc_model.d_tau_c;
-    return t_utc;
-}
-
-
 Glonass_Gnav_Ephemeris Glonass_Gnav_Navigation_Message::get_ephemeris()
 {
     return gnav_ephemeris;
@@ -814,9 +733,9 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
 
 bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
 {
-    if (flag_utc_model_valid == true)
+    if (flag_utc_model_str_5 == true)
         {
-            flag_utc_model_valid = false; // clear the flag
+    		flag_utc_model_str_5 = false; // clear the flag
             return true;
         }
     else
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 062d99693..159a212f2 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -65,7 +65,6 @@ public:
     unsigned int d_string_ID;
     bool flag_update_slot_number;
 
-    // satellite identification info
     int i_channel_ID;
     unsigned int i_satellite_PRN;
 
@@ -102,17 +101,25 @@ public:
     bool flag_TOW_set;      //!< Flag indicating when the TOW has been set
     bool flag_TOW_new;      //!< Flag indicating when a new TOW has been computed
 
-    // Clock terms
-    double d_satClkCorr;     // Satellite clock error
-    double d_dtr;            // Relativistic clock correction term
-    double d_satClkDrift;    // Satellite clock drift
+    double d_satClkCorr;     //!<  Satellite clock error
+    double d_dtr;            //!<  Relativistic clock correction term
+    double d_satClkDrift;    //!<  Satellite clock drift
 
-    // Data update parameters
-    double d_previous_tb;
-    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];
+    double d_previous_tb;	//!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
+    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];	//!< Previous time for almanac of the Glonass_Gnav_Almanac object
 
+
+    /*!
+     * \brief Compute CRC for GLONASS GNAV strings
+     * \param bits Bits of the string message where to compute CRC
+     */
     bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
 
+    /*!
+	 * \brief Computes the frame number being decoded given the satellite slot number
+	 * \param satellite_slot_number [in] Satellite slot number identifier
+	 * \returns Frame number being decoded, 0 if operation was not successful.
+	 */
     unsigned int get_frame_number(unsigned int satellite_slot_number);
 
     /*!
@@ -130,45 +137,35 @@ public:
      */
     Glonass_Gnav_Utc_Model get_utc_model();
 
-    /*
-     * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
+    /*!
+     * \brief Returns a Glonass_Gnav_Almanac object filled with the latest navigation data received
+     * \param satellite_slot_number Slot number identifier for the satellite
+     * \returns Returns the Glonass_Gnav_Almanac object for the input slot number
      */
     Glonass_Gnav_Almanac get_almanac(unsigned int satellite_slot_number);
 
-    /*
-     * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
+    /*!
+     * \brief Returns true if a new Glonass_Gnav_Ephemeris object has arrived.
      */
     bool have_new_ephemeris();
 
-    /*
-     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+    /*!
+     * \brief Returns true if new Glonass_Gnav_Utc_Model object has arrived
      */
     bool have_new_utc_model();
 
-    /*
-     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+    /*!
+     * \brief Returns true if new Glonass_Gnav_Almanac object has arrived.
      */
     bool have_new_almanac();
 
     /*!
      * \brief Decodes the GLONASS GNAV string
+     * \param frame_string [in] is the string message within the parsed frame
+     * \returns Returns the ID of the decoded string
      */
     int string_decoder(std::string frame_string);
 
-    /*!
-    * \brief Gets the time of week in GPS Time
-    * \details This converts from GLONASS Time to GPS Time of Week based on the
-    * start of frame
-    */
-    double get_TOW();
-
-    double get_WN();
-
-    /*!
-     * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
-     */
-    double utc_time(const double glonasstime_corrected) const;
-
     /*!
      * Default constructor
      */

From 21b7a19b6a60deff17b73b23289a1834ea80800f Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 3 Nov 2017 16:26:03 -0600
Subject: [PATCH 306/379] bugfix: Fixes bugs in RINEX and RTCM generators

Remove dependency of t_b in P_1 for GLONASS GNAV Ephemeris and cleaned
RINEX line for nav messages generation
---
 CMakeLists.txt                                | 2 +-
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 2 +-
 src/algorithms/PVT/libs/rinex_printer.cc      | 3 ++-
 src/core/system_parameters/rtcm.cc            | 4 ++--
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m | 6 +++---
 5 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b49ad4217..265e79ec5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -271,7 +271,7 @@ endif(NOT CMAKE_BUILD_TYPE)
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
 
 # Append -O2 optimization flag for Debug builds
-set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2")
 
 # allow 'large' files in 32 bit builds
 if(UNIX)
diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 353ce620a..4f1610ef3 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -43,7 +43,7 @@ Acquisition_1G.pfa=0.0001
 Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
-Acquisition_1G.dump=false;
+Acquisition_1G.dump=true;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 ;Acquisition_1G.coherent_integration_time_ms=10
 
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 52863abe2..900d1c76a 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -2924,7 +2924,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                     line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
                     line += std::string(1, ' ');
                     //TODO need to define this here. what is nd
-                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day()*86400, 18, 2);
+                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day_of_week()*86400, 18, 2);
                 }
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
@@ -3008,6 +3008,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                 }
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
+            line.clear();
         }
 }
 
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 20c5141b2..2c5913674 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -1911,7 +1911,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*glonass_gnav_eph.d_P_1*60.0;
+    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*15*60.0;
     index += 7;
 
     // TODO Check for type spec for intS24
@@ -4385,7 +4385,7 @@ int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(glonass_gnav_eph.d_P_1*60)));
+    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(15*60)));
     DF110 = std::bitset<7>(t_b);
     return 0;
 }
diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
index 385a53030..9742e5107 100644
--- a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -35,13 +35,13 @@
 
 function plot_acq_grid_gsoc_glonass(sat)
 
-file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
+file=['/archive/acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
 
 % sampling_freq_Hz=62316000
-sampling_freq_Hz=31.75e6
+sampling_freq_Hz=6.625e6
 Doppler_max_Hz = 10000
 Doppler_min_Hz = -10000
-Doppler_step_Hz = 500
+Doppler_step_Hz = 250
 
 
 % read files

From 4b9c2268917c970c75160d728d790f19d53ac05a Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 3 Nov 2017 16:26:03 -0600
Subject: [PATCH 307/379] bugfix: Fixes bugs in RINEX and RTCM generators

Remove dependency of t_b in P_1 for GLONASS GNAV Ephemeris and cleaned
RINEX line for nav messages generation
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 2 +-
 src/algorithms/PVT/libs/rinex_printer.cc      | 3 ++-
 src/core/system_parameters/rtcm.cc            | 4 ++--
 src/utils/matlab/plot_acq_grid_gsoc_glonass.m | 6 +++---
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 353ce620a..4f1610ef3 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -43,7 +43,7 @@ Acquisition_1G.pfa=0.0001
 Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
-Acquisition_1G.dump=false;
+Acquisition_1G.dump=true;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 ;Acquisition_1G.coherent_integration_time_ms=10
 
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index e0c72cabd..0f51c6106 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -2931,7 +2931,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                     line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
                     line += std::string(1, ' ');
                     //TODO need to define this here. what is nd
-                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day()*86400, 18, 2);
+                    line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day_of_week()*86400, 18, 2);
                 }
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
@@ -3015,6 +3015,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                 }
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
+            line.clear();
         }
 }
 
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 20c5141b2..2c5913674 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -1911,7 +1911,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
     glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*glonass_gnav_eph.d_P_1*60.0;
+    glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*15*60.0;
     index += 7;
 
     // TODO Check for type spec for intS24
@@ -4385,7 +4385,7 @@ int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 
 int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
 {
-    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(glonass_gnav_eph.d_P_1*60)));
+    unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(15*60)));
     DF110 = std::bitset<7>(t_b);
     return 0;
 }
diff --git a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
index 385a53030..9742e5107 100644
--- a/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
+++ b/src/utils/matlab/plot_acq_grid_gsoc_glonass.m
@@ -35,13 +35,13 @@
 
 function plot_acq_grid_gsoc_glonass(sat)
 
-file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
+file=['/archive/acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
 
 % sampling_freq_Hz=62316000
-sampling_freq_Hz=31.75e6
+sampling_freq_Hz=6.625e6
 Doppler_max_Hz = 10000
 Doppler_min_Hz = -10000
-Doppler_step_Hz = 500
+Doppler_step_Hz = 250
 
 
 % read files

From ac7d965d7e695de8465f51f66dbd009c23172bd8 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 9 Nov 2017 11:39:09 -0800
Subject: [PATCH 308/379] position fix: First combined GPS + GLONASS position
 solution

First positon fix using a combination of GLONASS and GPS data in
GNSS-SDR. The position solution may need further testing but initial
results are looking quite promising.
---
 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf    | 126 ++++++++++++++++++
 .../glonass_gnav_ephemeris.cc                 |   5 +-
 2 files changed, 128 insertions(+), 3 deletions(-)
 create mode 100644 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf

diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
new file mode 100644
index 000000000..156f52741
--- /dev/null
+++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
@@ -0,0 +1,126 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=6625000
+Receiver.sources_count=2
+SignalSource.repeat=false
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource0.implementation=File_Signal_Source
+SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource0.item_type=ibyte
+SignalSource0.sampling_frequency=6625000
+SignalSource0.samples=0
+SignalSource0.dump=false;
+SignalSource0.dump_filename=/archive/signal_glonass.bin
+
+SignalSource1.implementation=File_Signal_Source
+SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource1.item_type=ibyte
+SignalSource1.sampling_frequency=6625000
+SignalSource1.samples=0
+SignalSource1.dump=false;
+SignalSource1.dump_filename=/archive/signal_glonass.bin
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner0.implementation=Signal_Conditioner
+DataTypeAdapter0.implementation=Ibyte_To_Complex
+InputFilter0.implementation=Pass_Through
+InputFilter0.item_type=gr_complex
+Resampler0.implementation=Direct_Resampler
+Resampler0.sample_freq_in=6625000
+Resampler0.sample_freq_out=6625000
+Resampler0.item_type=gr_complex
+
+SignalConditioner1.implementation=Signal_Conditioner
+DataTypeAdapter1.implementation=Ibyte_To_Complex
+InputFilter1.implementation=Pass_Through
+InputFilter1.item_type=gr_complex
+Resampler1.implementation=Direct_Resampler
+Resampler1.sample_freq_in=6625000
+Resampler1.sample_freq_out=6625000
+Resampler1.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels.in_acquisition=1
+Channels_1G.count=5
+Channels_1C.count=5
+
+;# Defining GLONASS satellites
+Channel0.RF_channel_ID=0
+Channel1.RF_channel_ID=0
+Channel2.RF_channel_ID=0
+Channel3.RF_channel_ID=0
+Channel4.RF_channel_ID=0
+Channel5.RF_channel_ID=1
+Channel6.RF_channel_ID=1
+Channel7.RF_channel_ID=1
+Channel8.RF_channel_ID=1
+Channel9.RF_channel_ID=1
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.threshold=0.0
+Acquisition_1C.pfa=0.00001
+Acquisition_1C.if=0
+Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false;
+Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
+;Acquisition_1C.coherent_integration_time_ms=10
+
+Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1G.item_type=gr_complex
+Acquisition_1G.threshold=0.0
+Acquisition_1G.pfa=0.00001
+Acquisition_1G.if=0
+Acquisition_1G.doppler_max=10000
+Acquisition_1G.doppler_step=250
+Acquisition_1G.dump=false;
+Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
+;Acquisition_1G.coherent_integration_time_ms=10
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.if=0
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.pll_bw_hz=20.0;
+Tracking_1C.dll_bw_hz=2.0;
+Tracking_1C.dump=true;
+Tracking_1C.dump_filename=/archive/gps_tracking_ch_
+
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
+Tracking_1G.item_type=gr_complex
+Tracking_1G.if=0
+Tracking_1G.early_late_space_chips=0.5
+Tracking_1G.pll_bw_hz=25.0;
+Tracking_1G.dll_bw_hz=3.0;
+Tracking_1G.dump=true;
+Tracking_1G.dump_filename=/archive/glo_tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/gnss_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 278cd5053..91a147621 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -113,8 +113,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 {
 		double tod = 0.0;
 	    double dayofweek = 0.0;
-	    double utcsu2utc = 3*3600;
-	    double glot2utcsu = 3*3600;
+	    double glot2utc = 3*3600;
 	    double days = 0.0;
 	    double total_sec = 0.0, sec_of_day = 0.0;
 	    int i = 0;
@@ -123,7 +122,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 
 	    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
 	    // tk plus 10 sec is the true tod since get_TOW is called when in str5
-	    tod = tod_offset - glot2utcsu - utcsu2utc;
+	    tod = tod_offset - glot2utc ;
 
 
 	    boost::posix_time::time_duration t(0, 0, tod);

From 1b98e7dcadec0acfcca8258167bd4749c7506ea8 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Thu, 9 Nov 2017 11:39:09 -0800
Subject: [PATCH 309/379] position fix: First combined GPS + GLONASS position
 solution

First positon fix using a combination of GLONASS and GPS data in
GNSS-SDR. The position solution may need further testing but initial
results are looking quite promising.
---
 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf    | 126 ++++++++++++++++++
 .../glonass_gnav_ephemeris.cc                 |   5 +-
 2 files changed, 128 insertions(+), 3 deletions(-)
 create mode 100644 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf

diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
new file mode 100644
index 000000000..156f52741
--- /dev/null
+++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
@@ -0,0 +1,126 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=6625000
+Receiver.sources_count=2
+SignalSource.repeat=false
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource0.implementation=File_Signal_Source
+SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource0.item_type=ibyte
+SignalSource0.sampling_frequency=6625000
+SignalSource0.samples=0
+SignalSource0.dump=false;
+SignalSource0.dump_filename=/archive/signal_glonass.bin
+
+SignalSource1.implementation=File_Signal_Source
+SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource1.item_type=ibyte
+SignalSource1.sampling_frequency=6625000
+SignalSource1.samples=0
+SignalSource1.dump=false;
+SignalSource1.dump_filename=/archive/signal_glonass.bin
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner0.implementation=Signal_Conditioner
+DataTypeAdapter0.implementation=Ibyte_To_Complex
+InputFilter0.implementation=Pass_Through
+InputFilter0.item_type=gr_complex
+Resampler0.implementation=Direct_Resampler
+Resampler0.sample_freq_in=6625000
+Resampler0.sample_freq_out=6625000
+Resampler0.item_type=gr_complex
+
+SignalConditioner1.implementation=Signal_Conditioner
+DataTypeAdapter1.implementation=Ibyte_To_Complex
+InputFilter1.implementation=Pass_Through
+InputFilter1.item_type=gr_complex
+Resampler1.implementation=Direct_Resampler
+Resampler1.sample_freq_in=6625000
+Resampler1.sample_freq_out=6625000
+Resampler1.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels.in_acquisition=1
+Channels_1G.count=5
+Channels_1C.count=5
+
+;# Defining GLONASS satellites
+Channel0.RF_channel_ID=0
+Channel1.RF_channel_ID=0
+Channel2.RF_channel_ID=0
+Channel3.RF_channel_ID=0
+Channel4.RF_channel_ID=0
+Channel5.RF_channel_ID=1
+Channel6.RF_channel_ID=1
+Channel7.RF_channel_ID=1
+Channel8.RF_channel_ID=1
+Channel9.RF_channel_ID=1
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.threshold=0.0
+Acquisition_1C.pfa=0.00001
+Acquisition_1C.if=0
+Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false;
+Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
+;Acquisition_1C.coherent_integration_time_ms=10
+
+Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1G.item_type=gr_complex
+Acquisition_1G.threshold=0.0
+Acquisition_1G.pfa=0.00001
+Acquisition_1G.if=0
+Acquisition_1G.doppler_max=10000
+Acquisition_1G.doppler_step=250
+Acquisition_1G.dump=false;
+Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
+;Acquisition_1G.coherent_integration_time_ms=10
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.if=0
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.pll_bw_hz=20.0;
+Tracking_1C.dll_bw_hz=2.0;
+Tracking_1C.dump=true;
+Tracking_1C.dump_filename=/archive/gps_tracking_ch_
+
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
+Tracking_1G.item_type=gr_complex
+Tracking_1G.if=0
+Tracking_1G.early_late_space_chips=0.5
+Tracking_1G.pll_bw_hz=25.0;
+Tracking_1G.dll_bw_hz=3.0;
+Tracking_1G.dump=true;
+Tracking_1G.dump_filename=/archive/glo_tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/gnss_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 278cd5053..91a147621 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -113,8 +113,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 {
 		double tod = 0.0;
 	    double dayofweek = 0.0;
-	    double utcsu2utc = 3*3600;
-	    double glot2utcsu = 3*3600;
+	    double glot2utc = 3*3600;
 	    double days = 0.0;
 	    double total_sec = 0.0, sec_of_day = 0.0;
 	    int i = 0;
@@ -123,7 +122,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 
 	    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
 	    // tk plus 10 sec is the true tod since get_TOW is called when in str5
-	    tod = tod_offset - glot2utcsu - utcsu2utc;
+	    tod = tod_offset - glot2utc ;
 
 
 	    boost::posix_time::time_duration t(0, 0, tod);

From 28f2c1bb391bbe5662edeb82de43f19ed5795020 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 13 Nov 2017 14:18:45 -0700
Subject: [PATCH 310/379] clean up: Clean up warnings during compile process

Removes unused variables from code and fix counter to include both GPS
and GLONASS observations
---
 src/algorithms/PVT/libs/rtklib_solver.cc         | 16 ++++++++--------
 .../system_parameters/glonass_gnav_ephemeris.cc  |  6 ++----
 2 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 30766ca0c..3898a9758 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -179,7 +179,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             {
                                                 if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
                                                     {
-                                                        obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                        obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
                                                                 gnss_observables_iter->second,
                                                                 galileo_ephemeris_iter->second.WN_5,
                                                                 2);//Band 3 (L5/E5)
@@ -194,7 +194,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                 eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
                                                 //convert observation from GNSS-SDR class to RTKLIB structure
                                                 obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                                obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                                obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                         gnss_observables_iter->second,
                                                         galileo_ephemeris_iter->second.WN_5,
                                                         2); //Band 3 (L5/E5)
@@ -223,7 +223,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                     eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
                                     //convert observation from GNSS-SDR class to RTKLIB structure
                                     obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                    obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                    obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
                                             gps_ephemeris_iter->second.i_GPS_week,
                                             0);
@@ -251,7 +251,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                     if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
                                                         {
                                                             eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
-                                                            obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                            obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
                                                                     gnss_observables_iter->second,
                                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                                     1);//Band 2 (L2)
@@ -266,7 +266,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
                                             //convert observation from GNSS-SDR class to RTKLIB structure
                                             obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                            obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                     1);//Band 2 (L2)
@@ -294,7 +294,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 									geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 									//convert observation from GNSS-SDR class to RTKLIB structure
 									obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-									obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+									obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
 													gnss_observables_iter->second,
 													glonass_gnav_ephemeris_iter->second.d_WN,
 													0);//Band 0 (L1)
@@ -318,7 +318,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 										{
 												if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
 													{
-															obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+															obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs],
 																			gnss_observables_iter->second,
 																			glonass_gnav_ephemeris_iter->second.d_WN,
 																			1);//Band 1 (L2)
@@ -333,7 +333,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 											geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 											//convert observation from GNSS-SDR class to RTKLIB structure
 											obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-											obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+											obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
 															gnss_observables_iter->second,
 															glonass_gnav_ephemeris_iter->second.d_WN,
 															1); //Band 1 (L2)
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 91a147621..c557c6a6f 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -97,10 +97,9 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
 {
 		double tod = 0.0;
-		double utcsu2utc = 3*3600;
-		double glot2utcsu = 3*3600;
+		double glot2utc = 3*3600;
 
-		tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n;
+		tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
 		boost::posix_time::time_duration t(0, 0, tod);
 		boost::gregorian::date d1(d_yr, 1, 1);
 		boost::gregorian::days d2(d_N_T - 1);
@@ -112,7 +111,6 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset
 void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
 {
 		double tod = 0.0;
-	    double dayofweek = 0.0;
 	    double glot2utc = 3*3600;
 	    double days = 0.0;
 	    double total_sec = 0.0, sec_of_day = 0.0;

From d4953ef2fde65c6c45835262a34305507282423b Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 13 Nov 2017 22:41:12 -0700
Subject: [PATCH 311/379] bugfixes: Add RTCM header creation for GLONASS
 satellites

Added code to enable RTCM header generation when in GLONASS. Also fixes
bug to allow combined observations from GPS and GLONASS. Fix some code
compilation warnings and unit tests.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |   5 +-
 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf    |  22 ++-
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf            |  93 ++++++++++
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 169 ++++++++++++++++--
 src/algorithms/libs/gnss_sdr_valve.cc         |   2 +
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   1 +
 .../glonass_l1_ca_telemetry_decoder_cc.h      |   1 -
 .../glonass_gnav_ephemeris_test.cc            |  29 +--
 8 files changed, 286 insertions(+), 36 deletions(-)
 create mode 100644 conf/gnss-sdr_GPS_L1_CA_ibyte.conf

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 4f1610ef3..d6cbbf891 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
 ;######### CHANNELS GLOBAL CONFIG ############
 Channel.signal=1G
 Channels.in_acquisition=1
-Channels_1G.count=5
+Channels_1G.count=8
 
 Channel0.satellite=24   ; k=
 Channel1.satellite=1    ; k=1
@@ -45,7 +45,8 @@ Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
 Acquisition_1G.dump=true;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
-;Acquisition_1G.coherent_integration_time_ms=10
+Acquisition_1G.coherent_integration_time_ms=1
+;Acquisition_1G.max_dwells = 5
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
index 156f52741..0435d6ff2 100644
--- a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
@@ -7,7 +7,7 @@ SignalSource.repeat=false
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource0.implementation=File_Signal_Source
-SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource0.item_type=ibyte
 SignalSource0.sampling_frequency=6625000
 SignalSource0.samples=0
@@ -25,8 +25,26 @@ SignalSource1.dump_filename=/archive/signal_glonass.bin
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner0.implementation=Signal_Conditioner
 DataTypeAdapter0.implementation=Ibyte_To_Complex
-InputFilter0.implementation=Pass_Through
+InputFilter0.implementation=Freq_Xlating_Fir_Filter
 InputFilter0.item_type=gr_complex
+InputFilter0.output_item_type=gr_complex
+InputFilter0.taps_item_type=float
+InputFilter0.number_of_taps=5
+InputFilter0.number_of_bands=2
+InputFilter0.band1_begin=0.0
+InputFilter0.band1_end=0.70
+InputFilter0.band2_begin=0.80
+InputFilter0.band2_end=1.0
+InputFilter0.ampl1_begin=1.0
+InputFilter0.ampl1_end=1.0
+InputFilter0.ampl2_begin=0.0
+InputFilter0.ampl2_end=0.0
+InputFilter0.band1_error=1.0
+InputFilter0.band2_error=1.0
+InputFilter0.filter_type=bandpass
+InputFilter0.grid_density=16
+InputFilter0.sampling_frequency=6625000
+InputFilter0.IF=60000
 Resampler0.implementation=Direct_Resampler
 Resampler0.sample_freq_in=6625000
 Resampler0.sample_freq_out=6625000
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
new file mode 100644
index 000000000..ecb652dca
--- /dev/null
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -0,0 +1,93 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_hz=6625000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource.item_type=ibyte
+SignalSource.sampling_frequency=6625000
+;SignalSource.freq=0
+;SignalSource.samples=66250000
+SignalSource.samples=0
+SignalSource.dump=false;
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+DataTypeAdapter.implementation=Ibyte_To_Complex
+InputFilter.implementation=Freq_Xlating_Fir_Filter
+InputFilter.item_type=gr_complex
+InputFilter.output_item_type=gr_complex
+InputFilter.taps_item_type=float
+InputFilter.number_of_taps=5
+InputFilter.number_of_bands=2
+InputFilter.band1_begin=0.0
+InputFilter.band1_end=0.70
+InputFilter.band2_begin=0.80
+InputFilter.band2_end=1.0
+InputFilter.ampl1_begin=1.0
+InputFilter.ampl1_end=1.0
+InputFilter.ampl2_begin=0.0
+InputFilter.ampl2_end=0.0
+InputFilter.band1_error=1.0
+InputFilter.band2_error=1.0
+InputFilter.filter_type=bandpass
+InputFilter.grid_density=16
+InputFilter.sampling_frequency=6625000
+InputFilter.IF=60000
+Resampler.implementation=Direct_Resampler
+Resampler.sample_freq_in=6625000
+Resampler.sample_freq_out=6625000
+Resampler.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channel.signal=1C
+Channels.in_acquisition=1
+Channels_1C.count=6
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.threshold=0.01
+;Acquisition_1C.pfa=0.00001
+Acquisition_1C.if=0
+Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false;
+Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
+;Acquisition_1C.coherent_integration_time_ms=10
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.if=60000
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.pll_bw_hz=25.0;
+Tracking_1C.dll_bw_hz=3.0;
+Tracking_1C.dump=false;
+Tracking_1C.dump_filename=/archive/gps_tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/gps_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.positioning_mode=Single
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index b0c0c5666..b4a312895 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -1258,15 +1258,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
                                                         }
 
-                                                    std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin();
+                                                    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
 
-                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
@@ -1276,14 +1276,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1019_output == true)
                                                         {
-                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
                                                                 }
                                                         }
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
@@ -1302,7 +1302,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                                 {
                                                                                     // This is a channel with valid GPS signal
                                                                                     gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                                         {
                                                                                             gps_channel = i;
                                                                                         }
@@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                             if(system.compare("R") == 0)
                                                                                 {
                                                                                     glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                                                         {
                                                                                             glo_channel = i;
                                                                                         }
@@ -1324,14 +1324,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
 
-                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                                         {
                                                                             d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
                                                                 }
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
-                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                         {
                                                                             d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
@@ -1342,14 +1342,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
                                                         }
                                                     if(flag_write_RTCM_1045_output == true)
                                                         {
-                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
+                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
                                                                 }
@@ -1359,18 +1359,18 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
                                                             //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
                                                             unsigned int i = 0;
-                                                            for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
+                                                            for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
                                                                 {
                                                                     std::string system(&gnss_observables_iter->second.System, 1);
-                                                                    if(gps_channel == 0)
+                                                                    if(gal_channel == 0)
                                                                         {
-                                                                            if(system.compare("G") == 0)
+                                                                            if(system.compare("E") == 0)
                                                                                 {
                                                                                     // This is a channel with valid GPS signal
-                                                                                    gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                    galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
                                                                                         {
-                                                                                            gps_channel = i;
+                                                                                    		gal_channel = i;
                                                                                         }
                                                                                 }
                                                                         }
@@ -1424,7 +1424,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
-
                                             if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
                                                 {
                                                     for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ )
@@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
+                                            if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
+												{
+													for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+														{
+															d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+														}
+
+													std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
+
+													if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+													b_rtcm_writing_started = true;
+												}
+                                            if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
+                                                {
+                                            		if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
+                                                        {
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+                                                                }
+                                                        }
+                                            		if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
+                                                        {
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+                                                                }
+                                                        }
+
+													//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
+													//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
+													unsigned int i = 0;
+													for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+														{
+															std::string system(&gnss_observables_iter->second.System, 1);
+															if(gps_channel == 0)
+																{
+																	if(system.compare("G") == 0)
+																		{
+																			// This is a channel with valid GPS signal
+																			gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
+																				{
+																					gps_channel = i;
+																				}
+																		}
+																}
+															if(glo_channel == 0)
+																{
+																	if(system.compare("R") == 0)
+																		{
+																			glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+																				{
+																					glo_channel = i;
+																				}
+																		}
+																}
+															i++;
+														}
+													if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+													if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+													b_rtcm_writing_started = true;
+
+                                                }
+                                            if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
+												{
+                                        			if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
+														{
+															for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+																{
+																	d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+																}
+														}
+                                            		if(d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
+														{
+															for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
+																{
+																	d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
+																}
+														}
+
+													unsigned int i = 0;
+													for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+														{
+															std::string system(&gnss_observables_iter->second.System, 1);
+															if(gal_channel == 0)
+																{
+																	if(system.compare("E") == 0)
+																		{
+																			// This is a channel with valid GPS signal
+																			galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
+																				{
+																					gal_channel = i;
+																				}
+																		}
+																}
+															if(glo_channel == 0)
+																{
+																	if(system.compare("R") == 0)
+																		{
+																			glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+																				{
+																					glo_channel = i;
+																				}
+																		}
+																}
+															i++;
+														}
+													if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+													if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+
+												}
+
                                         }
                                 }
                         }
diff --git a/src/algorithms/libs/gnss_sdr_valve.cc b/src/algorithms/libs/gnss_sdr_valve.cc
index 152bdbe84..0170d6cdc 100644
--- a/src/algorithms/libs/gnss_sdr_valve.cc
+++ b/src/algorithms/libs/gnss_sdr_valve.cc
@@ -35,6 +35,7 @@
 #include <cstring>  // for memcpy
 #include <gnuradio/io_signature.h>
 #include "control_message_factory.h"
+#include <glog/logging.h>
 
 gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
         unsigned long long nitems,
@@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items,
         {
             ControlMessageFactory* cmf = new ControlMessageFactory();
             d_queue->handle(cmf->GetQueueMessage(200,0));
+            LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed";
             delete cmf;
             return -1;    // Done!
         }
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 166d6df17..79478ebfe 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
 
     d_flag_parity = false;
     d_TOW_at_current_symbol = 0;
+    Flag_valid_word = false;
     delta_t = 0;
     d_CRC_error_counter = 0;
     d_flag_preamble = false;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index 5e4ff6df7..f95786bcd 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -83,7 +83,6 @@ private:
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
     int *d_preambles_symbols;
     unsigned int d_samples_per_symbol;
-    unsigned int d_samples_per_preamble_symbol;
     int d_symbols_per_preamble;
 
     //!< Storage for incoming data
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 2a4917357..da5571399 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
     gnav_eph.d_yr = 2004;
     gnav_eph.d_N_T = 366+28;
 
-    double tod = 70200;
+    double glo2utc = 3600*3;
+    double tod = 48600;
     double week = 0.0;
     double tow = 0.0;
     double true_leap_sec = 13;
     double true_week = 1307;
     double true_tow = 480600+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -98,18 +99,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
     gnav_eph.d_yr = 2016;
     gnav_eph.d_N_T = 268;
 
+    double glo2utc = 3600*3;
     double tod = 7560;
     double week = 0.0;
     double tow = 0.0;
-    double true_leap_sec = 13;
+    double true_leap_sec = 17;
     double true_week = 1915;
-    double true_tow = 480600+true_leap_sec;
+    double true_tow = 518400+true_leap_sec+tod;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -122,16 +124,17 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
     gnav_eph.d_yr = 2016;
     gnav_eph.d_N_T = 62;
 
-    double tod = 7560 + 6*3600;
+    double glo2utc = 3600*3;
+    double tod = 7560;
     double week = 0.0;
     double tow = 0.0;
-    double true_leap_sec = 13;
-    double true_week = 1307;
-    double true_tow = 480600+true_leap_sec;
+    double true_leap_sec = 17;
+    double true_week = 1886;
+    double true_tow = 259200+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }

From feae8303de21bc36064c11f52e27fe23322d6f14 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 13 Nov 2017 14:18:45 -0700
Subject: [PATCH 312/379] clean up: Clean up warnings during compile process

Removes unused variables from code and fix counter to include both GPS
and GLONASS observations
---
 src/algorithms/PVT/libs/rtklib_solver.cc         | 16 ++++++++--------
 .../system_parameters/glonass_gnav_ephemeris.cc  |  6 ++----
 2 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 30766ca0c..3898a9758 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -179,7 +179,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             {
                                                 if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
                                                     {
-                                                        obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                        obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
                                                                 gnss_observables_iter->second,
                                                                 galileo_ephemeris_iter->second.WN_5,
                                                                 2);//Band 3 (L5/E5)
@@ -194,7 +194,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                 eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
                                                 //convert observation from GNSS-SDR class to RTKLIB structure
                                                 obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                                obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                                obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                         gnss_observables_iter->second,
                                                         galileo_ephemeris_iter->second.WN_5,
                                                         2); //Band 3 (L5/E5)
@@ -223,7 +223,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                     eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
                                     //convert observation from GNSS-SDR class to RTKLIB structure
                                     obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                    obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                    obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
                                             gps_ephemeris_iter->second.i_GPS_week,
                                             0);
@@ -251,7 +251,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                     if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
                                                         {
                                                             eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
-                                                            obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                            obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
                                                                     gnss_observables_iter->second,
                                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                                     1);//Band 2 (L2)
@@ -266,7 +266,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
                                             //convert observation from GNSS-SDR class to RTKLIB structure
                                             obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                            obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                     1);//Band 2 (L2)
@@ -294,7 +294,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 									geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 									//convert observation from GNSS-SDR class to RTKLIB structure
 									obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-									obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+									obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
 													gnss_observables_iter->second,
 													glonass_gnav_ephemeris_iter->second.d_WN,
 													0);//Band 0 (L1)
@@ -318,7 +318,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 										{
 												if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
 													{
-															obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+															obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs],
 																			gnss_observables_iter->second,
 																			glonass_gnav_ephemeris_iter->second.d_WN,
 																			1);//Band 1 (L2)
@@ -333,7 +333,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 											geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 											//convert observation from GNSS-SDR class to RTKLIB structure
 											obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-											obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+											obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
 															gnss_observables_iter->second,
 															glonass_gnav_ephemeris_iter->second.d_WN,
 															1); //Band 1 (L2)
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 91a147621..c557c6a6f 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -97,10 +97,9 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
 {
 		double tod = 0.0;
-		double utcsu2utc = 3*3600;
-		double glot2utcsu = 3*3600;
+		double glot2utc = 3*3600;
 
-		tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n;
+		tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
 		boost::posix_time::time_duration t(0, 0, tod);
 		boost::gregorian::date d1(d_yr, 1, 1);
 		boost::gregorian::days d2(d_N_T - 1);
@@ -112,7 +111,6 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset
 void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
 {
 		double tod = 0.0;
-	    double dayofweek = 0.0;
 	    double glot2utc = 3*3600;
 	    double days = 0.0;
 	    double total_sec = 0.0, sec_of_day = 0.0;

From 5eab3531321e023be462c61d8fa7f0acf6180ec7 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 13 Nov 2017 22:41:12 -0700
Subject: [PATCH 313/379] bugfixes: Add RTCM header creation for GLONASS
 satellites

Added code to enable RTCM header generation when in GLONASS. Also fixes
bug to allow combined observations from GPS and GLONASS. Fix some code
compilation warnings and unit tests.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |   5 +-
 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf    |  22 ++-
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf            |  93 ++++++++++
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 169 ++++++++++++++++--
 src/algorithms/libs/gnss_sdr_valve.cc         |   2 +
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   1 +
 .../glonass_l1_ca_telemetry_decoder_cc.h      |   1 -
 .../glonass_gnav_ephemeris_test.cc            |  29 +--
 8 files changed, 286 insertions(+), 36 deletions(-)
 create mode 100644 conf/gnss-sdr_GPS_L1_CA_ibyte.conf

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 4f1610ef3..d6cbbf891 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
 ;######### CHANNELS GLOBAL CONFIG ############
 Channel.signal=1G
 Channels.in_acquisition=1
-Channels_1G.count=5
+Channels_1G.count=8
 
 Channel0.satellite=24   ; k=
 Channel1.satellite=1    ; k=1
@@ -45,7 +45,8 @@ Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
 Acquisition_1G.dump=true;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
-;Acquisition_1G.coherent_integration_time_ms=10
+Acquisition_1G.coherent_integration_time_ms=1
+;Acquisition_1G.max_dwells = 5
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
index 156f52741..0435d6ff2 100644
--- a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
@@ -7,7 +7,7 @@ SignalSource.repeat=false
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource0.implementation=File_Signal_Source
-SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource0.item_type=ibyte
 SignalSource0.sampling_frequency=6625000
 SignalSource0.samples=0
@@ -25,8 +25,26 @@ SignalSource1.dump_filename=/archive/signal_glonass.bin
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner0.implementation=Signal_Conditioner
 DataTypeAdapter0.implementation=Ibyte_To_Complex
-InputFilter0.implementation=Pass_Through
+InputFilter0.implementation=Freq_Xlating_Fir_Filter
 InputFilter0.item_type=gr_complex
+InputFilter0.output_item_type=gr_complex
+InputFilter0.taps_item_type=float
+InputFilter0.number_of_taps=5
+InputFilter0.number_of_bands=2
+InputFilter0.band1_begin=0.0
+InputFilter0.band1_end=0.70
+InputFilter0.band2_begin=0.80
+InputFilter0.band2_end=1.0
+InputFilter0.ampl1_begin=1.0
+InputFilter0.ampl1_end=1.0
+InputFilter0.ampl2_begin=0.0
+InputFilter0.ampl2_end=0.0
+InputFilter0.band1_error=1.0
+InputFilter0.band2_error=1.0
+InputFilter0.filter_type=bandpass
+InputFilter0.grid_density=16
+InputFilter0.sampling_frequency=6625000
+InputFilter0.IF=60000
 Resampler0.implementation=Direct_Resampler
 Resampler0.sample_freq_in=6625000
 Resampler0.sample_freq_out=6625000
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
new file mode 100644
index 000000000..ecb652dca
--- /dev/null
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -0,0 +1,93 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_hz=6625000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource.item_type=ibyte
+SignalSource.sampling_frequency=6625000
+;SignalSource.freq=0
+;SignalSource.samples=66250000
+SignalSource.samples=0
+SignalSource.dump=false;
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+DataTypeAdapter.implementation=Ibyte_To_Complex
+InputFilter.implementation=Freq_Xlating_Fir_Filter
+InputFilter.item_type=gr_complex
+InputFilter.output_item_type=gr_complex
+InputFilter.taps_item_type=float
+InputFilter.number_of_taps=5
+InputFilter.number_of_bands=2
+InputFilter.band1_begin=0.0
+InputFilter.band1_end=0.70
+InputFilter.band2_begin=0.80
+InputFilter.band2_end=1.0
+InputFilter.ampl1_begin=1.0
+InputFilter.ampl1_end=1.0
+InputFilter.ampl2_begin=0.0
+InputFilter.ampl2_end=0.0
+InputFilter.band1_error=1.0
+InputFilter.band2_error=1.0
+InputFilter.filter_type=bandpass
+InputFilter.grid_density=16
+InputFilter.sampling_frequency=6625000
+InputFilter.IF=60000
+Resampler.implementation=Direct_Resampler
+Resampler.sample_freq_in=6625000
+Resampler.sample_freq_out=6625000
+Resampler.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channel.signal=1C
+Channels.in_acquisition=1
+Channels_1C.count=6
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.threshold=0.01
+;Acquisition_1C.pfa=0.00001
+Acquisition_1C.if=0
+Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false;
+Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
+;Acquisition_1C.coherent_integration_time_ms=10
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.if=60000
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.pll_bw_hz=25.0;
+Tracking_1C.dll_bw_hz=3.0;
+Tracking_1C.dump=false;
+Tracking_1C.dump_filename=/archive/gps_tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/gps_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.positioning_mode=Single
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index b0c0c5666..b4a312895 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -1258,15 +1258,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
                                                         }
 
-                                                    std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin();
+                                                    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
 
-                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
@@ -1276,14 +1276,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1019_output == true)
                                                         {
-                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
                                                                 }
                                                         }
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
@@ -1302,7 +1302,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                                 {
                                                                                     // This is a channel with valid GPS signal
                                                                                     gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                                         {
                                                                                             gps_channel = i;
                                                                                         }
@@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                             if(system.compare("R") == 0)
                                                                                 {
                                                                                     glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                                                         {
                                                                                             glo_channel = i;
                                                                                         }
@@ -1324,14 +1324,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
 
-                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                                         {
                                                                             d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
                                                                 }
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
-                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                         {
                                                                             d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
@@ -1342,14 +1342,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
                                                         }
                                                     if(flag_write_RTCM_1045_output == true)
                                                         {
-                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
+                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
                                                                 }
@@ -1359,18 +1359,18 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
                                                             //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
                                                             unsigned int i = 0;
-                                                            for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
+                                                            for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
                                                                 {
                                                                     std::string system(&gnss_observables_iter->second.System, 1);
-                                                                    if(gps_channel == 0)
+                                                                    if(gal_channel == 0)
                                                                         {
-                                                                            if(system.compare("G") == 0)
+                                                                            if(system.compare("E") == 0)
                                                                                 {
                                                                                     // This is a channel with valid GPS signal
-                                                                                    gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                    galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
                                                                                         {
-                                                                                            gps_channel = i;
+                                                                                    		gal_channel = i;
                                                                                         }
                                                                                 }
                                                                         }
@@ -1424,7 +1424,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
-
                                             if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
                                                 {
                                                     for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ )
@@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
+                                            if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
+												{
+													for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+														{
+															d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+														}
+
+													std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
+
+													if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+													b_rtcm_writing_started = true;
+												}
+                                            if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
+                                                {
+                                            		if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
+                                                        {
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+                                                                }
+                                                        }
+                                            		if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
+                                                        {
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+                                                                }
+                                                        }
+
+													//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
+													//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
+													unsigned int i = 0;
+													for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+														{
+															std::string system(&gnss_observables_iter->second.System, 1);
+															if(gps_channel == 0)
+																{
+																	if(system.compare("G") == 0)
+																		{
+																			// This is a channel with valid GPS signal
+																			gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
+																				{
+																					gps_channel = i;
+																				}
+																		}
+																}
+															if(glo_channel == 0)
+																{
+																	if(system.compare("R") == 0)
+																		{
+																			glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+																				{
+																					glo_channel = i;
+																				}
+																		}
+																}
+															i++;
+														}
+													if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+													if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+													b_rtcm_writing_started = true;
+
+                                                }
+                                            if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
+												{
+                                        			if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
+														{
+															for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+																{
+																	d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+																}
+														}
+                                            		if(d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
+														{
+															for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
+																{
+																	d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
+																}
+														}
+
+													unsigned int i = 0;
+													for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+														{
+															std::string system(&gnss_observables_iter->second.System, 1);
+															if(gal_channel == 0)
+																{
+																	if(system.compare("E") == 0)
+																		{
+																			// This is a channel with valid GPS signal
+																			galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
+																				{
+																					gal_channel = i;
+																				}
+																		}
+																}
+															if(glo_channel == 0)
+																{
+																	if(system.compare("R") == 0)
+																		{
+																			glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+																				{
+																					glo_channel = i;
+																				}
+																		}
+																}
+															i++;
+														}
+													if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+													if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+
+												}
+
                                         }
                                 }
                         }
diff --git a/src/algorithms/libs/gnss_sdr_valve.cc b/src/algorithms/libs/gnss_sdr_valve.cc
index 152bdbe84..0170d6cdc 100644
--- a/src/algorithms/libs/gnss_sdr_valve.cc
+++ b/src/algorithms/libs/gnss_sdr_valve.cc
@@ -35,6 +35,7 @@
 #include <cstring>  // for memcpy
 #include <gnuradio/io_signature.h>
 #include "control_message_factory.h"
+#include <glog/logging.h>
 
 gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
         unsigned long long nitems,
@@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items,
         {
             ControlMessageFactory* cmf = new ControlMessageFactory();
             d_queue->handle(cmf->GetQueueMessage(200,0));
+            LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed";
             delete cmf;
             return -1;    // Done!
         }
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 24917ef4b..2edfba8bf 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
 
     d_flag_parity = false;
     d_TOW_at_current_symbol = 0;
+    Flag_valid_word = false;
     delta_t = 0;
     d_CRC_error_counter = 0;
     d_flag_preamble = false;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index 2dfeca167..34bcec2b0 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -83,7 +83,6 @@ private:
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
     int *d_preambles_symbols;
     unsigned int d_samples_per_symbol;
-    unsigned int d_samples_per_preamble_symbol;
     int d_symbols_per_preamble;
 
     //!< Storage for incoming data
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 2a4917357..da5571399 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
     gnav_eph.d_yr = 2004;
     gnav_eph.d_N_T = 366+28;
 
-    double tod = 70200;
+    double glo2utc = 3600*3;
+    double tod = 48600;
     double week = 0.0;
     double tow = 0.0;
     double true_leap_sec = 13;
     double true_week = 1307;
     double true_tow = 480600+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -98,18 +99,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
     gnav_eph.d_yr = 2016;
     gnav_eph.d_N_T = 268;
 
+    double glo2utc = 3600*3;
     double tod = 7560;
     double week = 0.0;
     double tow = 0.0;
-    double true_leap_sec = 13;
+    double true_leap_sec = 17;
     double true_week = 1915;
-    double true_tow = 480600+true_leap_sec;
+    double true_tow = 518400+true_leap_sec+tod;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -122,16 +124,17 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
     gnav_eph.d_yr = 2016;
     gnav_eph.d_N_T = 62;
 
-    double tod = 7560 + 6*3600;
+    double glo2utc = 3600*3;
+    double tod = 7560;
     double week = 0.0;
     double tow = 0.0;
-    double true_leap_sec = 13;
-    double true_week = 1307;
-    double true_tow = 480600+true_leap_sec;
+    double true_leap_sec = 17;
+    double true_week = 1886;
+    double true_tow = 259200+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }

From 3e4e94db8ec0bfe63147f8bad58521e4ee19b495 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 13 Nov 2017 14:18:45 -0700
Subject: [PATCH 314/379] clean up: Clean up warnings during compile process

Removes unused variables from code and fix counter to include both GPS
and GLONASS observations
---
 src/algorithms/PVT/libs/rtklib_solver.cc         | 16 ++++++++--------
 .../system_parameters/glonass_gnav_ephemeris.cc  |  6 ++----
 2 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 30766ca0c..3898a9758 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -179,7 +179,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             {
                                                 if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
                                                     {
-                                                        obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                        obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
                                                                 gnss_observables_iter->second,
                                                                 galileo_ephemeris_iter->second.WN_5,
                                                                 2);//Band 3 (L5/E5)
@@ -194,7 +194,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                 eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
                                                 //convert observation from GNSS-SDR class to RTKLIB structure
                                                 obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                                obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                                obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                         gnss_observables_iter->second,
                                                         galileo_ephemeris_iter->second.WN_5,
                                                         2); //Band 3 (L5/E5)
@@ -223,7 +223,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                     eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
                                     //convert observation from GNSS-SDR class to RTKLIB structure
                                     obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                    obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                    obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
                                             gps_ephemeris_iter->second.i_GPS_week,
                                             0);
@@ -251,7 +251,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                                     if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
                                                         {
                                                             eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
-                                                            obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+                                                            obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
                                                                     gnss_observables_iter->second,
                                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                                     1);//Band 2 (L2)
@@ -266,7 +266,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
                                             eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
                                             //convert observation from GNSS-SDR class to RTKLIB structure
                                             obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-                                            obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
+                                            obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
                                                     gps_cnav_ephemeris_iter->second.i_GPS_week,
                                                     1);//Band 2 (L2)
@@ -294,7 +294,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 									geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 									//convert observation from GNSS-SDR class to RTKLIB structure
 									obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-									obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+									obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
 													gnss_observables_iter->second,
 													glonass_gnav_ephemeris_iter->second.d_WN,
 													0);//Band 0 (L1)
@@ -318,7 +318,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 										{
 												if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
 													{
-															obs_data[i] = insert_obs_to_rtklib(obs_data[i],
+															obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs],
 																			gnss_observables_iter->second,
 																			glonass_gnav_ephemeris_iter->second.d_WN,
 																			1);//Band 1 (L2)
@@ -333,7 +333,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 											geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 											//convert observation from GNSS-SDR class to RTKLIB structure
 											obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
-											obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
+											obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
 															gnss_observables_iter->second,
 															glonass_gnav_ephemeris_iter->second.d_WN,
 															1); //Band 1 (L2)
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 91a147621..c557c6a6f 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -97,10 +97,9 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
 {
 		double tod = 0.0;
-		double utcsu2utc = 3*3600;
-		double glot2utcsu = 3*3600;
+		double glot2utc = 3*3600;
 
-		tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n;
+		tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
 		boost::posix_time::time_duration t(0, 0, tod);
 		boost::gregorian::date d1(d_yr, 1, 1);
 		boost::gregorian::days d2(d_N_T - 1);
@@ -112,7 +111,6 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset
 void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
 {
 		double tod = 0.0;
-	    double dayofweek = 0.0;
 	    double glot2utc = 3*3600;
 	    double days = 0.0;
 	    double total_sec = 0.0, sec_of_day = 0.0;

From 756a4b5a2ef0d0742531f01e169d15c1b09d6393 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 13 Nov 2017 22:41:12 -0700
Subject: [PATCH 315/379] bugfixes: Add RTCM header creation for GLONASS
 satellites

Added code to enable RTCM header generation when in GLONASS. Also fixes
bug to allow combined observations from GPS and GLONASS. Fix some code
compilation warnings and unit tests.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |   5 +-
 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf    |  22 ++-
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf            |  93 ++++++++++
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      | 169 ++++++++++++++++--
 src/algorithms/libs/gnss_sdr_valve.cc         |   2 +
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |   1 +
 .../glonass_l1_ca_telemetry_decoder_cc.h      |   1 -
 .../glonass_gnav_ephemeris_test.cc            |  29 +--
 8 files changed, 286 insertions(+), 36 deletions(-)
 create mode 100644 conf/gnss-sdr_GPS_L1_CA_ibyte.conf

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 4f1610ef3..d6cbbf891 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
 ;######### CHANNELS GLOBAL CONFIG ############
 Channel.signal=1G
 Channels.in_acquisition=1
-Channels_1G.count=5
+Channels_1G.count=8
 
 Channel0.satellite=24   ; k=
 Channel1.satellite=1    ; k=1
@@ -45,7 +45,8 @@ Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
 Acquisition_1G.dump=true;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
-;Acquisition_1G.coherent_integration_time_ms=10
+Acquisition_1G.coherent_integration_time_ms=1
+;Acquisition_1G.max_dwells = 5
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
index 156f52741..0435d6ff2 100644
--- a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
@@ -7,7 +7,7 @@ SignalSource.repeat=false
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource0.implementation=File_Signal_Source
-SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource0.item_type=ibyte
 SignalSource0.sampling_frequency=6625000
 SignalSource0.samples=0
@@ -25,8 +25,26 @@ SignalSource1.dump_filename=/archive/signal_glonass.bin
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner0.implementation=Signal_Conditioner
 DataTypeAdapter0.implementation=Ibyte_To_Complex
-InputFilter0.implementation=Pass_Through
+InputFilter0.implementation=Freq_Xlating_Fir_Filter
 InputFilter0.item_type=gr_complex
+InputFilter0.output_item_type=gr_complex
+InputFilter0.taps_item_type=float
+InputFilter0.number_of_taps=5
+InputFilter0.number_of_bands=2
+InputFilter0.band1_begin=0.0
+InputFilter0.band1_end=0.70
+InputFilter0.band2_begin=0.80
+InputFilter0.band2_end=1.0
+InputFilter0.ampl1_begin=1.0
+InputFilter0.ampl1_end=1.0
+InputFilter0.ampl2_begin=0.0
+InputFilter0.ampl2_end=0.0
+InputFilter0.band1_error=1.0
+InputFilter0.band2_error=1.0
+InputFilter0.filter_type=bandpass
+InputFilter0.grid_density=16
+InputFilter0.sampling_frequency=6625000
+InputFilter0.IF=60000
 Resampler0.implementation=Direct_Resampler
 Resampler0.sample_freq_in=6625000
 Resampler0.sample_freq_out=6625000
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
new file mode 100644
index 000000000..ecb652dca
--- /dev/null
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -0,0 +1,93 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_hz=6625000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource.item_type=ibyte
+SignalSource.sampling_frequency=6625000
+;SignalSource.freq=0
+;SignalSource.samples=66250000
+SignalSource.samples=0
+SignalSource.dump=false;
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+DataTypeAdapter.implementation=Ibyte_To_Complex
+InputFilter.implementation=Freq_Xlating_Fir_Filter
+InputFilter.item_type=gr_complex
+InputFilter.output_item_type=gr_complex
+InputFilter.taps_item_type=float
+InputFilter.number_of_taps=5
+InputFilter.number_of_bands=2
+InputFilter.band1_begin=0.0
+InputFilter.band1_end=0.70
+InputFilter.band2_begin=0.80
+InputFilter.band2_end=1.0
+InputFilter.ampl1_begin=1.0
+InputFilter.ampl1_end=1.0
+InputFilter.ampl2_begin=0.0
+InputFilter.ampl2_end=0.0
+InputFilter.band1_error=1.0
+InputFilter.band2_error=1.0
+InputFilter.filter_type=bandpass
+InputFilter.grid_density=16
+InputFilter.sampling_frequency=6625000
+InputFilter.IF=60000
+Resampler.implementation=Direct_Resampler
+Resampler.sample_freq_in=6625000
+Resampler.sample_freq_out=6625000
+Resampler.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channel.signal=1C
+Channels.in_acquisition=1
+Channels_1C.count=6
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.threshold=0.01
+;Acquisition_1C.pfa=0.00001
+Acquisition_1C.if=0
+Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false;
+Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
+;Acquisition_1C.coherent_integration_time_ms=10
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.if=60000
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.pll_bw_hz=25.0;
+Tracking_1C.dll_bw_hz=3.0;
+Tracking_1C.dump=false;
+Tracking_1C.dump_filename=/archive/gps_tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/gps_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.positioning_mode=Single
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index b0c0c5666..b4a312895 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -1258,15 +1258,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
                                                         }
 
-                                                    std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin();
+                                                    std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
 
-                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                    if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                         }
@@ -1276,14 +1276,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1019_output == true)
                                                         {
-                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
                                                                 }
                                                         }
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
@@ -1302,7 +1302,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                                 {
                                                                                     // This is a channel with valid GPS signal
                                                                                     gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                                         {
                                                                                             gps_channel = i;
                                                                                         }
@@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                             if(system.compare("R") == 0)
                                                                                 {
                                                                                     glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                                                         {
                                                                                             glo_channel = i;
                                                                                         }
@@ -1324,14 +1324,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
 
-                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+                                                                    if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                                         {
                                                                             d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
                                                                 }
                                                             if(flag_write_RTCM_MSM_output == true)
                                                                 {
-                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
                                                                         {
                                                                             d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
                                                                         }
@@ -1342,14 +1342,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                 {
                                                     if(flag_write_RTCM_1020_output == true)
                                                         {
-                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
                                                                 }
                                                         }
                                                     if(flag_write_RTCM_1045_output == true)
                                                         {
-                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
+                                                            for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
                                                                 {
                                                                     d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
                                                                 }
@@ -1359,18 +1359,18 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
                                                             //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
                                                             unsigned int i = 0;
-                                                            for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
+                                                            for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
                                                                 {
                                                                     std::string system(&gnss_observables_iter->second.System, 1);
-                                                                    if(gps_channel == 0)
+                                                                    if(gal_channel == 0)
                                                                         {
-                                                                            if(system.compare("G") == 0)
+                                                                            if(system.compare("E") == 0)
                                                                                 {
                                                                                     // This is a channel with valid GPS signal
-                                                                                    gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
-                                                                                    if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
+                                                                                    galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                    if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
                                                                                         {
-                                                                                            gps_channel = i;
+                                                                                    		gal_channel = i;
                                                                                         }
                                                                                 }
                                                                         }
@@ -1424,7 +1424,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
-
                                             if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
                                                 {
                                                     for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ )
@@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     b_rtcm_writing_started = true;
                                                 }
+                                            if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
+												{
+													for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+														{
+															d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+														}
+
+													std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
+
+													if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+													b_rtcm_writing_started = true;
+												}
+                                            if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
+                                                {
+                                            		if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
+                                                        {
+                                                            for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+                                                                }
+                                                        }
+                                            		if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
+                                                        {
+                                                            for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+                                                                {
+                                                                    d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+                                                                }
+                                                        }
+
+													//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
+													//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
+													unsigned int i = 0;
+													for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+														{
+															std::string system(&gnss_observables_iter->second.System, 1);
+															if(gps_channel == 0)
+																{
+																	if(system.compare("G") == 0)
+																		{
+																			// This is a channel with valid GPS signal
+																			gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
+																				{
+																					gps_channel = i;
+																				}
+																		}
+																}
+															if(glo_channel == 0)
+																{
+																	if(system.compare("R") == 0)
+																		{
+																			glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+																				{
+																					glo_channel = i;
+																				}
+																		}
+																}
+															i++;
+														}
+													if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+													if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+													b_rtcm_writing_started = true;
+
+                                                }
+                                            if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
+												{
+                                        			if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
+														{
+															for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
+																{
+																	d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
+																}
+														}
+                                            		if(d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
+														{
+															for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
+																{
+																	d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
+																}
+														}
+
+													unsigned int i = 0;
+													for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+														{
+															std::string system(&gnss_observables_iter->second.System, 1);
+															if(gal_channel == 0)
+																{
+																	if(system.compare("E") == 0)
+																		{
+																			// This is a channel with valid GPS signal
+																			galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
+																				{
+																					gal_channel = i;
+																				}
+																		}
+																}
+															if(glo_channel == 0)
+																{
+																	if(system.compare("R") == 0)
+																		{
+																			glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+																			if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+																				{
+																					glo_channel = i;
+																				}
+																		}
+																}
+															i++;
+														}
+													if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+													if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
+														{
+															d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
+														}
+
+
+												}
+
                                         }
                                 }
                         }
diff --git a/src/algorithms/libs/gnss_sdr_valve.cc b/src/algorithms/libs/gnss_sdr_valve.cc
index 152bdbe84..0170d6cdc 100644
--- a/src/algorithms/libs/gnss_sdr_valve.cc
+++ b/src/algorithms/libs/gnss_sdr_valve.cc
@@ -35,6 +35,7 @@
 #include <cstring>  // for memcpy
 #include <gnuradio/io_signature.h>
 #include "control_message_factory.h"
+#include <glog/logging.h>
 
 gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
         unsigned long long nitems,
@@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items,
         {
             ControlMessageFactory* cmf = new ControlMessageFactory();
             d_queue->handle(cmf->GetQueueMessage(200,0));
+            LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed";
             delete cmf;
             return -1;    // Done!
         }
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 24917ef4b..2edfba8bf 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
 
     d_flag_parity = false;
     d_TOW_at_current_symbol = 0;
+    Flag_valid_word = false;
     delta_t = 0;
     d_CRC_error_counter = 0;
     d_flag_preamble = false;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index 2dfeca167..34bcec2b0 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -83,7 +83,6 @@ private:
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
     int *d_preambles_symbols;
     unsigned int d_samples_per_symbol;
-    unsigned int d_samples_per_preamble_symbol;
     int d_symbols_per_preamble;
 
     //!< Storage for incoming data
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 2a4917357..da5571399 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
     gnav_eph.d_yr = 2004;
     gnav_eph.d_N_T = 366+28;
 
-    double tod = 70200;
+    double glo2utc = 3600*3;
+    double tod = 48600;
     double week = 0.0;
     double tow = 0.0;
     double true_leap_sec = 13;
     double true_week = 1307;
     double true_tow = 480600+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -98,18 +99,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
     gnav_eph.d_yr = 2016;
     gnav_eph.d_N_T = 268;
 
+    double glo2utc = 3600*3;
     double tod = 7560;
     double week = 0.0;
     double tow = 0.0;
-    double true_leap_sec = 13;
+    double true_leap_sec = 17;
     double true_week = 1915;
-    double true_tow = 480600+true_leap_sec;
+    double true_tow = 518400+true_leap_sec+tod;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -122,16 +124,17 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
     gnav_eph.d_yr = 2016;
     gnav_eph.d_N_T = 62;
 
-    double tod = 7560 + 6*3600;
+    double glo2utc = 3600*3;
+    double tod = 7560;
     double week = 0.0;
     double tow = 0.0;
-    double true_leap_sec = 13;
-    double true_week = 1307;
-    double true_tow = 480600+true_leap_sec;
+    double true_leap_sec = 17;
+    double true_week = 1886;
+    double true_tow = 259200+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow);
+	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
 	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_week < FLT_EPSILON );
+	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }

From 4a8182af26c503efcf6536807fc6f5e3f1854ae2 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 20 Nov 2017 14:52:37 -0700
Subject: [PATCH 316/379] feature: Adding code to fix coherent integration in
 GLONASS L1 C/A

Debugs code to fix GLONASS coherent integration. Adds message handling
from telemetry decoding to signal tracking modules. Bug on poor track
performance stills need to be determine.
---
 .../gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf | 87 +++++++++++++++++++
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  8 ++
 .../glonass_l1_ca_telemetry_decoder_cc.h      |  3 +
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 56 +++++++++---
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h |  3 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      |  2 +
 6 files changed, 148 insertions(+), 11 deletions(-)
 create mode 100644 conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
new file mode 100644
index 000000000..ad49d03e0
--- /dev/null
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
@@ -0,0 +1,87 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=6625000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource.item_type=ibyte
+SignalSource.sampling_frequency=6625000
+;SignalSource.freq=0
+;SignalSource.samples=66250000
+SignalSource.samples=0
+SignalSource.dump=false;
+SignalSource.dump_filename=/archive/signal_glonass.bin
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+DataTypeAdapter.implementation=Ibyte_To_Complex
+InputFilter.implementation=Pass_Through
+InputFilter.item_type=gr_complex
+Resampler.implementation=Direct_Resampler
+Resampler.sample_freq_in=6625000
+Resampler.sample_freq_out=6625000
+Resampler.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channel.signal=1G
+Channels.in_acquisition=1
+Channels_1G.count=8
+
+Channel0.satellite=24   ; k=
+Channel1.satellite=1    ; k=1
+Channel2.satellite=2    ; k=-4
+Channel3.satellite=20   ; k=-5
+Channel4.satellite=21   ; k=4
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1G.item_type=gr_complex
+Acquisition_1G.threshold=0.0
+Acquisition_1G.pfa=0.0001
+Acquisition_1G.if=0
+Acquisition_1G.doppler_max=10000
+Acquisition_1G.doppler_step=250
+Acquisition_1G.dump=true;
+Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
+;Acquisition_1G.coherent_integration_time_ms=1
+;Acquisition_1G.max_dwells = 5
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
+Tracking_1G.item_type=gr_complex
+Tracking_1G.if=0
+Tracking_1G.early_late_space_chips=0.5
+Tracking_1G.pll_bw_hz=25.0;
+Tracking_1G.dll_bw_hz=3.0;
+Tracking_1G.pll_bw_narrow_hz = 20.0;
+Tracking_1G.dll_bw_narrow_hz = 2.0;
+Tracking_1G.extend_correlation_ms = 1;
+Tracking_1G.dump=true;
+Tracking_1G.dump_filename=/archive/glo_tracking_ch_
+
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=true;
+Observables.dump_filename=/archive/glo_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.positioning_mode=Single
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 2edfba8bf..8ba984873 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -112,6 +112,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     d_flag_preamble = false;
     d_channel = 0;
     flag_TOW_set = false;
+    d_preamble_time_samples = 0;
 }
 
 
@@ -274,6 +275,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                     LOG(INFO) << "Preamble detection for GLONASS L1 C/A SAT " << this->d_satellite;
                     // Enter into frame pre-detection status
                     d_stat = 1;
+                    d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the preamble sample stamp
+
                 }
         }
     else if (d_stat == 1) // posible preamble lock
@@ -282,12 +285,17 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                 {
                     //check preamble separation
                     preamble_diff = d_sample_counter - d_preamble_index;
+                    // Record the PRN start sample index associated to the preamble
+                    d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter;
                     if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
                         {
                             //try to decode frame
                             LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
                             d_preamble_index = d_sample_counter; //record the preamble sample stamp
                             d_stat = 2;
+                            // send asynchronous message to tracking to inform of frame sync and extend correlation time
+														pmt::pmt_t value = pmt::from_double(static_cast<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) - 0.001);
+														this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
                         }
                     else
                         {
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
index 34bcec2b0..8973d7d95 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@@ -79,6 +79,9 @@ private:
 
     void decode_string(double *symbols, int frame_length);
 
+    //!< Help with coherent tracking
+    double d_preamble_time_samples;
+
     //!< Preamble decoding
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
     int *d_preambles_symbols;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 3fa066e5f..cc9a1687b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -215,6 +215,9 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
     d_code_error_filt_chips_s = 0.0;
     d_carr_phase_error_secs_Ti = 0.0;
     d_preamble_timestamp_s = 0.0;
+
+    d_carrier_frequency_hz = 0.0;
+
     //set_min_output_buffer((long int)300);
 }
 
@@ -263,10 +266,14 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    // d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+    d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
+
 
-    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
 
     // DLL/PLL filter initialization
     d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
@@ -299,8 +306,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
     // enable tracking
     d_pull_in = true;
     d_enable_tracking = true;
-    d_enable_extended_integration = true;
-    d_preamble_synchronized = true;
+    d_enable_extended_integration = false;
+    d_preamble_synchronized = false;
     LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
               << " Code Phase correction [samples]=" << delay_correction_samples
               << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
@@ -309,14 +316,43 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
 
 glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_cc()
 {
-    d_dump_file.close();
+    if (d_dump_file.is_open())
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor " << ex.what();
+            }
+        }
 
-    volk_gnsssdr_free(d_local_code_shift_chips);
-    volk_gnsssdr_free(d_correlator_outs);
-    volk_gnsssdr_free(d_ca_code);
+    if(d_dump)
+        {
+            if(d_channel == 0)
+                {
+                    std::cout << "Writing .mat files ...";
+                }
+            //gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile();
+            if(d_channel == 0)
+                {
+                    std::cout << " done." << std::endl;
+                }
+        }
 
-    delete[] d_Prompt_buffer;
-    multicorrelator_cpu.free();
+    try
+    {
+            volk_gnsssdr_free(d_local_code_shift_chips);
+            volk_gnsssdr_free(d_correlator_outs);
+            volk_gnsssdr_free(d_ca_code);
+            delete[] d_Prompt_buffer;
+            multicorrelator_cpu.free();
+    }
+    catch(const std::exception & ex)
+    {
+            LOG(WARNING) << "Exception in destructor " << ex.what();
+    }
 }
 
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index 320d51b0c..17d7eabd0 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -1,5 +1,5 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
@@ -157,6 +157,7 @@ private:
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
+    double d_carrier_frequency_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index a4e158ae8..f1532ac25 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -181,6 +181,8 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
     d_code_phase_step_chips = 0.0;
     d_carrier_phase_step_rad = 0.0;
 
+    d_glonass_freq_ch = 0;
+
     set_relative_rate(1.0 / static_cast<double>(d_vector_length));
 }
 

From 24dbdc17eef4b087aefa8c62a85d1d6c8e5b32b4 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carlesfernandez@gmail.com>
Date: Fri, 24 Nov 2017 17:10:50 +0100
Subject: [PATCH 317/379] Add the capability to save .mat files to GLONASS
 tracking blocks

---
 ...glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc | 232 ++++++++++++++++-
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h |   2 +
 ...glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 233 +++++++++++++++++-
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h |   2 +
 .../glonass_l1_ca_dll_pll_tracking_cc.cc      | 219 ++++++++++++++++
 .../glonass_l1_ca_dll_pll_tracking_cc.h       |   2 +
 6 files changed, 688 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 3fa066e5f..e23765b02 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -45,6 +45,7 @@
 #include <boost/lexical_cast.hpp>
 #include <boost/bind.hpp>
 #include <gnuradio/io_signature.h>
+#include <matio.h>
 #include <pmt/pmt.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <glog/logging.h>
@@ -309,7 +310,30 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
 
 glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_cc()
 {
-    d_dump_file.close();
+    if (d_dump_file.is_open())
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor " << ex.what();
+            }
+        }
+
+    if(d_dump)
+        {
+            if(d_channel == 0)
+                {
+                    std::cout << "Writing .mat files ...";
+                }
+            glonass_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile();
+            if(d_channel == 0)
+                {
+                    std::cout << " done." << std::endl;
+                }
+        }
 
     volk_gnsssdr_free(d_local_code_shift_chips);
     volk_gnsssdr_free(d_correlator_outs);
@@ -320,6 +344,212 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_c
 }
 
 
+int glonass_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile()
+{
+    // READ DUMP FILE
+    std::ifstream::pos_type size;
+    int number_of_double_vars = 11;
+    int number_of_float_vars = 5;
+    int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
+            sizeof(float) * number_of_float_vars + sizeof(unsigned int);
+    std::ifstream dump_file;
+    dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+    try
+    {
+            dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    }
+    catch(const std::ifstream::failure &e)
+    {
+            std::cerr << "Problem opening dump file:" <<  e.what() << std::endl;
+            return 1;
+    }
+    // count number of epochs and rewind
+    long int num_epoch = 0;
+    if (dump_file.is_open())
+        {
+            size = dump_file.tellg();
+            num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
+            dump_file.seekg(0, std::ios::beg);
+        }
+    else
+        {
+            return 1;
+        }
+    float * abs_E = new float [num_epoch];
+    float * abs_P = new float [num_epoch];
+    float * abs_L = new float [num_epoch];
+    float * Prompt_I = new float [num_epoch];
+    float * Prompt_Q = new float [num_epoch];
+    unsigned long int * PRN_start_sample_count = new unsigned long int [num_epoch];
+    double * acc_carrier_phase_rad = new double [num_epoch];
+    double * carrier_doppler_hz = new double [num_epoch];
+    double * code_freq_chips = new double [num_epoch];
+    double * carr_error_hz = new double [num_epoch];
+    double * carr_error_filt_hz = new double [num_epoch];
+    double * code_error_chips = new double [num_epoch];
+    double * code_error_filt_chips = new double [num_epoch];
+    double * CN0_SNV_dB_Hz = new double [num_epoch];
+    double * carrier_lock_test = new double [num_epoch];
+    double * aux1 = new double [num_epoch];
+    double * aux2 = new double [num_epoch];
+    unsigned int * PRN = new unsigned int [num_epoch];
+
+    try
+    {
+            if (dump_file.is_open())
+                {
+                    for(long int i = 0; i < num_epoch; i++)
+                        {
+                            dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
+                            dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
+                        }
+                }
+            dump_file.close();
+    }
+    catch (const std::ifstream::failure &e)
+    {
+            std::cerr << "Problem reading dump file:" <<  e.what() << std::endl;
+            delete[] abs_E;
+            delete[] abs_P;
+            delete[] abs_L;
+            delete[] Prompt_I;
+            delete[] Prompt_Q;
+            delete[] PRN_start_sample_count;
+            delete[] acc_carrier_phase_rad;
+            delete[] carrier_doppler_hz;
+            delete[] code_freq_chips;
+            delete[] carr_error_hz;
+            delete[] carr_error_filt_hz;
+            delete[] code_error_chips;
+            delete[] code_error_filt_chips;
+            delete[] CN0_SNV_dB_Hz;
+            delete[] carrier_lock_test;
+            delete[] aux1;
+            delete[] aux2;
+            delete[] PRN;
+            return 1;
+    }
+
+    // WRITE MAT FILE
+    mat_t *matfp;
+    matvar_t *matvar;
+    std::string filename = d_dump_filename;
+    filename.erase(filename.length() - 4, 4);
+    filename.append(".mat");
+    matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
+    if(reinterpret_cast<long*>(matfp) != NULL)
+        {
+            size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
+            matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+        }
+    Mat_Close(matfp);
+    delete[] abs_E;
+    delete[] abs_P;
+    delete[] abs_L;
+    delete[] Prompt_I;
+    delete[] Prompt_Q;
+    delete[] PRN_start_sample_count;
+    delete[] acc_carrier_phase_rad;
+    delete[] carrier_doppler_hz;
+    delete[] code_freq_chips;
+    delete[] carr_error_hz;
+    delete[] carr_error_filt_hz;
+    delete[] code_error_chips;
+    delete[] code_error_filt_chips;
+    delete[] CN0_SNV_dB_Hz;
+    delete[] carrier_lock_test;
+    delete[] aux1;
+    delete[] aux2;
+    delete[] PRN;
+    return 0;
+}
+
 
 int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index 320d51b0c..b74d57e55 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -201,6 +201,8 @@ private:
 
     std::map<std::string, std::string> systemName;
     std::string sys;
+
+    int save_matfile();
 };
 
 #endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 147a5642c..197e46379 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -45,6 +45,7 @@
 #include <boost/bind.hpp>
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
+#include <matio.h>
 #include <pmt/pmt.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <glog/logging.h>
@@ -310,9 +311,239 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
 }
 
 
+int glonass_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile()
+{
+    // READ DUMP FILE
+    std::ifstream::pos_type size;
+    int number_of_double_vars = 11;
+    int number_of_float_vars = 5;
+    int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
+            sizeof(float) * number_of_float_vars + sizeof(unsigned int);
+    std::ifstream dump_file;
+    dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+    try
+    {
+            dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    }
+    catch(const std::ifstream::failure &e)
+    {
+            std::cerr << "Problem opening dump file:" <<  e.what() << std::endl;
+            return 1;
+    }
+    // count number of epochs and rewind
+    long int num_epoch = 0;
+    if (dump_file.is_open())
+        {
+            size = dump_file.tellg();
+            num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
+            dump_file.seekg(0, std::ios::beg);
+        }
+    else
+        {
+            return 1;
+        }
+    float * abs_E = new float [num_epoch];
+    float * abs_P = new float [num_epoch];
+    float * abs_L = new float [num_epoch];
+    float * Prompt_I = new float [num_epoch];
+    float * Prompt_Q = new float [num_epoch];
+    unsigned long int * PRN_start_sample_count = new unsigned long int [num_epoch];
+    double * acc_carrier_phase_rad = new double [num_epoch];
+    double * carrier_doppler_hz = new double [num_epoch];
+    double * code_freq_chips = new double [num_epoch];
+    double * carr_error_hz = new double [num_epoch];
+    double * carr_error_filt_hz = new double [num_epoch];
+    double * code_error_chips = new double [num_epoch];
+    double * code_error_filt_chips = new double [num_epoch];
+    double * CN0_SNV_dB_Hz = new double [num_epoch];
+    double * carrier_lock_test = new double [num_epoch];
+    double * aux1 = new double [num_epoch];
+    double * aux2 = new double [num_epoch];
+    unsigned int * PRN = new unsigned int [num_epoch];
+
+    try
+    {
+            if (dump_file.is_open())
+                {
+                    for(long int i = 0; i < num_epoch; i++)
+                        {
+                            dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
+                            dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
+                        }
+                }
+            dump_file.close();
+    }
+    catch (const std::ifstream::failure &e)
+    {
+            std::cerr << "Problem reading dump file:" <<  e.what() << std::endl;
+            delete[] abs_E;
+            delete[] abs_P;
+            delete[] abs_L;
+            delete[] Prompt_I;
+            delete[] Prompt_Q;
+            delete[] PRN_start_sample_count;
+            delete[] acc_carrier_phase_rad;
+            delete[] carrier_doppler_hz;
+            delete[] code_freq_chips;
+            delete[] carr_error_hz;
+            delete[] carr_error_filt_hz;
+            delete[] code_error_chips;
+            delete[] code_error_filt_chips;
+            delete[] CN0_SNV_dB_Hz;
+            delete[] carrier_lock_test;
+            delete[] aux1;
+            delete[] aux2;
+            delete[] PRN;
+            return 1;
+    }
+
+    // WRITE MAT FILE
+    mat_t *matfp;
+    matvar_t *matvar;
+    std::string filename = d_dump_filename;
+    filename.erase(filename.length() - 4, 4);
+    filename.append(".mat");
+    matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
+    if(reinterpret_cast<long*>(matfp) != NULL)
+        {
+            size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
+            matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+        }
+    Mat_Close(matfp);
+    delete[] abs_E;
+    delete[] abs_P;
+    delete[] abs_L;
+    delete[] Prompt_I;
+    delete[] Prompt_Q;
+    delete[] PRN_start_sample_count;
+    delete[] acc_carrier_phase_rad;
+    delete[] carrier_doppler_hz;
+    delete[] code_freq_chips;
+    delete[] carr_error_hz;
+    delete[] carr_error_filt_hz;
+    delete[] code_error_chips;
+    delete[] code_error_filt_chips;
+    delete[] CN0_SNV_dB_Hz;
+    delete[] carrier_lock_test;
+    delete[] aux1;
+    delete[] aux2;
+    delete[] PRN;
+    return 0;
+}
+
+
 glonass_l1_ca_dll_pll_c_aid_tracking_sc::~glonass_l1_ca_dll_pll_c_aid_tracking_sc()
 {
-    d_dump_file.close();
+  if (d_dump_file.is_open())
+      {
+          try
+          {
+                  d_dump_file.close();
+          }
+          catch(const std::exception & ex)
+          {
+                  LOG(WARNING) << "Exception in destructor " << ex.what();
+          }
+      }
+
+  if(d_dump)
+      {
+          if(d_channel == 0)
+              {
+                  std::cout << "Writing .mat files ...";
+              }
+          glonass_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile();
+          if(d_channel == 0)
+              {
+                  std::cout << " done." << std::endl;
+              }
+      }
 
     volk_gnsssdr_free(d_local_code_shift_chips);
     volk_gnsssdr_free(d_ca_code);
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 0e008e04c..6f83bac0d 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -204,6 +204,8 @@ private:
 
     std::map<std::string, std::string> systemName;
     std::string sys;
+
+    int save_matfile();
 };
 
 #endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index a4e158ae8..cde56da70 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -45,6 +45,7 @@
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
+#include <matio.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include "glonass_l1_signal_processing.h"
 #include "tracking_discriminators.h"
@@ -284,6 +285,18 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
                     LOG(WARNING) << "Exception in destructor " << ex.what();
             }
         }
+    if(d_dump)
+        {
+            if(d_channel == 0)
+                {
+                    std::cout << "Writing .mat files ...";
+                }
+            Glonass_L1_Ca_Dll_Pll_Tracking_cc::save_matfile();
+            if(d_channel == 0)
+                {
+                    std::cout << " done." << std::endl;
+                }
+        }
     try
     {
             volk_gnsssdr_free(d_local_code_shift_chips);
@@ -299,6 +312,212 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::~Glonass_L1_Ca_Dll_Pll_Tracking_cc()
 }
 
 
+int Glonass_L1_Ca_Dll_Pll_Tracking_cc::save_matfile()
+{
+    // READ DUMP FILE
+    std::ifstream::pos_type size;
+    int number_of_double_vars = 11;
+    int number_of_float_vars = 5;
+    int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
+            sizeof(float) * number_of_float_vars + sizeof(unsigned int);
+    std::ifstream dump_file;
+    dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+    try
+    {
+            dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    }
+    catch(const std::ifstream::failure &e)
+    {
+            std::cerr << "Problem opening dump file:" <<  e.what() << std::endl;
+            return 1;
+    }
+    // count number of epochs and rewind
+    long int num_epoch = 0;
+    if (dump_file.is_open())
+        {
+            size = dump_file.tellg();
+            num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
+            dump_file.seekg(0, std::ios::beg);
+        }
+    else
+        {
+            return 1;
+        }
+    float * abs_E = new float [num_epoch];
+    float * abs_P = new float [num_epoch];
+    float * abs_L = new float [num_epoch];
+    float * Prompt_I = new float [num_epoch];
+    float * Prompt_Q = new float [num_epoch];
+    unsigned long int * PRN_start_sample_count = new unsigned long int [num_epoch];
+    double * acc_carrier_phase_rad = new double [num_epoch];
+    double * carrier_doppler_hz = new double [num_epoch];
+    double * code_freq_chips = new double [num_epoch];
+    double * carr_error_hz = new double [num_epoch];
+    double * carr_error_filt_hz = new double [num_epoch];
+    double * code_error_chips = new double [num_epoch];
+    double * code_error_filt_chips = new double [num_epoch];
+    double * CN0_SNV_dB_Hz = new double [num_epoch];
+    double * carrier_lock_test = new double [num_epoch];
+    double * aux1 = new double [num_epoch];
+    double * aux2 = new double [num_epoch];
+    unsigned int * PRN = new unsigned int [num_epoch];
+
+    try
+    {
+            if (dump_file.is_open())
+                {
+                    for(long int i = 0; i < num_epoch; i++)
+                        {
+                            dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
+                            dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
+                            dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
+                        }
+                }
+            dump_file.close();
+    }
+    catch (const std::ifstream::failure &e)
+    {
+            std::cerr << "Problem reading dump file:" <<  e.what() << std::endl;
+            delete[] abs_E;
+            delete[] abs_P;
+            delete[] abs_L;
+            delete[] Prompt_I;
+            delete[] Prompt_Q;
+            delete[] PRN_start_sample_count;
+            delete[] acc_carrier_phase_rad;
+            delete[] carrier_doppler_hz;
+            delete[] code_freq_chips;
+            delete[] carr_error_hz;
+            delete[] carr_error_filt_hz;
+            delete[] code_error_chips;
+            delete[] code_error_filt_chips;
+            delete[] CN0_SNV_dB_Hz;
+            delete[] carrier_lock_test;
+            delete[] aux1;
+            delete[] aux2;
+            delete[] PRN;
+            return 1;
+    }
+
+    // WRITE MAT FILE
+    mat_t *matfp;
+    matvar_t *matvar;
+    std::string filename = d_dump_filename;
+    filename.erase(filename.length() - 4, 4);
+    filename.append(".mat");
+    matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
+    if(reinterpret_cast<long*>(matfp) != NULL)
+        {
+            size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
+            matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
+            matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+        }
+    Mat_Close(matfp);
+    delete[] abs_E;
+    delete[] abs_P;
+    delete[] abs_L;
+    delete[] Prompt_I;
+    delete[] Prompt_Q;
+    delete[] PRN_start_sample_count;
+    delete[] acc_carrier_phase_rad;
+    delete[] carrier_doppler_hz;
+    delete[] code_freq_chips;
+    delete[] carr_error_hz;
+    delete[] carr_error_filt_hz;
+    delete[] code_error_chips;
+    delete[] code_error_filt_chips;
+    delete[] CN0_SNV_dB_Hz;
+    delete[] carrier_lock_test;
+    delete[] aux1;
+    delete[] aux2;
+    delete[] PRN;
+    return 0;
+}
+
 
 int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index cf1923fb6..4e080fae2 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -170,6 +170,8 @@ private:
 
     std::map<std::string, std::string> systemName;
     std::string sys;
+
+    int save_matfile();
 };
 
 #endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_TRACKING_CC_H

From 0e938db54e5f9c692e4d2d5df6b1379f1c9bc8a4 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 24 Nov 2017 15:20:13 -0700
Subject: [PATCH 318/379] bugfix: Fixes RINEX V2.11 Nav. data record header

Fixes the number of spaces used by the second field in RINEX 2.11 when
logging GLONASS Navigational information
---
 src/algorithms/PVT/libs/rinex_printer.cc | 28 ++++++++++++++----------
 1 file changed, 17 insertions(+), 11 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 0206a4878..555ccc728 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -2881,17 +2881,23 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                             line += minutes;
                         }
                     line += std::string(1, ' ');
-                    if(boost::lexical_cast<int>(seconds) < 10)
-                        {
-                            line += std::string(1, ' ');
-                            line += std::string(seconds, 1, 1);
-                        }
-                    else
-                        {
-                            line += seconds;
-                        }
-
-                    line += std::string(1, ' ');
+					if(boost::lexical_cast<int>(seconds) < 10)
+						{
+							line += std::string(1, ' ');
+							line += std::string(seconds, 1, 1);
+						}
+					else
+						{
+							line += seconds;
+						}
+					line += std::string(1, '.');
+					std::string decimal = std::string("0");
+					if (timestring.size() > 16)
+						{
+							std::string decimal (timestring, 16, 1);
+						}
+					line += decimal;
+					line += std::string(1, ' ');
                     line += Rinex_Printer::doub2for(-glonass_gnav_ephemeris_iter->second.d_tau_c, 18, 2);
                     line += std::string(1, ' ');
                     line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);

From 60d83135e2f3398b27b0b733a47f7bbe5f182bc4 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 4 Dec 2017 19:22:48 +0100
Subject: [PATCH 319/379] Fix wrong merge

---
 src/core/receiver/gnss_block_factory.cc | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 905e54e0a..dbaa68483 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -88,12 +88,9 @@
 #include "galileo_e1_tcp_connector_tracking.h"
 #include "galileo_e5a_dll_pll_tracking.h"
 #include "gps_l2_m_dll_pll_tracking.h"
-<<<<<<< HEAD
 #include "glonass_l1_ca_dll_pll_tracking.h"
 #include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
-=======
 #include "gps_l5i_dll_pll_tracking.h"
->>>>>>> 88a02340ac87139047e80cadb864b1022bf0e3ff
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"

From f85887ee10b93fdd3d212c995f870c96c39b7495 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Fri, 22 Dec 2017 15:08:54 -0700
Subject: [PATCH 320/379] glonass pvt: Fix bug when in PPP_Static mode

Fixes a bug in trk module to provide right observables for position
solution computation using the accumulated carrier phase measurements.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf             |  8 ++++----
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf                 |  2 +-
 .../glonass_l1_ca_dll_pll_tracking_cc.cc           | 14 +++++++-------
 .../glonass_l1_ca_dll_pll_tracking_cc.h            |  1 +
 4 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index d6cbbf891..e5e3e4d3a 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
 ;######### CHANNELS GLOBAL CONFIG ############
 Channel.signal=1G
 Channels.in_acquisition=1
-Channels_1G.count=8
+Channels_1G.count=5
 
 Channel0.satellite=24   ; k=
 Channel1.satellite=1    ; k=1
@@ -43,9 +43,9 @@ Acquisition_1G.pfa=0.0001
 Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
-Acquisition_1G.dump=true;
+Acquisition_1G.dump=false;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
-Acquisition_1G.coherent_integration_time_ms=1
+;Acquisition_1G.coherent_integration_time_ms=1
 ;Acquisition_1G.max_dwells = 5
 
 ;######### TRACKING GLOBAL CONFIG ############
@@ -72,7 +72,7 @@ PVT.positioning_mode=Single
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
 PVT.trop_model=Saastamoinen
-PVT.flag_rtcm_server=true
+PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
 PVT.rtcm_tcp_port=2101
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
index ecb652dca..9de3c4e6b 100644
--- a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -78,7 +78,7 @@ Observables.dump_filename=/archive/gps_observables.dat
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
-PVT.positioning_mode=Single
+PVT.positioning_mode=PPP_Static
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
 PVT.trop_model=Saastamoinen
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 89c6b5cfe..c7926ac3b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -54,9 +54,6 @@
 #include "control_message_factory.h"
 
 
-/*!
- * \todo Include in definition header file
- */
 #define CN0_ESTIMATION_SAMPLES 10
 #define MINIMUM_VALID_CN0 25
 #define MAXIMUM_LOCK_FAIL_COUNTER 50
@@ -175,6 +172,7 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
     d_acq_code_phase_samples = 0.0;
     d_acq_carrier_doppler_hz = 0.0;
     d_carrier_doppler_hz = 0.0;
+    d_carrier_doppler_phase_step_rad = 0.0;
     d_carrier_frequency_hz = 0.0;
     d_acc_carrier_phase_rad = 0.0;
     d_code_phase_samples = 0.0;
@@ -235,6 +233,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
     d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
     d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
+    d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * (d_carrier_doppler_hz) / static_cast<double>(d_fs_in);
 
     // DLL/PLL filter initialization
     d_carrier_loop_filter.initialize(); // initialize the carrier filter
@@ -554,9 +553,9 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
             d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
             d_pull_in = false;
             // take into account the carrier cycles accumulated in the pull in signal alignment
-            d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
+            d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * samples_offset;
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-            current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
+            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
             current_synchro_data.fs = d_fs_in;
             current_synchro_data.correlation_length_ms = 1;
             *out[0] = current_synchro_data;
@@ -605,12 +604,13 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
 
         //################### PLL COMMANDS #################################################
         // carrier phase step (NCO phase increment per sample) [rads/sample]
+        d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
         d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
         // remnant carrier phase to prevent overflow in the code NCO
         d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
         d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
         // carrier phase accumulator
-        d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
+        d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * d_current_prn_length_samples;
 
         //################### DLL COMMANDS #################################################
         // code phase step (Code resampler phase increment per sample) [chips/sample]
@@ -657,7 +657,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
         current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
         current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-        current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
+        current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
         current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
         current_synchro_data.Flag_valid_symbol_output = true;
         current_synchro_data.correlation_length_ms = 1;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 4e080fae2..3e7a0cb14 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -140,6 +140,7 @@ private:
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
+    double d_carrier_doppler_phase_step_rad;
     double d_carrier_frequency_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_rad;

From ad07c8940b88cc17dec29ae25f0db25181dd5769 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Mon, 25 Dec 2017 17:05:35 -0700
Subject: [PATCH 321/379] glonass_rinex: Fixes bugs in RINEX files for GLONASS
 processing

Fixes bugs with observation and navigation header time logs. It forces
the log to be in UTC time as the dault when in GLONASS.
---
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |   8 +-
 src/algorithms/PVT/libs/rinex_printer.cc      | 159 +++++++++++-------
 src/algorithms/PVT/libs/rinex_printer.h       |  12 +-
 .../glonass_gnav_ephemeris.cc                 |  90 +++++-----
 4 files changed, 156 insertions(+), 113 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index b4a312895..6c2936e21 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -843,7 +843,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                     if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
-                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
@@ -852,8 +852,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                     std::string signal("2G");
                                                     if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
-                                                            rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
-                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
+                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
@@ -863,7 +863,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                     if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
                                                         {
                                                             rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
-                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 555ccc728..3e5b8fd97 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -143,6 +143,7 @@ Rinex_Printer::Rinex_Printer(int conf_version)
     observationType["DOPPLER_v2"] = "D";
     observationType["SIGNAL_STRENGTH_v2"] = "S";
     observationCode["GPS_L1_CA_v2"] = "1";
+    observationCode["GLONASS_G1_CA_v2"] = "1";
 
     if ( FLAGS_RINEX_version.compare("3.01") == 0 )
         {
@@ -415,9 +416,8 @@ std::string Rinex_Printer::getLocalTime()
 }
 
 
-void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
 {
-    if(glonass_gnav_almanac.i_satellite_freq_channel){}
     std::string line;
 
     // -------- Line 1
@@ -464,44 +464,53 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
     out << line << std::endl;
 
     // -------- Line system time correction
-    line.clear();
-    line += std::string("GLUT");
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
-    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
-    line += std::string(10, ' ');
-    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+    if (version == 3)
+		{
+			line.clear();
+			line += std::string("GLUT");
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+			line += std::string(10, ' ');
+			line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
 
-    // -------- Line system time correction 2
-    line.clear();
-    line += std::string("GLGP");
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
-    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
-    line += std::string(10, ' ');
-    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+			// -------- Line system time correction 2
+			line.clear();
+			line += std::string("GLGP");
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
+			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+			line += std::string(10, ' ');
+			line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
+    if (version == 2)
+		{
+    		// Set reference time and its clock corrections
+    		boost::posix_time::ptime p_utc_ref_time = glonass_gnav_eph.glot_to_utc(glonass_gnav_eph.d_t_b, 0.0);
+			std::string timestring = boost::posix_time::to_iso_string(p_utc_ref_time);
+			std::string year (timestring, 0, 4);
+			std::string month (timestring, 4, 2);
+			std::string day (timestring, 6, 2);
 
-
-    // -------- Line 6 leap seconds
-    // For leap second information, see http://www.endruntechnologies.com/leap.htm
-    line.clear();
-    // TODO hOW TO MAKE THIS IN GLONASS, the leap second is internally given
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6);
-    line += std::string(36, ' ');
-    line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+			line.clear();
+			line += Rinex_Printer::rightJustify(year, 6);
+			line += Rinex_Printer::rightJustify(month, 6);
+			line += Rinex_Printer::rightJustify(day, 6);
+			line += std::string(3, ' ');
+			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
+			line += std::string(20, ' ');
+			line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
 
     // -------- End of Header
     line.clear();
@@ -511,7 +520,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
     out << line << std::endl;
 }
 
-
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@@ -1391,6 +1399,7 @@ void Rinex_Printer::rinex_sbs_header(std::fstream& out)
 }
 
 
+
 void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@@ -2144,6 +2153,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
 }
 
 
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
 {
     std::string line;
@@ -2827,7 +2837,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             glonass_gnav_ephemeris_iter++)
     {
             // -------- SV / EPOCH / SV CLK
-            boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GLONASS_time(glonass_gnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second.d_t_k);
+            boost::posix_time::ptime p_utc_time = glonass_gnav_ephemeris_iter->second.glot_to_utc(glonass_gnav_ephemeris_iter->second.d_t_b, 0.0);
             std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
             std::string month (timestring, 4, 2);
             std::string day (timestring, 6, 2);
@@ -3017,7 +3027,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
         }
 }
 
-
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map)
 {
     version = 3;
@@ -3045,6 +3054,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
 }
 
 
+
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string glonass_bands)
 {
     if(eph.d_m){} //Avoid compiler warning
@@ -3295,16 +3305,17 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
         }
 
     // -------- TIME OF FIRST OBS
-    line.clear();
-    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GLONASS_time(eph,d_TOW_first_observation);
-    std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
+    boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_UTC_time(eph,d_TOW_first_observation);
+    std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
     std::string year (timestring, 0, 4);
     std::string month (timestring, 4, 2);
     std::string day (timestring, 6, 2);
     std::string hour (timestring, 9, 2);
     std::string minutes (timestring, 11, 2);
-    double gps_t = d_TOW_first_observation;
-    double seconds = fmod(gps_t, 60);
+    double intpart = 0;
+    double seconds = p_utc_time.time_of_day().seconds() + modf (d_TOW_first_observation , &intpart);
+
+    line.clear();
     line += Rinex_Printer::rightJustify(year, 6);
     line += Rinex_Printer::rightJustify(month, 6);
     line += Rinex_Printer::rightJustify(day, 6);
@@ -4211,7 +4222,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
     out << line << std::endl;
 }
 
-
 void Rinex_Printer::rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation)
 {
     std::string line;
@@ -5197,6 +5207,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 }
 
 
+
 void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
 {
     if(utc_model.d_N_4)
@@ -5408,6 +5419,7 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Galileo_Utc_Model
 }
 
 
+
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables, const std::string glonass_band)
 {
     // RINEX observations timestamps are GPS timestamps.
@@ -5416,7 +5428,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
     // Avoid compiler warning
     if(glonass_band.size()){}
 
-    boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_GLONASS_time(eph, obs_time);
+    boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_UTC_time(eph, obs_time);
     std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
     //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
     //double gps_t = eph.sv_clock_correction(obs_time);
@@ -5499,7 +5511,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                     std::string lineObs;
                     lineObs.clear();
                     line.clear();
-                    // GPS L1 PSEUDORANGE
+                    // GLONASS L1 PSEUDORANGE
                     line += std::string(2, ' ');
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
 
@@ -5517,8 +5529,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-                    // GPS L1 CA PHASE
-                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+                    // GLONASS L1 CA PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GLONASS_TWO_PI, 3), 14);
                     if (lli == 0)
                         {
                             lineObs += std::string(1, ' ');
@@ -5528,7 +5540,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
                         }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-                    // GPS L1 CA DOPPLER
+                    // GLONASS L1 CA DOPPLER
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
                     if (lli == 0)
                         {
@@ -5539,7 +5551,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
                         }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-                    //GPS L1 SIGNAL STRENGTH
+                    //GLONASS L1 SIGNAL STRENGTH
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
                     if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
                     out << lineObs << std::endl;
@@ -5653,9 +5665,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
 }
 
 
-
-
-
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph,  double gps_obs_time, const std::map<int,Gnss_Synchro>& observables)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@@ -7171,6 +7180,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
 }
 
 
+
 void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second)
 {
     // represents GPS time (week, TOW) in the date time format of the Gregorian calendar.
@@ -7381,11 +7391,42 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
 }
 
 
-boost::posix_time::ptime Rinex_Printer::compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
+boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
 {
-    boost::posix_time::ptime p_time = eph.compute_GLONASS_time(obs_time);
-    return p_time;
+    double tod = 0.0;
+	double glot2utc = 3*3600;
+	double obs_time_utc = 0.0, obs_time_glot = 0.0;
+	int i = 0;
+
+	// GLONASST already includes leap second addition or deletion
+	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+		{
+			if (eph.d_yr >= GLONASS_LEAP_SECONDS[i][0])
+			{
+				// We substract the leap second when going from gpst to utc
+				obs_time_utc = obs_time - fabs(GLONASS_LEAP_SECONDS[i][6]);
+				break;
+			}
+		}
+	// Get observation time in GLONASS time
+	obs_time_glot = obs_time_utc + glot2utc;
+
+	// Get seconds of day in glonass time
+	tod = fmod (obs_time_glot, 86400);
+
+	// Form date and time duration types
+	boost::posix_time::time_duration t1(0, 0, tod);
+	boost::gregorian::date d1(eph.d_yr, 1, 1);
+	boost::gregorian::days d2(eph.d_N_T-1);
+	boost::posix_time::ptime glo_time(d1 + d2, t1);
+
+	// Convert to utc
+	boost::posix_time::time_duration t2(0, 0, glot2utc);
+	boost::posix_time::ptime utc_time = glo_time - t2;
+
+	return utc_time;
 }
+
 /*
 
 enum RINEX_enumMarkerType {
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index 901fd0a60..74f7b1262 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -116,7 +116,7 @@ public:
     /*!
      *  \brief Generates the GLONASS L1, L2 C/A Navigation Data header
      */
-    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
 
     /*!
      *  \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
@@ -194,9 +194,13 @@ public:
     boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time);
 
     /*!
-     *  \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
-     */
-    boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
+	 *  \brief Computes the UTC Time and returns a boost::posix_time::ptime object
+	 *  \details Function used as a method to convert the observation time into UTC time which is used
+	 *  as the default time for RINEX files
+	 *  \param eph GLONASS GNAV Ephemeris object
+	 *  \param obs_time Observation time in GPS seconds of week
+	 */
+	boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
 
     /*!
      *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index c557c6a6f..2ac9294db 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -82,7 +82,6 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 	d_tod = 0.0;
 }
 
-
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
 {
     boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
@@ -93,68 +92,67 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
     return glonass_time;
 }
 
-
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
 {
-		double tod = 0.0;
-		double glot2utc = 3*3600;
+	double tod = 0.0;
+	double glot2utc = 3*3600;
 
-		tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
-		boost::posix_time::time_duration t(0, 0, tod);
-		boost::gregorian::date d1(d_yr, 1, 1);
-		boost::gregorian::days d2(d_N_T - 1);
-		boost::posix_time::ptime utc_time(d1+d2, t);
+	tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
+	boost::posix_time::time_duration t(0, 0, tod);
+	boost::gregorian::date d1(d_yr, 1, 1);
+	boost::gregorian::days d2(d_N_T - 1);
+	boost::posix_time::ptime utc_time(d1+d2, t);
 
-		return utc_time;
+	return utc_time;
 }
 
 void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
 {
-		double tod = 0.0;
-	    double glot2utc = 3*3600;
-	    double days = 0.0;
-	    double total_sec = 0.0, sec_of_day = 0.0;
-	    int i = 0;
+	double tod = 0.0;
+	double glot2utc = 3*3600;
+	double days = 0.0;
+	double total_sec = 0.0, sec_of_day = 0.0;
+	int i = 0;
 
-	    boost::gregorian::date gps_epoch { 1980, 1, 6 };
+	boost::gregorian::date gps_epoch { 1980, 1, 6 };
 
-	    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
-	    // tk plus 10 sec is the true tod since get_TOW is called when in str5
-	    tod = tod_offset - glot2utc ;
+	// tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
+	// tk plus 10 sec is the true tod since get_TOW is called when in str5
+	tod = tod_offset - glot2utc ;
 
 
-	    boost::posix_time::time_duration t(0, 0, tod);
-	    boost::gregorian::date d1(d_yr, 1, 1);
-	    boost::gregorian::days d2(d_N_T-1);
-	    boost::posix_time::ptime glonass_time(d1+d2, t);
-	    boost::gregorian::date utc_date = glonass_time.date();
+	boost::posix_time::time_duration t(0, 0, tod);
+	boost::gregorian::date d1(d_yr, 1, 1);
+	boost::gregorian::days d2(d_N_T-1);
+	boost::posix_time::ptime glonass_time(d1+d2, t);
+	boost::gregorian::date utc_date = glonass_time.date();
 
-	    // Total number of days
-	    std::string fdat = boost::posix_time::to_simple_string(glonass_time);
-	    days =  static_cast<double>((utc_date - gps_epoch).days());
+	// Total number of days
+	std::string fdat = boost::posix_time::to_simple_string(glonass_time);
+	days =  static_cast<double>((utc_date - gps_epoch).days());
 
-	    // Total number of seconds
-	    sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
-	    total_sec = days*86400 + sec_of_day;
+	// Total number of seconds
+	sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
+	total_sec = days*86400 + sec_of_day;
 
-	    // GLONASST already includes leap second addition or deletion
-	    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-	    {
-	        if (d_yr >= GLONASS_LEAP_SECONDS[i][0])
-	        {
-	            // We add the leap second when going from utc to gpst
-	            total_sec += fabs(GLONASS_LEAP_SECONDS[i][6]);
-	            break;
-	        }
-	    }
+	// GLONASST already includes leap second addition or deletion
+	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+	{
+		if (d_yr >= GLONASS_LEAP_SECONDS[i][0])
+		{
+			// We add the leap second when going from utc to gpst
+			total_sec += fabs(GLONASS_LEAP_SECONDS[i][6]);
+			break;
+		}
+	}
 
-	    // Compute Week number
-	    *wn = floor(total_sec/604800);
+	// Compute Week number
+	*wn = floor(total_sec/604800);
 
-	    // Compute the arithmetic modules to wrap around range
-	    *tow = total_sec - 604800*floor(total_sec/604800);
-	    // Perform corrections from fractional seconds
-	    *tow += glot2utc_corr + glot2gpst_corr;
+	// Compute the arithmetic modules to wrap around range
+	*tow = total_sec - 604800*floor(total_sec/604800);
+	// Perform corrections from fractional seconds
+	*tow += glot2utc_corr + glot2gpst_corr;
 
 }
 

From aa2464cc28631b40cec925eb52eba7c1c8f41e44 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Tue, 26 Dec 2017 10:29:09 -0700
Subject: [PATCH 322/379] glonass bug fix: Adds more reliable GPST 2 UTC
 conversion

Adds logic to check for exact epoch when performing leap second
correction and also fixes unit test in code for GLONASS
---
 src/algorithms/PVT/libs/rinex_printer.cc      | 28 ++++++++-------
 src/algorithms/PVT/libs/rinex_printer.h       |  2 +-
 src/core/system_parameters/GLONASS_L1_CA.h    | 12 ++++---
 .../glonass_gnav_ephemeris.cc                 | 34 +++++++++++--------
 .../pvt/rinex_printer_test.cc                 |  5 +--
 .../glonass_gnav_ephemeris_test.cc            |  2 +-
 .../glonass_gnav_nav_message_test.cc          |  3 ++
 7 files changed, 51 insertions(+), 35 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 3e5b8fd97..0a14e63cb 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -7398,18 +7398,8 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
 	double obs_time_utc = 0.0, obs_time_glot = 0.0;
 	int i = 0;
 
-	// GLONASST already includes leap second addition or deletion
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-		{
-			if (eph.d_yr >= GLONASS_LEAP_SECONDS[i][0])
-			{
-				// We substract the leap second when going from gpst to utc
-				obs_time_utc = obs_time - fabs(GLONASS_LEAP_SECONDS[i][6]);
-				break;
-			}
-		}
-	// Get observation time in GLONASS time
-	obs_time_glot = obs_time_utc + glot2utc;
+	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
+	obs_time_glot = obs_time + glot2utc;
 
 	// Get seconds of day in glonass time
 	tod = fmod (obs_time_glot, 86400);
@@ -7424,6 +7414,20 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
 	boost::posix_time::time_duration t2(0, 0, glot2utc);
 	boost::posix_time::ptime utc_time = glo_time - t2;
 
+	// Adjust for leap second correction
+	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+		{
+			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+			boost::posix_time::ptime ls_time(d3, t3);
+			if (utc_time >= ls_time)
+			{
+				// We subtract the leap second when going from gpst to utc
+				utc_time = utc_time - boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
+				break;
+			}
+		}
+
 	return utc_time;
 }
 
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index 74f7b1262..f061a93f4 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -156,7 +156,7 @@ public:
     /*!
      *  \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
      */
-    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1C");
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1G");
 
     /*!
      *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 4e97fe121..28c634ff3 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -89,8 +89,12 @@ const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/
 const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;
 const int GLONASS_L1_CA_NBR_SATS             = 24; // STRING DATA WITHOUT PREAMBLE
 
-//FIXME Probably should use leap seconds definitions of rtklib
-const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
+/*!
+ * \brief Record of leap seconds definition for GLOT to GPST conversion and vice versa
+ * \details Each entry is defined by an array of 7 elements consisting of yr,month,day,hr,min,sec,utc-gpst
+ * \note Ideally should use leap seconds definitions of rtklib
+ */
+const double GLONASS_LEAP_SECONDS[19][7] = {
         {2017, 1, 1, 0, 0, 0, -18},
         {2015, 7, 1, 0, 0, 0, -17},
         {2012, 7, 1, 0, 0, 0, -16},
@@ -112,7 +116,7 @@ const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gp
         {}
 };
 
-// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
+//!< GLONASS SV's orbital slots PRN = (orbital_slot - 1)
 const std::map<unsigned int, int> GLONASS_PRN =
                                                {{ 0, 8,},  //For test
                                                 { 1, 1,},  //Plane 1
@@ -134,7 +138,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
                                                 {17, 4,},  //Plane 3
                                                 {18,-3,},  //Plane 3
                                                 {19, 3,},  //Plane 3
-                                                {20, -5,},  //Plane 3
+                                                {20,-5,},  //Plane 3
                                                 {21, 4,},  //Plane 3
                                                 {22,-3,},  //Plane 3
                                                 {23, 3,},  //Plane 3
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 2ac9294db..6cd530c59 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -124,28 +124,32 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 	boost::posix_time::time_duration t(0, 0, tod);
 	boost::gregorian::date d1(d_yr, 1, 1);
 	boost::gregorian::days d2(d_N_T-1);
-	boost::posix_time::ptime glonass_time(d1+d2, t);
-	boost::gregorian::date utc_date = glonass_time.date();
+	boost::posix_time::ptime utc_time(d1+d2, t);
+	boost::gregorian::date utc_date = utc_time.date();
+	boost::posix_time::ptime gps_time;
+
+	// Adjust for leap second correction
+	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+		{
+			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+			boost::posix_time::ptime ls_time(d3, t3);
+			if (utc_time >= ls_time)
+			{
+				// We add the leap second when going from utc to gpst
+				gps_time = utc_time + boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
+				break;
+			}
+		}
 
 	// Total number of days
-	std::string fdat = boost::posix_time::to_simple_string(glonass_time);
+	std::string fdat = boost::posix_time::to_simple_string(gps_time);
 	days =  static_cast<double>((utc_date - gps_epoch).days());
 
 	// Total number of seconds
-	sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
+	sec_of_day = static_cast<double>((gps_time.time_of_day()).total_seconds());
 	total_sec = days*86400 + sec_of_day;
 
-	// GLONASST already includes leap second addition or deletion
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-	{
-		if (d_yr >= GLONASS_LEAP_SECONDS[i][0])
-		{
-			// We add the leap second when going from utc to gpst
-			total_sec += fabs(GLONASS_LEAP_SECONDS[i][6]);
-			break;
-		}
-	}
-
 	// Compute Week number
 	*wn = floor(total_sec/604800);
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
index 33ed3965c..ceb2d8373 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
@@ -95,8 +95,9 @@ TEST(RinexPrinterTest, GlonassObsHeader)
     const Glonass_Gnav_Ephemeris eph = Glonass_Gnav_Ephemeris();
 
     std::shared_ptr<Rinex_Printer> rp1;
-    rp1 = std::make_shared<Rinex_Printer>();
-    rp1->rinex_obs_header(rp1->obsFile, eph, 0.0);
+    rp1 = std::make_shared<Rinex_Printer>(3);
+    const std::string bands = "1G";
+    rp1->rinex_obs_header(rp1->obsFile, eph, 0.0, bands);
     rp1->obsFile.seekp(0);
 
     while(!rp1->obsFile.eof())
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index da5571399..7026903e2 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -130,7 +130,7 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
     double tow = 0.0;
     double true_leap_sec = 17;
     double true_week = 1886;
-    double true_tow = 259200+true_leap_sec;
+    double true_tow = 259200+true_leap_sec+tod;
 
 	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index 5fabb4676..595b1fa2f 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -172,6 +172,7 @@ TEST(GlonassGnavNavigationMessageTest, String3Decoder)
     gnav_ephemeris.d_Zn         = 19929.2377929688;
 
     // Call target test method
+    gnav_nav_message.flag_ephemeris_str_2 = true;
     gnav_nav_message.string_decoder(str3);
 
     // Perform assertions of decoded fields
@@ -209,6 +210,7 @@ TEST(GlonassGnavNavigationMessageTest, String4Decoder)
     gnav_ephemeris.d_M = 1;
 
     // Call target test method
+    gnav_nav_message.flag_ephemeris_str_3 = true;
     gnav_nav_message.string_decoder(str4);
 
     // Perform assertions of decoded fields
@@ -243,6 +245,7 @@ TEST(GlonassGnavNavigationMessageTest, String5Decoder)
     gnav_utc_model.d_tau_gps    = 9.313225746154785e-08;
 
     // Call target test method
+    gnav_nav_message.flag_ephemeris_str_4 = true;
     gnav_nav_message.string_decoder(str5);
 
     // Perform assertions of decoded fields

From 78eaa76a6097a6a663002fd784077d7388382a2f Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 27 Dec 2017 11:57:25 -0700
Subject: [PATCH 323/379] glonass rinex: Bug fixes in RINEX formats 2.11 and
 3.02

Fixes a couple of bugs for RINEX file generation depending on the
active version to be use.
---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        |   6 +-
 conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf    |   8 +-
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf            |   2 +-
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |  22 +-
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.h       |   1 +
 src/algorithms/PVT/libs/rinex_printer.cc      | 881 +++++++++++-------
 src/algorithms/PVT/libs/rinex_printer.h       |   7 +
 7 files changed, 566 insertions(+), 361 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index e5e3e4d3a..4d51b83a1 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -55,7 +55,7 @@ Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=25.0;
 Tracking_1G.dll_bw_hz=3.0;
-Tracking_1G.dump=true;
+Tracking_1G.dump=false;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
@@ -63,7 +63,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
-Observables.dump=true;
+Observables.dump=false;
 Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
@@ -80,4 +80,4 @@ PVT.rtcm_MT1019_rate_ms=5000
 PVT.rtcm_MT1045_rate_ms=5000
 PVT.rtcm_MT1097_rate_ms=1000
 PVT.rtcm_MT1077_rate_ms=1000
-PVT.rinex_version=2
+PVT.rinex_version=3
diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
index 0435d6ff2..ffabae821 100644
--- a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
@@ -107,7 +107,7 @@ Tracking_1C.if=0
 Tracking_1C.early_late_space_chips=0.5
 Tracking_1C.pll_bw_hz=20.0;
 Tracking_1C.dll_bw_hz=2.0;
-Tracking_1C.dump=true;
+Tracking_1C.dump=false;
 Tracking_1C.dump_filename=/archive/gps_tracking_ch_
 
 Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
@@ -125,7 +125,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
-Observables.dump=true;
+Observables.dump=false;
 Observables.dump_filename=/archive/gnss_observables.dat
 
 ;######### PVT CONFIG ############
@@ -133,7 +133,7 @@ PVT.implementation=RTKLIB_PVT
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
 PVT.trop_model=Saastamoinen
-PVT.flag_rtcm_server=true
+PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
 PVT.rtcm_tcp_port=2101
@@ -141,4 +141,4 @@ PVT.rtcm_MT1019_rate_ms=5000
 PVT.rtcm_MT1045_rate_ms=5000
 PVT.rtcm_MT1097_rate_ms=1000
 PVT.rtcm_MT1077_rate_ms=1000
-PVT.rinex_version=2
+PVT.rinex_version=3
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
index 9de3c4e6b..d2d501308 100644
--- a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -90,4 +90,4 @@ PVT.rtcm_MT1019_rate_ms=5000
 PVT.rtcm_MT1045_rate_ms=5000
 PVT.rtcm_MT1097_rate_ms=1000
 PVT.rtcm_MT1077_rate_ms=1000
-PVT.rinex_version=2
+PVT.rinex_version=3
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 6c2936e21..6583fede1 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -345,7 +345,8 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
 
     b_rinex_header_written = false;
     b_rinex_header_updated = false;
-    rp = std::make_shared<Rinex_Printer>(rinex_version);
+    d_rinex_version = rinex_version;
+    rp = std::make_shared<Rinex_Printer>(d_rinex_version);
 
     d_last_status_print_seg = 0;
 
@@ -874,7 +875,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             std::string glo_signal("1G");
                                                             rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
-                                                            rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            if(d_rinex_version == 3)
+                                                            	rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono,  d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                            if(d_rinex_version == 2)
+																{
+                                                            		rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
+                                                            		rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
+																}
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
@@ -924,7 +931,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         }
                                                     if(type_of_rx == 26) //  GPS L1 C/A + GLONASS L1 C/A
                                                         {
-                                                            rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
+                                                    		if(d_rinex_version == 3)
+                                                    			rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
+															if(d_rinex_version == 2)
+																{
+																	rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
+																	rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
+																}
+
                                                         }
                                                     if(type_of_rx == 27) //  Galileo E1B + GLONASS L1 C/A
                                                         {
@@ -1099,7 +1113,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
                                                                 {
-                                                                    rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
+                                                            		rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
                                                                 }
                                                             if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
                                                                 {
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
index a46d26180..7e71b21a0 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
@@ -98,6 +98,7 @@ private:
     bool d_dump;
     bool b_rinex_header_written;
     bool b_rinex_header_updated;
+    double d_rinex_version;
     bool b_rtcm_writing_started;
     int d_rtcm_MT1045_rate_ms;    //!< Galileo Broadcast Ephemeris
     int d_rtcm_MT1019_rate_ms;    //!< GPS Broadcast Ephemeris (orbits)
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 0a14e63cb..0e1bc7245 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -3038,8 +3038,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Eph
 
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
 {
-    version = 3;
-    stringVersion = "3.02";
     Rinex_Printer::log_rinex_nav(out, gps_eph_map);
     Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
 }
@@ -3199,19 +3197,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    if (version == 2)
-        {
-            // --------- WAVELENGHT FACTOR
-            // put here real data!
-            line.clear();
-            line +=Rinex_Printer::rightJustify("1",6);
-            line +=Rinex_Printer::rightJustify("1",6);
-            line += std::string(48, ' ');
-            line += Rinex_Printer::leftJustify("WAVELENGTH FACT L1/2", 20);
-            Rinex_Printer::lengthCheck(line);
-            out << line << std::endl;
-        }
-
+    // -------- SYS / OBS TYPES
     if (version == 3)
         {
             // -------- SYS / OBS TYPES
@@ -3266,7 +3252,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
         }
-
     if (version == 2)
         {
             // -------- SYS / OBS TYPES
@@ -3293,6 +3278,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
             out << line << std::endl;
         }
 
+    // -------- Signal Strength units (Only version 3)
     if (version == 3)
         {
             // -------- Signal Strength units
@@ -3314,7 +3300,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     std::string minutes (timestring, 11, 2);
     double intpart = 0;
     double seconds = p_utc_time.time_of_day().seconds() + modf (d_TOW_first_observation , &intpart);
-
     line.clear();
     line += Rinex_Printer::rightJustify(year, 6);
     line += Rinex_Printer::rightJustify(month, 6);
@@ -3328,50 +3313,52 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    // -------- SYS /PHASE SHIFTS
-    // -------- GLONASS SLOT / FRQ #
-    line.clear();
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3);
-    line += std::string(1, ' ');
+    // -------- GLONASS SLOT / FRQ # (On;y version 3)
+    if (version == 3)
+        {
+			// -------- GLONASS SLOT / FRQ #
+    		// TODO Need to provide system with list of all satellites and update this accordingly
+			line.clear();
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+			line += std::string(1, ' ');
+			line += satelliteSystem["GLONASS"];
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+			line += std::string(1, ' ');
+			line += std::string(60-line.size(), ' ');
+			line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
 
-    // TODO Add this here, we need to know all satellites in system to get this done
-    line += satelliteSystem["GLONASS"];
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-    line += std::string(1, ' ');
-    line += std::string(60-line.size(), ' ');
-    line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
-
-    // -------- GLONASS CODE/PHS/BIS
-    // TODO This needs more study, not really suer on what those values are. Setting it to zero to advance in code.
-    line.clear();
-    line += std::string(1, ' ');
-    line += observationType["PSEUDORANGE"];
-    line += observationCode["GLONASS_G1_CA"];
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-    line += std::string(1, ' ');
-    line += observationType["PSEUDORANGE"];
-    line += observationCode["GLONASS_G1_P"];
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-    line += std::string(1, ' ');
-    line += observationType["PSEUDORANGE"];
-    line += observationCode["GLONASS_G2_CA"];
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-    line += std::string(1, ' ');
-    line += observationType["PSEUDORANGE"];
-    line += observationCode["GLONASS_G2_P"];
-    line += std::string(1, ' ');
-    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-    line += std::string(60-line.size(), ' ');
-    line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+			// -------- GLONASS CODE/PHS/BIS
+			// No GLONASS Phase bias correction used to align code and phase observations.
+			line.clear();
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G1_CA"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G1_P"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G2_CA"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G2_P"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(60-line.size(), ' ');
+			line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+        }
 
     // -------- END OF HEADER
     line.clear();
@@ -3386,11 +3373,10 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
     std::string line;
-    version = 3;
 
     // -------- Line 1
     line = std::string(5, ' ');
-    line += "3.02";
+    line += stringVersion;
     line += std::string(11, ' ');
     line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
     line += satelliteSystem["Mixed"];
@@ -3416,7 +3402,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 
     // -------- Line COMMENT
     line.clear();
-    line += Rinex_Printer::leftJustify("MIXED (GPS/GLONASS) OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("MIXED (GPS/GLO) OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
     line += Rinex_Printer::leftJustify("COMMENT", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
@@ -3520,100 +3506,127 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     out << line << std::endl;
 
     // -------- SYS / OBS TYPES
-    // one line per available system
-    line.clear();
-    line += satelliteSystem["GPS"];
-    line += std::string(2, ' ');
-    std::stringstream strm;
-    numberTypesObservations = 4;
-    strm << numberTypesObservations;
-    line += Rinex_Printer::rightJustify(strm.str(), 3);
-    // per type of observation
-    // GPS L1 PSEUDORANGE
-    line += std::string(1, ' ');
-    line += observationType["PSEUDORANGE"];
-    line += observationCode["GPS_L1_CA"];
-    // GPS L1 PHASE
-    line += std::string(1, ' ');
-    line += observationType["CARRIER_PHASE"];
-    line += observationCode["GPS_L1_CA"];
-    // GPS DOPPLER L1
-    line += std::string(1, ' ');
-    line += observationType["DOPPLER"];
-    line += observationCode["GPS_L1_CA"];
-    // GPS L1 CA SIGNAL STRENGTH
-    line += std::string(1, ' ');
-    line += observationType["SIGNAL_STRENGTH"];
-    line += observationCode["GPS_L1_CA"];
-    line += std::string(60-line.size(), ' ');
-    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+    if(version == 3)
+		{
+			// one line per available system
+			line.clear();
+			line += satelliteSystem["GPS"];
+			line += std::string(2, ' ');
+			std::stringstream strm;
+			numberTypesObservations = 4;
+			strm << numberTypesObservations;
+			line += Rinex_Printer::rightJustify(strm.str(), 3);
+			// per type of observation
+			// GPS L1 PSEUDORANGE
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GPS_L1_CA"];
+			// GPS L1 PHASE
+			line += std::string(1, ' ');
+			line += observationType["CARRIER_PHASE"];
+			line += observationCode["GPS_L1_CA"];
+			// GPS DOPPLER L1
+			line += std::string(1, ' ');
+			line += observationType["DOPPLER"];
+			line += observationCode["GPS_L1_CA"];
+			// GPS L1 CA SIGNAL STRENGTH
+			line += std::string(1, ' ');
+			line += observationType["SIGNAL_STRENGTH"];
+			line += observationCode["GPS_L1_CA"];
+			line += std::string(60-line.size(), ' ');
+			line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
 
-    // Find GLONASS Signal in Mixed file
-    unsigned int number_of_observations_glo = 0;
-    std::string signal_("1G");
-    std::size_t found_1C = glonass_bands.find(signal_);
-    if(found_1C != std::string::npos)
+			// Find GLONASS Signal in Mixed file
+			unsigned int number_of_observations_glo = 0;
+			std::string signal_("1G");
+			std::size_t found_1C = glonass_bands.find(signal_);
+			if(found_1C != std::string::npos)
+				{
+					number_of_observations_glo = number_of_observations_glo + 4;
+				}
+			signal_ = "2G";
+			std::size_t found_2C = glonass_bands.find(signal_);
+			if(found_2C != std::string::npos)
+				{
+					number_of_observations_glo = number_of_observations_glo + 4;
+				}
+			line.clear();
+			line += satelliteSystem["GLONASS"];
+			line += std::string(2, ' ');
+			line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+			if(found_1C != std::string::npos)
+				{
+					line += std::string(1, ' ');
+					line += observationType["PSEUDORANGE"];
+					line += observationCode["GLONASS_G1_CA"];
+					line += std::string(1, ' ');
+					line += observationType["CARRIER_PHASE"];
+					line += observationCode["GLONASS_G1_CA"];
+					line += std::string(1, ' ');
+					line += observationType["DOPPLER"];
+					line += observationCode["GLONASS_G1_CA"];
+					line += std::string(1, ' ');
+					line += observationType["SIGNAL_STRENGTH"];
+					line += observationCode["GLONASS_G1_CA"];
+				}
+			if(found_2C != std::string::npos)
+				{
+					line += std::string(1, ' ');
+					line += observationType["PSEUDORANGE"];
+					line += observationCode["GLONASS_G2_CA"];
+					line += std::string(1, ' ');
+					line += observationType["CARRIER_PHASE"];
+					line += observationCode["GLONASS_G2_CA"];
+					line += std::string(1, ' ');
+					line += observationType["DOPPLER"];
+					line += observationCode["GLONASS_G2_CA"];
+					line += std::string(1, ' ');
+					line += observationType["SIGNAL_STRENGTH"];
+					line += observationCode["GLONASS_G2_CA"];
+				}
+			line += std::string(60-line.size(), ' ');
+			line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
+    if(version == 2)
         {
-            number_of_observations_glo = number_of_observations_glo + 4;
-        }
-    signal_ = "2G";
-    std::size_t found_2C = glonass_bands.find(signal_);
-    if(found_2C != std::string::npos)
-        {
-            number_of_observations_glo = number_of_observations_glo + 4;
+            // -------- SYS / OBS TYPES
+            line.clear();
+            std::stringstream strm;
+            strm << numberTypesObservations;
+            line += Rinex_Printer::rightJustify(strm.str(), 6);
+            // per type of observation
+            // GLONASS L1 C/A PSEUDORANGE
+            line += Rinex_Printer::rightJustify(observationType["PSEUDORANGE_CA_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            // GLONASS L1 PHASE
+            line += Rinex_Printer::rightJustify(observationType["CARRIER_PHASE_CA_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            // GLONASS DOPPLER L1
+            line += Rinex_Printer::rightJustify(observationType["DOPPLER_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            // GLONASS L1 SIGNAL STRENGTH
+            line += Rinex_Printer::rightJustify(observationType["SIGNAL_STRENGTH_v2"], 5);
+            line += observationCode["GLONASS_G1_CA_v2"];
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("# / TYPES OF OBSERV", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
         }
 
-    line.clear();
-    line += satelliteSystem["GLONASS"];
-    line += std::string(2, ' ');
-    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
-
-    if(found_1C != std::string::npos)
-        {
-            line += std::string(1, ' ');
-            line += observationType["PSEUDORANGE"];
-            line += observationCode["GLONASS_G1_CA"];
-            line += std::string(1, ' ');
-            line += observationType["CARRIER_PHASE"];
-            line += observationCode["GLONASS_G1_CA"];
-            line += std::string(1, ' ');
-            line += observationType["DOPPLER"];
-            line += observationCode["GLONASS_G1_CA"];
-            line += std::string(1, ' ');
-            line += observationType["SIGNAL_STRENGTH"];
-            line += observationCode["GLONASS_G1_CA"];
-        }
-
-    if(found_2C != std::string::npos)
-        {
-            line += std::string(1, ' ');
-            line += observationType["PSEUDORANGE"];
-            line += observationCode["GLONASS_G2_CA"];
-            line += std::string(1, ' ');
-            line += observationType["CARRIER_PHASE"];
-            line += observationCode["GLONASS_G2_CA"];
-            line += std::string(1, ' ');
-            line += observationType["DOPPLER"];
-            line += observationCode["GLONASS_G2_CA"];
-            line += std::string(1, ' ');
-            line += observationType["SIGNAL_STRENGTH"];
-            line += observationCode["GLONASS_G2_CA"];
-        }
-
-    line += std::string(60-line.size(), ' ');
-    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
-
-    // -------- Signal Strength units
-    line.clear();
-    line += Rinex_Printer::leftJustify("DBHZ", 20);
-    line += std::string(40, ' ');
-    line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+    // -------- Signal Strength units (only version 3)
+    if(version == 3)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("DBHZ", 20);
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
 
     // -------- TIME OF FIRST OBS
     line.clear();
@@ -3638,6 +3651,53 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
+    // -------- GLONASS SLOT / FRQ # (On;y version 3)
+    if (version == 3)
+        {
+			// -------- GLONASS SLOT / FRQ #
+    		// TODO Need to provide system with list of all satellites and update this accordingly
+			line.clear();
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+			line += std::string(1, ' ');
+			line += satelliteSystem["GLONASS"];
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+			line += std::string(1, ' ');
+			line += std::string(60-line.size(), ' ');
+			line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+
+			// -------- GLONASS CODE/PHS/BIS
+			// No GLONASS Phase bias correction used to align code and phase observations.
+			line.clear();
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G1_CA"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G1_P"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G2_CA"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G2_P"];
+			line += std::string(1, ' ');
+			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+			line += std::string(60-line.size(), ' ');
+			line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+        }
+
     // -------- end of header
     line.clear();
     line += std::string(60, ' ');
@@ -5670,6 +5730,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
     std::string line;
 
+    // -------- EPOCH record
     boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
     std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
     //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
@@ -5681,221 +5742,303 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
     std::string hour (timestring, 9, 2);
     std::string minutes (timestring, 11, 2);
 
-    std::string year (timestring, 0, 4);
-    line += std::string(1, '>');
-    line += std::string(1, ' ');
-    line += year;
-    line += std::string(1, ' ');
-    line += month;
-    line += std::string(1, ' ');
-    line += day;
-    line += std::string(1, ' ');
-    line += hour;
-    line += std::string(1, ' ');
-    line += minutes;
-
-    line += std::string(1, ' ');
-    double seconds = fmod(gps_t, 60);
-    // Add extra 0 if seconds are < 10
-    if (seconds < 10)
+    if (version == 2)
         {
-            line +=std::string(1, '0');
-        }
-    line += Rinex_Printer::asString(seconds, 7);
-    line += std::string(2, ' ');
-    // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
-    line += std::string(1, '0');
-
-    //Number of satellites observed in current epoch
-
-    //Get maps with observations
-    std::map<int, Gnss_Synchro> observablesG1C;
-    std::map<int, Gnss_Synchro> observablesR1C;
-    std::map<int, Gnss_Synchro> observablesR2C;
-    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
-
-    for(observables_iter = observables.begin();
-            observables_iter != observables.end();
-            observables_iter++)
-        {
-            std::string system_(&observables_iter->second.System, 1);
-            std::string sig_(observables_iter->second.Signal);
-            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+            line.clear();
+            std::string year (timestring, 2, 2);
+            line += std::string(1, ' ');
+            line += year;
+            line += std::string(1, ' ');
+            if (month.compare(0, 1 , "0") == 0)
                 {
-                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-                }
-            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
-                {
-                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-                }
-            if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
-                {
-                    observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-                }
-        }
-
-    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
-    std::set<unsigned int> available_glo_prns;
-    std::set<unsigned int>::iterator it;
-    for(observables_iter = observablesR1C.begin();
-            observables_iter != observablesR1C.end();
-            observables_iter++)
-        {
-            unsigned int prn_ = observables_iter->second.PRN;
-            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-            it = available_glo_prns.find(prn_);
-            if(it == available_glo_prns.end())
-                {
-                    available_glo_prns.insert(prn_);
-                }
-        }
-
-    for(observables_iter = observablesR2C.begin();
-            observables_iter != observablesR2C.end();
-            observables_iter++)
-        {
-            unsigned int prn_ = observables_iter->second.PRN;
-            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-            it = available_glo_prns.find(prn_);
-            if(it == available_glo_prns.end())
-                {
-                    available_glo_prns.insert(prn_);
-                }
-        }
-
-    int numGloSatellitesObserved = available_glo_prns.size();
-    int numGpsSatellitesObserved = observablesG1C.size();
-    int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
-
-    // Receiver clock offset (optional)
-    //line += rightJustify(asString(clockOffset, 12), 15);
-
-    line += std::string(80 - line.size(), ' ');
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
-
-    std::string s;
-    std::string lineObs;
-    for(observables_iter = observablesG1C.begin();
-            observables_iter != observablesG1C.end();
-            observables_iter++)
-        {
-            lineObs.clear();
-
-            s.assign(1, observables_iter->second.System);
-            if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
-            if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
-            if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
-            lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
-
-            //Loss of lock indicator (LLI)
-            int lli = 0; // Include in the observation!!
-            if (lli == 0)
-                {
-                    lineObs += std::string(1, ' ');
+                    line += std::string(1, ' ');
+                    line += month.substr(1, 1);
                 }
             else
                 {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    line += month;
                 }
-
-            // Signal Strength Indicator (SSI)
-            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
-            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-            // PHASE
-            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
-            if (lli == 0)
+            line += std::string(1, ' ');
+            if (day.compare(0, 1 , "0") == 0)
                 {
-                    lineObs += std::string(1, ' ');
+                    line += std::string(1, ' ');
+                    line += day.substr(1, 1);
                 }
             else
                 {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    line += day;
                 }
-            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-            // DOPPLER
-            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
-            if (lli == 0)
+            line += std::string(1, ' ');
+            line += hour;
+            line += std::string(1, ' ');
+            line += minutes;
+            line += std::string(1, ' ');
+            double second_ = fmod(gps_t, 60);
+            if (second_ < 10)
                 {
-                    lineObs += std::string(1, ' ');
+                    line += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
-            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-            // SIGNAL STRENGTH
-            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
-
-            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-            out << lineObs << std::endl;
+            line += Rinex_Printer::asString(second_, 7);
+            line += std::string(2, ' ');
+            // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+            line += std::string(1, '0');
         }
+    if (version == 3)
+    	{
+			std::string year (timestring, 0, 4);
+			line += std::string(1, '>');
+			line += std::string(1, ' ');
+			line += year;
+			line += std::string(1, ' ');
+			line += month;
+			line += std::string(1, ' ');
+			line += day;
+			line += std::string(1, ' ');
+			line += hour;
+			line += std::string(1, ' ');
+			line += minutes;
 
-    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
-    for(it = available_glo_prns.begin();
-            it != available_glo_prns.end();
-            it++)
-        {
-            lineObs.clear();
-            lineObs += satelliteSystem["GLONASS"];
-            if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
-            lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
-            ret = total_glo_map.equal_range(*it);
-            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
-                {
-                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+			line += std::string(1, ' ');
+			double seconds = fmod(gps_t, 60);
+			// Add extra 0 if seconds are < 10
+			if (seconds < 10)
+				{
+					line +=std::string(1, '0');
+				}
+			line += Rinex_Printer::asString(seconds, 7);
+			line += std::string(2, ' ');
+			// Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+			line += std::string(1, '0');
 
-                    //Loss of lock indicator (LLI)
-                    int lli = 0; // Include in the observation!!
-                    if (lli == 0)
-                        {
-                            lineObs += std::string(1, ' ');
-                        }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+    	}
+	//Number of satellites observed in current epoch
+	//Get maps with observations
+	std::map<int, Gnss_Synchro> observablesG1C;
+	std::map<int, Gnss_Synchro> observablesR1C;
+	std::map<int, Gnss_Synchro> observablesR2C;
+	std::map<int, Gnss_Synchro>::const_iterator observables_iter;
 
-                    // Signal Strength Indicator (SSI)
-                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+	for(observables_iter = observables.begin();
+			observables_iter != observables.end();
+			observables_iter++)
+		{
+			std::string system_(&observables_iter->second.System, 1);
+			std::string sig_(observables_iter->second.Signal);
+			if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
+				{
+					observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+				}
+			if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
+				{
+					observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+				}
+			if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
+				{
+					observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+				}
+		}
 
-                    // GLONASS CARRIER PHASE
-                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GALILEO_TWO_PI), 3), 14);
-                    if (lli == 0)
-                        {
-                            lineObs += std::string(1, ' ');
-                        }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+	std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+	std::set<unsigned int> available_glo_prns;
+	std::set<unsigned int>::iterator it;
+	for(observables_iter = observablesR1C.begin();
+			observables_iter != observablesR1C.end();
+			observables_iter++)
+		{
+			unsigned int prn_ = observables_iter->second.PRN;
+			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+			it = available_glo_prns.find(prn_);
+			if(it == available_glo_prns.end())
+				{
+					available_glo_prns.insert(prn_);
+				}
+		}
 
-                    // GLONASS  DOPPLER
-                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
-                    if (lli == 0)
-                        {
-                            lineObs += std::string(1, ' ');
-                        }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+	for(observables_iter = observablesR2C.begin();
+			observables_iter != observablesR2C.end();
+			observables_iter++)
+		{
+			unsigned int prn_ = observables_iter->second.PRN;
+			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+			it = available_glo_prns.find(prn_);
+			if(it == available_glo_prns.end())
+				{
+					available_glo_prns.insert(prn_);
+				}
+		}
 
-                    // GLONASS SIGNAL STRENGTH
-                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
-                }
+	int numGloSatellitesObserved = available_glo_prns.size();
+	int numGpsSatellitesObserved = observablesG1C.size();
+	int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+	if(version == 2)
+	{
+		// Add list of GPS satellites
+		for(observables_iter = observablesG1C.begin();
+							observables_iter != observablesG1C.end();
+							observables_iter++)
+			{
+				line += satelliteSystem["GPS"];
+				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+			}
+		// Add list of GLONASS L1 satellites
+		for(observables_iter = observablesR1C.begin();
+							observables_iter != observablesR1C.end();
+							observables_iter++)
+			{
+				line += satelliteSystem["GLONASS"];
+				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+			}
+		// Add list of GLONASS L2 satellites
+		for(observables_iter = observablesR2C.begin();
+							observables_iter != observablesR2C.end();
+							observables_iter++)
+			{
+				line += satelliteSystem["GLONASS"];
+				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+			}
+	}
+	line += std::string(80 - line.size(), ' ');
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+	// -------- OBSERVATION record
+	std::string s;
+	std::string lineObs;
+	for(observables_iter = observablesG1C.begin();
+			observables_iter != observablesG1C.end();
+			observables_iter++)
+		{
+			lineObs.clear();
+
+			s.assign(1, observables_iter->second.System);
+			if(version == 3)
+				{
+					// Specify system only if in version 3
+					if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+					if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+					if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+					lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+				}
+
+			// Pseudorange Measurements
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+
+			//Loss of lock indicator (LLI)
+			int lli = 0; // Include in the observation!!
+			if (lli == 0)
+				{
+					lineObs += std::string(1, ' ');
+				}
+			else
+				{
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+				}
+
+			// Signal Strength Indicator (SSI)
+			int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+			// PHASE
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+			if (lli == 0)
+				{
+					lineObs += std::string(1, ' ');
+				}
+			else
+				{
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+				}
+			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+			// DOPPLER
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+			if (lli == 0)
+				{
+					lineObs += std::string(1, ' ');
+				}
+			else
+				{
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+				}
+			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+			// SIGNAL STRENGTH
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+
+			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+			out << lineObs << std::endl;
+		}
+
+	std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+	for(it = available_glo_prns.begin();
+			it != available_glo_prns.end();
+			it++)
+		{
+			lineObs.clear();
+			if(version == 3)
+				{
+					lineObs += satelliteSystem["GLONASS"];
+					if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+					lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+				}
+			ret = total_glo_map.equal_range(*it);
+			for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+				{
+					/// \todo Need to account for pseudorange correction for glonass
+					double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+
+					//Loss of lock indicator (LLI)
+					int lli = 0; // Include in the observation!!
+					if (lli == 0)
+						{
+							lineObs += std::string(1, ' ');
+						}
+					else
+						{
+							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+						}
+
+					// Signal Strength Indicator (SSI)
+					int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+					// GLONASS CARRIER PHASE
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+					if (lli == 0)
+						{
+							lineObs += std::string(1, ' ');
+						}
+					else
+						{
+							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+						}
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+					// GLONASS  DOPPLER
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+					if (lli == 0)
+						{
+							lineObs += std::string(1, ' ');
+						}
+					else
+						{
+							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+						}
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+					// GLONASS SIGNAL STRENGTH
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+				}
+
+			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+			out << lineObs << std::endl;
+		}
 
-            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-            out << lineObs << std::endl;
-        }
 }
 
 
@@ -5954,11 +6097,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
         {
             std::string system_(&observables_iter->second.System, 1);
             std::string sig_(observables_iter->second.Signal);
-            if((system_.compare("R") == 0) && (sig_.compare("1C") == 0))
+            if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
                 {
                     observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
                 }
-            if((system_.compare("R") == 0) && (sig_.compare("2C") == 0))
+            if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
                 {
                     observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
                 }
@@ -7431,6 +7574,46 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
 	return utc_time;
 }
 
+double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time)
+{
+    double tod = 0.0;
+	double glot2utc = 3*3600;
+	double obs_time_utc = 0.0, obs_time_glot = 0.0;
+	int i = 0;
+	double leap_second = 0;
+
+	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
+	obs_time_glot = gps_obs_time + glot2utc;
+
+	// Get seconds of day in glonass time
+	tod = fmod (obs_time_glot, 86400);
+
+	// Form date and time duration types
+	boost::posix_time::time_duration t1(0, 0, tod);
+	boost::gregorian::date d1(eph.d_yr, 1, 1);
+	boost::gregorian::days d2(eph.d_N_T-1);
+	boost::posix_time::ptime glo_time(d1 + d2, t1);
+
+	// Convert to utc
+	boost::posix_time::time_duration t2(0, 0, glot2utc);
+	boost::posix_time::ptime utc_time = glo_time - t2;
+
+	// Adjust for leap second correction
+	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+		{
+			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+			boost::posix_time::ptime ls_time(d3, t3);
+			if (utc_time >= ls_time)
+			{
+				// We subtract the leap second when going from gpst to utc
+				leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]);
+				break;
+			}
+		}
+
+	return leap_second;
+}
 /*
 
 enum RINEX_enumMarkerType {
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index f061a93f4..fb6ee27b5 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -202,6 +202,13 @@ public:
 	 */
 	boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
 
+	/*!
+	 *  \brief Computes number of leap seconds of GPS relative to UTC
+	 *  \param eph GLONASS GNAV Ephemeris object
+	 *  \param gps_obs_time Observation time in GPS seconds of week
+	 */
+	double get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time);
+
     /*!
      *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
      */

From 1cc72b810264a9c813f5d0fac399de38a7361dea Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Wed, 27 Dec 2017 19:10:08 -0700
Subject: [PATCH 324/379] glonass: Adding RINEX support for rcv type 28 (GPS
 L2C + GLO L1 C/A)

Adds RINEX support for receiver type 28 which combines GPS L2C and
GLONASS L2C. Fixes a couple of bugs in RINEX file generation and adds
new configuration files for L2C processing
---
 ...ss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf} |   0
 .../gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf | 147 ++++
 src/algorithms/PVT/adapters/rtklib_pvt.cc     |   2 +
 .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc      |  28 +
 src/algorithms/PVT/libs/rinex_printer.cc      | 815 +++++++++++++++++-
 src/algorithms/PVT/libs/rinex_printer.h       |  22 +
 6 files changed, 991 insertions(+), 23 deletions(-)
 rename conf/{gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf => gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf} (100%)
 create mode 100644 conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf

diff --git a/conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
similarity index 100%
rename from conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
rename to conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
diff --git a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf
new file mode 100644
index 000000000..b36bb6e31
--- /dev/null
+++ b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf
@@ -0,0 +1,147 @@
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=6625000
+Receiver.sources_count=2
+SignalSource.repeat=false
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource0.implementation=File_Signal_Source
+SignalSource0.filename=/archive/NT1065_L2_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource0.item_type=ibyte
+SignalSource0.sampling_frequency=6625000
+SignalSource0.samples=0
+SignalSource0.dump=false;
+SignalSource0.dump_filename=/archive/signal_glonass.bin
+
+SignalSource1.implementation=File_Signal_Source
+SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource1.item_type=ibyte
+SignalSource1.sampling_frequency=6625000
+SignalSource1.samples=0
+SignalSource1.dump=false;
+SignalSource1.dump_filename=/archive/signal_glonass.bin
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner0.implementation=Signal_Conditioner
+DataTypeAdapter0.implementation=Ibyte_To_Complex
+InputFilter0.implementation=Freq_Xlating_Fir_Filter
+InputFilter0.item_type=gr_complex
+InputFilter0.output_item_type=gr_complex
+InputFilter0.taps_item_type=float
+InputFilter0.number_of_taps=5
+InputFilter0.number_of_bands=2
+InputFilter0.band1_begin=0.0
+InputFilter0.band1_end=0.70
+InputFilter0.band2_begin=0.80
+InputFilter0.band2_end=1.0
+InputFilter0.ampl1_begin=1.0
+InputFilter0.ampl1_end=1.0
+InputFilter0.ampl2_begin=0.0
+InputFilter0.ampl2_end=0.0
+InputFilter0.band1_error=1.0
+InputFilter0.band2_error=1.0
+InputFilter0.filter_type=bandpass
+InputFilter0.grid_density=16
+InputFilter0.sampling_frequency=6625000
+InputFilter0.IF=60000
+Resampler0.implementation=Direct_Resampler
+Resampler0.sample_freq_in=6625000
+Resampler0.sample_freq_out=6625000
+Resampler0.item_type=gr_complex
+
+SignalConditioner1.implementation=Signal_Conditioner
+DataTypeAdapter1.implementation=Ibyte_To_Complex
+InputFilter1.implementation=Pass_Through
+InputFilter1.item_type=gr_complex
+Resampler1.implementation=Direct_Resampler
+Resampler1.sample_freq_in=6625000
+Resampler1.sample_freq_out=6625000
+Resampler1.item_type=gr_complex
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels.in_acquisition=5
+Channels_2S.count=5
+Channels_1G.count=5
+
+;# Defining GLONASS satellites
+Channel0.RF_channel_ID=0
+Channel0.signal=2S
+Channel1.RF_channel_ID=0
+Channel1.signal=2S
+Channel2.RF_channel_ID=0
+Channel2.signal=2S
+Channel3.RF_channel_ID=0
+Channel3.signal=2S
+Channel4.RF_channel_ID=0
+Channel4.signal=2S
+Channel5.RF_channel_ID=1
+Channel6.RF_channel_ID=1
+Channel7.RF_channel_ID=1
+Channel8.RF_channel_ID=1
+Channel9.RF_channel_ID=1
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
+Acquisition_2S.item_type=gr_complex
+Acquisition_2S.threshold=0.0
+Acquisition_2S.pfa=0.00001
+Acquisition_2S.if=0
+Acquisition_2S.doppler_max=10000
+Acquisition_2S.doppler_step=60
+Acquisition_2S.max_dwells=1
+
+Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1G.item_type=gr_complex
+Acquisition_1G.threshold=0.0
+Acquisition_1G.pfa=0.00001
+Acquisition_1G.if=0
+Acquisition_1G.doppler_max=10000
+Acquisition_1G.doppler_step=250
+Acquisition_1G.dump=false;
+Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
+Tracking_2S.item_type=gr_complex
+Tracking_2S.if=0
+Tracking_2S.early_late_space_chips=0.5
+Tracking_2S.pll_bw_hz=2.0;
+Tracking_2S.dll_bw_hz=0.250;
+Tracking_2S.order=2;
+Tracking_2S.dump=false;
+Tracking_2S.dump_filename=/archive/gps_tracking_ch_
+
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
+Tracking_1G.item_type=gr_complex
+Tracking_1G.if=0
+Tracking_1G.early_late_space_chips=0.5
+Tracking_1G.pll_bw_hz=25.0;
+Tracking_1G.dll_bw_hz=3.0;
+Tracking_1G.dump=true;
+Tracking_1G.dump_filename=/archive/glo_tracking_ch_
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=false;
+Observables.dump_filename=/archive/gnss_observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.trop_model=Saastamoinen
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1045_rate_ms=5000
+PVT.rtcm_MT1097_rate_ms=1000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=3
diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 2dbd59145..08bd7e57b 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -150,6 +150,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
      *    25   |  GLONASS L1 C/A + GLONASS L2 C/A
      *    26   |  GPS L1 C/A + GLONASS L1 C/A
      *    27   |  Galileo E1B + GLONASS L1 C/A
+     *    28   |  GPS L2C + GLONASS L1 C/A
      */
     int gps_1C_count = configuration->property("Channels_1C.count", 0);
     int gps_2S_count = configuration->property("Channels_2S.count", 0);
@@ -187,6 +188,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
     if( (gps_1C_count != 0) && (gps_2S_count == 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
     if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
+    if( (gps_1C_count == 0) && (gps_2S_count != 0)  && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
     //RTKLIB PVT solver options
     // Settings 1
     int positioning_mode = -1;
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 6583fede1..9b6169e50 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -713,6 +713,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                      *    25   |  GLONASS L1 C/A + GLONASS L2 C/A
                                      *    26   |  GPS L1 C/A + GLONASS L1 C/A
                                      *    27   |  Galileo E1B + GLONASS L1 C/A
+                                     *    28   |  GPS L2C + GLONASS L1 C/A
                                      */
 
                                     // ####################### RINEX FILES #################
@@ -896,6 +897,16 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                             b_rinex_header_written = true; // do not write header anymore
                                                         }
                                                 }
+                                            if(type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
+												{
+													if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()) )
+														{
+															std::string glo_signal("1G");
+															rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
+															rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono,  d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+															b_rinex_header_written = true; // do not write header anymore
+														}
+												}
                                         }
                                     if(b_rinex_header_written) // The header is already written, we can now log the navigation message data
                                         {
@@ -944,6 +955,10 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                         {
                                                             rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->galileo_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
                                                         }
+                                                    if(type_of_rx == 28) //  GPS L2C + GLONASS L1 C/A
+														{
+															rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_cnav_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
+														}
                                                 }
                                             galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
                                             gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
@@ -1136,6 +1151,19 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                                                     b_rinex_header_updated = true; // do not write header anymore
                                                                 }
                                                         }
+                                                    if(type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
+                                                        {
+                                                            if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
+                                                                {
+                                                            		rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
+                                                                }
+                                                            if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
+                                                                {
+                                                                    rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
+                                                                    rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono,  d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
+                                                                    b_rinex_header_updated = true; // do not write header anymore
+                                                                }
+                                                        }
                                                 }
                                         }
 
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 0e1bc7245..4a53b2525 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -642,6 +642,127 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
     out << line << std::endl;
 }
 
+void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
+    std::string line;
+    stringVersion = "3.02";
+    version = 3;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += stringVersion;
+    line += std::string(11, ' ');
+    line += std::string("N: GNSS NAV DATA");
+    line += std::string(4, ' ');
+    line += std::string("M: MIXED");
+    line += std::string(12, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line ionospheric info 1
+    line.clear();
+    line += std::string("GPSA");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha0, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha1, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha2, 10, 2), 12);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha3, 10, 2), 12);
+    line += std::string(7, ' ');
+    line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 1
+    line.clear();
+    line += std::string("GLUT");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 2
+    line.clear();
+    line += std::string("GLGP");
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line system time correction 3
+    line.clear();
+    line += std::string("GPUT");
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_t_OT), 7);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_T + 1024), 5);  // valid until 2019
+    line += std::string(10, ' ');
+    line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+
+    // -------- Line 6 leap seconds
+    // For leap second information, see http://www.endruntechnologies.com/leap.htm
+    line.clear();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LS), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LSF), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_LSF), 6);
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_DN), 6);
+    line += std::string(36, ' ');
+    line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- End of Header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
 
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
@@ -753,7 +874,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
     out << line << std::endl;
 }
 
-
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::string line;
@@ -862,7 +982,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono
     out << line << std::endl;
 }
 
-
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono & iono, const Gps_CNAV_Utc_Model & utc_model)
 {
     std::string line;
@@ -978,7 +1097,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono & io
     out << line << std::endl;
 }
 
-
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model)
 {
     std::string line;
@@ -1157,7 +1275,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
     out << line << std::endl;
 }
 
-
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::string line;
@@ -1399,7 +1516,6 @@ void Rinex_Printer::rinex_sbs_header(std::fstream& out)
 }
 
 
-
 void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@@ -1473,7 +1589,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_
     std::cout << "The RINEX Navigation file header has been updated with UTC info." << std::endl;
 }
 
-
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::vector<std::string> data;
@@ -1569,7 +1684,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
     std::cout << "The RINEX Navigation file header has been updated with UTC and IONO info." << std::endl;
 }
 
-
 void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Utc_Model& utc_model, const Gps_Iono& iono)
 {
     std::vector<std::string> data;
@@ -2054,6 +2168,112 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
 }
 
 
+void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
+{
+    if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
+    std::vector<std::string> data;
+    std::string line_aux;
+
+    long pos = out.tellp();
+    out.seekp(0);
+    data.clear();
+
+    bool no_more_finds = false;
+    std::string line_str;
+
+    while(!out.eof())
+        {
+            std::getline(out, line_str);
+
+            if(!no_more_finds)
+                {
+                    line_aux.clear();
+
+                    if (line_str.find("GPSA", 0) != std::string::npos)
+                        {
+                            line_aux += std::string("GPSA");
+                            line_aux += std::string(1, ' ');
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha0, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha1, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha2, 10, 2), 12);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha3, 10, 2), 12);
+                            line_aux += std::string(7, ' ');
+                            line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GPUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GPUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_t_OT), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_T + 1024), 5);  // valid until 2019
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GLUT", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLUT");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if ((line_str.find("GLGP", 0) != std::string::npos) && (line_str.find("TIME SYSTEM CORR", 59) != std::string::npos))
+                        {
+                            line_aux += std::string("GLGP");
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 18);
+                            line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+                            line_aux += std::string(10, ' ');
+                            line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
+                        {
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LS), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LSF), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_LSF), 6);
+                            line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_DN), 6);
+                            line_aux += std::string(36, ' ');
+                            line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
+                            data.push_back(line_aux);
+                        }
+                    else if (line_str.find("END OF HEADER", 59) != std::string::npos)
+                        {
+                            data.push_back(line_str);
+                            no_more_finds = true;
+                        }
+                    else
+                        {
+                            data.push_back(line_str);
+                        }
+
+                }
+            else
+                {
+                    data.push_back(line_str);
+                }
+        }
+
+    out.close();
+    out.open(navMixfilename, std::ios::out | std::ios::trunc);
+    out.seekp(0);
+    for (int i = 0; i < (int) data.size() - 1; i++)
+        {
+            out << data[i] << std::endl;
+        }
+    out.close();
+    out.open(navMixfilename, std::ios::out | std::ios::app);
+    out.seekp(pos);
+    std::cout << "The RINEX Navigation file header has been updated with UTC and IONO info." << std::endl;
+}
+
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@@ -3042,6 +3262,11 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Eph
     Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
 }
 
+void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
+{
+    Rinex_Printer::log_rinex_nav(out, gps_eph_map);
+    Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
+}
 
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
 {
@@ -3211,11 +3436,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
             line += Rinex_Printer::rightJustify(strm.str(), 3);
 
             std::string signal_ = "1G";
-            std::size_t found_1C = glonass_bands.find(signal_);
+            std::size_t found_1G = glonass_bands.find(signal_);
             signal_ = "2G";
-            std::size_t found_2C = glonass_bands.find(signal_);
+            std::size_t found_2G = glonass_bands.find(signal_);
 
-            if(found_1C != std::string::npos)
+            if(found_1G != std::string::npos)
                 {
                     line += std::string(1, ' ');
                     line += observationType["PSEUDORANGE"];
@@ -3231,7 +3456,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
                     line += observationCode["GLONASS_G1_CA"];
                 }
 
-            if(found_2C != std::string::npos)
+            if(found_2G != std::string::npos)
                 {
                     line += std::string(1, ' ');
                     line += observationType["PSEUDORANGE"];
@@ -3541,14 +3766,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 			// Find GLONASS Signal in Mixed file
 			unsigned int number_of_observations_glo = 0;
 			std::string signal_("1G");
-			std::size_t found_1C = glonass_bands.find(signal_);
-			if(found_1C != std::string::npos)
+			std::size_t found_1G = glonass_bands.find(signal_);
+			if(found_1G != std::string::npos)
 				{
 					number_of_observations_glo = number_of_observations_glo + 4;
 				}
 			signal_ = "2G";
-			std::size_t found_2C = glonass_bands.find(signal_);
-			if(found_2C != std::string::npos)
+			std::size_t found_2G = glonass_bands.find(signal_);
+			if(found_2G != std::string::npos)
 				{
 					number_of_observations_glo = number_of_observations_glo + 4;
 				}
@@ -3556,7 +3781,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 			line += satelliteSystem["GLONASS"];
 			line += std::string(2, ' ');
 			line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
-			if(found_1C != std::string::npos)
+			if(found_1G != std::string::npos)
 				{
 					line += std::string(1, ' ');
 					line += observationType["PSEUDORANGE"];
@@ -3571,7 +3796,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 					line += observationType["SIGNAL_STRENGTH"];
 					line += observationCode["GLONASS_G1_CA"];
 				}
-			if(found_2C != std::string::npos)
+			if(found_2G != std::string::npos)
 				{
 					line += std::string(1, ' ');
 					line += observationType["PSEUDORANGE"];
@@ -3707,6 +3932,310 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 }
 
 
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glonass_bands)
+{
+    if(glonass_gnav_eph.d_m){} // avoid warning, not needed
+    std::string line;
+
+    // -------- Line 1
+    line = std::string(5, ' ');
+    line += stringVersion;
+    line += std::string(11, ' ');
+    line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
+    line += satelliteSystem["Mixed"];
+    line += std::string(19, ' ');
+    line += std::string("RINEX VERSION / TYPE");
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 2
+    line.clear();
+    line += Rinex_Printer::leftJustify("G = GPS  R = GLONASS  E = GALILEO  S = GEO  M = MIXED", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line 3
+    line.clear();
+    line += Rinex_Printer::getLocalTime();
+    line += std::string("PGM / RUN BY / DATE");
+    line += std::string(1, ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("MIXED (GPS/GLO) OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    std::string gnss_sdr_version(GNSS_SDR_VERSION);
+    line += "GNSS-SDR VERSION ";
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line COMMENT
+    line.clear();
+    line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
+    line += Rinex_Printer::leftJustify("COMMENT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER NAME
+    line.clear();
+    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line OBSERVER / AGENCY
+    line.clear();
+    std::string username;
+    char c_username[20] = {0};
+    int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
+    if (nGet == 0)
+        {
+            username = c_username;
+        }
+    else
+        {
+            username = "UNKNOWN USER";
+        }
+    line += leftJustify(username, 20);
+    line += Rinex_Printer::leftJustify("CTTC", 40); // add flag and property
+    line += Rinex_Printer::leftJustify("OBSERVER / AGENCY", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line  REC / TYPE VERS
+    line.clear();
+    line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
+    line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
+    //line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
+    if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
+    line += Rinex_Printer::leftJustify(gnss_sdr_version, 20);
+    line += Rinex_Printer::leftJustify("REC # / TYPE / VERS", 20);
+    lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("Antenna number", 20);  // add flag and property
+    line += Rinex_Printer::leftJustify("Antenna type", 20);  // add flag and property
+    line += std::string(20, ' ');
+    line += Rinex_Printer::leftJustify("ANT # / TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- APPROX POSITION  (optional for moving platforms)
+    // put here real data!
+    double antena_x = 0.0;
+    double antena_y = 0.0;
+    double antena_z = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- ANTENNA: DELTA H/E/N
+    // put here real data!
+    double antena_h = 0.0;
+    double antena_e = 0.0;
+    double antena_n = 0.0;
+    line.clear();
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_e, 4), 14);
+    line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
+    line += std::string(18, ' ');
+    line += Rinex_Printer::leftJustify("ANTENNA: DELTA H/E/N", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- SYS / OBS TYPES
+    // one line per available system
+	line.clear();
+	line += satelliteSystem["GPS"];
+	line += std::string(2, ' ');
+	std::stringstream strm;
+	numberTypesObservations = 4;
+	strm << numberTypesObservations;
+	line += Rinex_Printer::rightJustify(strm.str(), 3);
+	// per type of observation
+	// GPS L1 PSEUDORANGE
+	line += std::string(1, ' ');
+	line += observationType["PSEUDORANGE"];
+	line += observationCode["GPS_L2_L2CM"];
+	// GPS L1 PHASE
+	line += std::string(1, ' ');
+	line += observationType["CARRIER_PHASE"];
+	line += observationCode["GPS_L2_L2CM"];
+	// GPS DOPPLER L1
+	line += std::string(1, ' ');
+	line += observationType["DOPPLER"];
+	line += observationCode["GPS_L2_L2CM"];
+	// GPS L1 CA SIGNAL STRENGTH
+	line += std::string(1, ' ');
+	line += observationType["SIGNAL_STRENGTH"];
+	line += observationCode["GPS_L2_L2CM"];
+	line += std::string(60-line.size(), ' ');
+	line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+	// Find GLONASS Signal in Mixed file
+	unsigned int number_of_observations_glo = 0;
+	std::string signal_("1G");
+	std::size_t found_1G = glonass_bands.find(signal_);
+	if(found_1G != std::string::npos)
+		{
+			number_of_observations_glo = number_of_observations_glo + 4;
+		}
+	signal_ = "2G";
+	std::size_t found_2G = glonass_bands.find(signal_);
+	if(found_2G != std::string::npos)
+		{
+			number_of_observations_glo = number_of_observations_glo + 4;
+		}
+	line.clear();
+	line += satelliteSystem["GLONASS"];
+	line += std::string(2, ' ');
+	line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+	if(found_1G != std::string::npos)
+		{
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G1_CA"];
+			line += std::string(1, ' ');
+			line += observationType["CARRIER_PHASE"];
+			line += observationCode["GLONASS_G1_CA"];
+			line += std::string(1, ' ');
+			line += observationType["DOPPLER"];
+			line += observationCode["GLONASS_G1_CA"];
+			line += std::string(1, ' ');
+			line += observationType["SIGNAL_STRENGTH"];
+			line += observationCode["GLONASS_G1_CA"];
+		}
+	if(found_2G != std::string::npos)
+		{
+			line += std::string(1, ' ');
+			line += observationType["PSEUDORANGE"];
+			line += observationCode["GLONASS_G2_CA"];
+			line += std::string(1, ' ');
+			line += observationType["CARRIER_PHASE"];
+			line += observationCode["GLONASS_G2_CA"];
+			line += std::string(1, ' ');
+			line += observationType["DOPPLER"];
+			line += observationCode["GLONASS_G2_CA"];
+			line += std::string(1, ' ');
+			line += observationType["SIGNAL_STRENGTH"];
+			line += observationCode["GLONASS_G2_CA"];
+		}
+	line += std::string(60-line.size(), ' ');
+	line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+    // -------- Signal Strength units (only version 3)
+    line.clear();
+	line += Rinex_Printer::leftJustify("DBHZ", 20);
+	line += std::string(40, ' ');
+	line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+
+    // -------- TIME OF FIRST OBS
+    line.clear();
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, d_TOW_first_observation);
+    std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
+    std::string year (timestring, 0, 4);
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+    double gps_t = d_TOW_first_observation;
+    double seconds = fmod(gps_t, 60);
+    line += Rinex_Printer::rightJustify(year, 6);
+    line += Rinex_Printer::rightJustify(month, 6);
+    line += Rinex_Printer::rightJustify(day, 6);
+    line += Rinex_Printer::rightJustify(hour, 6);
+    line += Rinex_Printer::rightJustify(minutes, 6);
+    line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
+    line += Rinex_Printer::rightJustify(std::string("GPS"), 8);
+    line += std::string(9, ' ');
+    line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- GLONASS SLOT / FRQ #
+	// TODO Need to provide system with list of all satellites and update this accordingly
+	line.clear();
+	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+	line += std::string(1, ' ');
+	line += satelliteSystem["GLONASS"];
+	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+	line += std::string(1, ' ');
+	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+	line += std::string(1, ' ');
+	line += std::string(60-line.size(), ' ');
+	line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+	// -------- GLONASS CODE/PHS/BIS
+	// No GLONASS Phase bias correction used to align code and phase observations.
+	line.clear();
+	line += std::string(1, ' ');
+	line += observationType["PSEUDORANGE"];
+	line += observationCode["GLONASS_G1_CA"];
+	line += std::string(1, ' ');
+	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+	line += std::string(1, ' ');
+	line += observationType["PSEUDORANGE"];
+	line += observationCode["GLONASS_G1_P"];
+	line += std::string(1, ' ');
+	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+	line += std::string(1, ' ');
+	line += observationType["PSEUDORANGE"];
+	line += observationCode["GLONASS_G2_CA"];
+	line += std::string(1, ' ');
+	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+	line += std::string(1, ' ');
+	line += observationType["PSEUDORANGE"];
+	line += observationCode["GLONASS_G2_P"];
+	line += std::string(1, ' ');
+	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+	line += std::string(60-line.size(), ' ');
+	line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+
+    // -------- end of header
+    line.clear();
+    line += std::string(60, ' ');
+    line += Rinex_Printer::leftJustify("END OF HEADER", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+}
+
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands, const std::string glonass_bands)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@@ -3929,14 +4458,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     line.clear();
     unsigned int number_of_observations_glo = 0;
     signal_ = "1G";
-    std::size_t found_1C = glonass_bands.find(signal_);
-    if(found_1C != std::string::npos)
+    std::size_t found_1G = glonass_bands.find(signal_);
+    if(found_1G != std::string::npos)
         {
             number_of_observations_glo = number_of_observations_glo + 4;
         }
     signal_ = "2G";
-    std::size_t found_2C = glonass_bands.find(signal_);
-    if(found_2C != std::string::npos)
+    std::size_t found_2G = glonass_bands.find(signal_);
+    if(found_2G != std::string::npos)
         {
             number_of_observations_glo = number_of_observations_glo + 4;
         }
@@ -3945,7 +4474,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     line += std::string(2, ' ');
     line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
 
-    if(found_1C != std::string::npos)
+    if(found_1G != std::string::npos)
         {
             line += std::string(1, ' ');
             line += observationType["PSEUDORANGE"];
@@ -3961,7 +4490,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
             line += observationCode["GLONASS_L1_CA"];
         }
 
-    if(found_2C != std::string::npos)
+    if(found_2G != std::string::npos)
         {
             line += std::string(1, ' ');
             line += observationType["PSEUDORANGE"];
@@ -6042,6 +6571,246 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
 }
 
 
+void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph,  double gps_obs_time, const std::map<int,Gnss_Synchro>& observables)
+{
+    if(glonass_gnav_eph.d_m){} // avoid warning, not needed
+    std::string line;
+
+    // -------- EPOCH record
+    boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
+    std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
+    //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
+    //double gps_t = eph.sv_clock_correction(obs_time);
+    double gps_t = gps_obs_time;
+
+    std::string month (timestring, 4, 2);
+    std::string day (timestring, 6, 2);
+    std::string hour (timestring, 9, 2);
+    std::string minutes (timestring, 11, 2);
+
+    std::string year (timestring, 0, 4);
+	line += std::string(1, '>');
+	line += std::string(1, ' ');
+	line += year;
+	line += std::string(1, ' ');
+	line += month;
+	line += std::string(1, ' ');
+	line += day;
+	line += std::string(1, ' ');
+	line += hour;
+	line += std::string(1, ' ');
+	line += minutes;
+
+	line += std::string(1, ' ');
+	double seconds = fmod(gps_t, 60);
+	// Add extra 0 if seconds are < 10
+	if (seconds < 10)
+		{
+			line +=std::string(1, '0');
+		}
+	line += Rinex_Printer::asString(seconds, 7);
+	line += std::string(2, ' ');
+	// Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+	line += std::string(1, '0');
+
+
+	//Number of satellites observed in current epoch
+	//Get maps with observations
+	std::map<int, Gnss_Synchro> observablesG2S;
+	std::map<int, Gnss_Synchro> observablesR1C;
+	std::map<int, Gnss_Synchro> observablesR2C;
+	std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+
+	for(observables_iter = observables.begin();
+			observables_iter != observables.end();
+			observables_iter++)
+		{
+			std::string system_(&observables_iter->second.System, 1);
+			std::string sig_(observables_iter->second.Signal);
+			if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
+				{
+					observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+				}
+			if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
+				{
+					observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+				}
+			if((system_.compare("G") == 0) && (sig_.compare("2S") == 0))
+				{
+					observablesG2S.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+				}
+		}
+
+	std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+	std::set<unsigned int> available_glo_prns;
+	std::set<unsigned int>::iterator it;
+	for(observables_iter = observablesR1C.begin();
+			observables_iter != observablesR1C.end();
+			observables_iter++)
+		{
+			unsigned int prn_ = observables_iter->second.PRN;
+			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+			it = available_glo_prns.find(prn_);
+			if(it == available_glo_prns.end())
+				{
+					available_glo_prns.insert(prn_);
+				}
+		}
+
+	for(observables_iter = observablesR2C.begin();
+			observables_iter != observablesR2C.end();
+			observables_iter++)
+		{
+			unsigned int prn_ = observables_iter->second.PRN;
+			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+			it = available_glo_prns.find(prn_);
+			if(it == available_glo_prns.end())
+				{
+					available_glo_prns.insert(prn_);
+				}
+		}
+
+	int numGloSatellitesObserved = available_glo_prns.size();
+	int numGpsSatellitesObserved = observablesG2S.size();
+	int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+
+	line += std::string(80 - line.size(), ' ');
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+	// -------- OBSERVATION record
+	std::string s;
+	std::string lineObs;
+	for(observables_iter = observablesG2S.begin();
+			observables_iter != observablesG2S.end();
+			observables_iter++)
+		{
+			lineObs.clear();
+
+			s.assign(1, observables_iter->second.System);
+			// Specify system only if in version 3
+			if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+			if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+			if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+			lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+
+
+			// Pseudorange Measurements
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+
+			//Loss of lock indicator (LLI)
+			int lli = 0; // Include in the observation!!
+			if (lli == 0)
+				{
+					lineObs += std::string(1, ' ');
+				}
+			else
+				{
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+				}
+
+			// Signal Strength Indicator (SSI)
+			int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+			// PHASE
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+			if (lli == 0)
+				{
+					lineObs += std::string(1, ' ');
+				}
+			else
+				{
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+				}
+			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+			// DOPPLER
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+			if (lli == 0)
+				{
+					lineObs += std::string(1, ' ');
+				}
+			else
+				{
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+				}
+			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+			// SIGNAL STRENGTH
+			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+
+			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+			out << lineObs << std::endl;
+		}
+
+	std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+	for(it = available_glo_prns.begin();
+			it != available_glo_prns.end();
+			it++)
+		{
+			lineObs.clear();
+			lineObs += satelliteSystem["GLONASS"];
+			if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+			lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+
+			ret = total_glo_map.equal_range(*it);
+			for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+				{
+					/// \todo Need to account for pseudorange correction for glonass
+					double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+
+					//Loss of lock indicator (LLI)
+					int lli = 0; // Include in the observation!!
+					if (lli == 0)
+						{
+							lineObs += std::string(1, ' ');
+						}
+					else
+						{
+							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+						}
+
+					// Signal Strength Indicator (SSI)
+					int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+					// GLONASS CARRIER PHASE
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+					if (lli == 0)
+						{
+							lineObs += std::string(1, ' ');
+						}
+					else
+						{
+							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+						}
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+					// GLONASS  DOPPLER
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+					if (lli == 0)
+						{
+							lineObs += std::string(1, ' ');
+						}
+					else
+						{
+							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+						}
+					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+					// GLONASS SIGNAL STRENGTH
+					lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+				}
+
+			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+			out << lineObs << std::endl;
+		}
+
+}
+
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int,Gnss_Synchro>& observables)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index fb6ee27b5..ee90ef3a4 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -128,6 +128,11 @@ public:
      */
     void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
+   /*!
+    *  \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
+    */
+    void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_iono, const Gps_CNAV_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+
     /*!
      *  \brief Generates the GPS Observation data header
      */
@@ -168,6 +173,11 @@ public:
      */
     void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
 
+    /*!
+     *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
+     */
+    void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G");
+
     /*!
      *  \brief Generates the SBAS raw data header
      */
@@ -239,6 +249,11 @@ public:
      */
     void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map);
 
+    /*!
+     *  \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map);
+
     /*!
      *  \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
      */
@@ -279,6 +294,11 @@ public:
      */
     void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
 
+    /*!
+     *  \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
     /*!
      *  \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
      */
@@ -306,6 +326,8 @@ public:
 
     void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
+    void update_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_cnav_iono, const Gps_CNAV_Utc_Model & gps_cnav_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+
     void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
 
     void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model);

From fcd24c69daddee9a7b7e8a91b2d18b84173a4404 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 21 Jan 2018 00:30:31 -0200
Subject: [PATCH 325/379] fixbug: initialize the carrier track filter with
 proper value

---
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc   |  8 +++++---
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h    |  1 +
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc   | 16 ++++++++++------
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h    |  2 ++
 4 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index d6569fb81..adedc967a 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -218,6 +218,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
     d_preamble_timestamp_s = 0.0;
 
     d_carrier_frequency_hz = 0.0;
+    d_carrier_doppler_old_hz = 0.0;
 
     //set_min_output_buffer((long int)300);
 }
@@ -270,13 +271,13 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
     // d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
     // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
     // d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
-    d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
+    d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
     d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
     d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
 
 
     // DLL/PLL filter initialization
-    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
     d_code_loop_filter.initialize();    // initialize the code filter
 
     // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@@ -709,6 +710,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
                     // ################## PLL ##########################################################
                     // Update PLL discriminator [rads/Ti -> Secs/Ti]
                     d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
+                    d_carrier_doppler_old_hz = d_carrier_doppler_hz;
                     // Carrier discriminator filter
                     // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
                     // Input [s/Ti] -> output [Hz]
@@ -716,7 +718,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
                     // PLL to DLL assistance [Secs/Ti]
                     d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
                     // code Doppler frequency update
-                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index 1aa7b72bd..fd8c3f181 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -158,6 +158,7 @@ private:
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
     double d_carrier_frequency_hz;
+    double d_carrier_doppler_old_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 197e46379..99ce87e3b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -217,6 +217,10 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
     d_code_error_filt_chips_Ti = 0.0;
     d_preamble_timestamp_s = 0.0;
     d_carr_phase_error_secs_Ti = 0.0;
+
+    d_carrier_frequency_hz = 0.0;
+    d_carrier_doppler_old_hz = 0.0;
+
     //set_min_output_buffer((long int)300);
 }
 
@@ -265,13 +269,13 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
 
     d_acq_code_phase_samples = corrected_acq_phase_samples;
 
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO *  GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
-    // d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+    d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));;
+    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
 
-    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+    d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
 
     // DLL/PLL filter initialization
-    d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
+    d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
     d_code_loop_filter.initialize();    // initialize the code filter
 
     // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@@ -700,7 +704,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
                     // ################## PLL ##########################################################
                     // Update PLL discriminator [rads/Ti -> Secs/Ti]
                     d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
-
+                    d_carrier_doppler_old_hz = d_carrier_doppler_hz;
                     // Carrier discriminator filter
                     // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
                     // Input [s/Ti] -> output [Hz]
@@ -708,7 +712,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
                     // PLL to DLL assistance [Secs/Ti]
                     d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
                     // code Doppler frequency update
-                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
+                    d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 6f83bac0d..5fe82b1b9 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -160,6 +160,8 @@ private:
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
+    double d_carrier_frequency_hz;
+    double d_carrier_doppler_old_hz;
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;

From 786f68a9ca907ab9675c8e3b74902dcf6f156155 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 21 Jan 2018 00:48:57 -0200
Subject: [PATCH 326/379] clean code

---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc        | 2 +-
 src/core/system_parameters/GLONASS_L1_CA.h                      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index c7926ac3b..3b898754f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -580,7 +580,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
         carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
         // New carrier Doppler frequency estimation
         d_carrier_frequency_hz += carr_error_filt_hz;
-        d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+        d_carrier_doppler_hz += carr_error_filt_hz;
         d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
 
         // ################## DLL ##########################################################
diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 28c634ff3..06f1112f3 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -50,7 +50,7 @@ const double GLONASS_FLATTENING             = 1/29825784;           //!< Flatten
 const double GLONASS_GRAVITY                = 97803284;             //!< Equatorial acceleration of gravity [mGal]
 const double GLONASS_GRAVITY_CORRECTION     = 0.87;                 //!< Correction to acceleration of gravity at sea-level due to Atmosphere[мGal]
 const double GLONASS_J2                     = 1082625.75e-9;        //!< Second zonal harmonic of the geopotential
-const double GLONASS_J4                     = -2370.89e-9;          //!<Fourth zonal harmonic of the geopotential
+const double GLONASS_J4                     = -2370.89e-9;          //!< Fourth zonal harmonic of the geopotential
 const double GLONASS_J6                     = 6.08e-9;              //!< Sixth zonal harmonic of the geopotential
 const double GLONASS_J8                     = 1.40e-11;             //!< Eighth zonal harmonic of the geopotential
 const double GLONASS_U0                     = 62636861.4;           //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]

From bd66fd76daf373b7b409c4a5567c8280858e2de3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Sun, 21 Jan 2018 00:56:46 -0200
Subject: [PATCH 327/379] Fix headers

---
 .../adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc         | 2 +-
 .../tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h | 2 +-
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc               | 5 ++---
 .../glonass_l1_ca_dll_pll_c_aid_tracking_cc.h                | 3 +--
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc               | 5 ++---
 .../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h                | 5 ++---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc     | 5 ++---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h      | 5 ++---
 8 files changed, 13 insertions(+), 19 deletions(-)

diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
index 800d1d4bd..2322626e8 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
@@ -1,5 +1,5 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking.cc
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
diff --git a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
index 4cdd59ce6..b62729a5f 100644
--- a/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
+++ b/src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
@@ -1,5 +1,5 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking.h
  * \brief  Interface of an adapter of a DLL+PLL tracking loop block
  * for Glonass L1 C/A to a TrackingInterface
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index adedc967a..3fd0e74cd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -1,7 +1,6 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
- * \brief  Interface of an adapter of a DLL+PLL tracking loop block
- * for Glonass L1 C/A to a TrackingInterface
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+ * \brief  Implementation of a code DLL + carrier PLL tracking block
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
  * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
index fd8c3f181..d928beb29 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -1,7 +1,6 @@
 /*!
  * \file glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
- * \brief  Interface of an adapter of a DLL+PLL tracking loop block
- * for Glonass L1 C/A to a TrackingInterface
+ * \brief  Implementation of a code DLL + carrier PLL tracking block
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
  * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 99ce87e3b..9619167f4 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -1,7 +1,6 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
- * \brief  Interface of an adapter of a DLL+PLL tracking loop block
- * for Glonass L1 C/A to a TrackingInterface
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+ * \brief  Implementation of a code DLL + carrier PLL tracking block
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
  * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 5fe82b1b9..e9424f9c7 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -1,7 +1,6 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
- * \brief  Interface of an adapter of a DLL+PLL tracking loop block
- * for Glonass L1 C/A to a TrackingInterface
+ * \file glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+ * \brief  Implementation of a code DLL + carrier PLL tracking block
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
  * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
index 3b898754f..c2b22a832 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
@@ -1,7 +1,6 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
- * \brief  Interface of an adapter of a DLL+PLL tracking loop block
- * for Glonass L1 C/A to a TrackingInterface
+ * \file glonass_l1_ca_dll_pll_tracking_cc.cc
+ * \brief  Implementation of a code DLL + carrier PLL tracking block
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
  * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
index 3e7a0cb14..641c6f04e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
@@ -1,7 +1,6 @@
 /*!
- * \file glonass_l1_ca_dll_pll_tracking.h
- * \brief  Interface of an adapter of a DLL+PLL tracking loop block
- * for Glonass L1 C/A to a TrackingInterface
+ * \file glonass_l1_ca_dll_pll_tracking_cc.h
+ * \brief  Implementation of a code DLL + carrier PLL tracking block
  * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
  * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com

From 5bdd8fbfaf1124f956f67a2362709714b300d3b4 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 21 Jan 2018 12:36:42 -0700
Subject: [PATCH 328/379] bugfix: Adds frequency number and proper field name
 for RINEX v2.11

---
 src/algorithms/PVT/libs/rinex_printer.cc      | 76 ++++++++++++++-----
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |  1 +
 src/core/system_parameters/gnss_satellite.cc  |  8 +-
 src/core/system_parameters/gnss_satellite.h   |  1 +
 4 files changed, 66 insertions(+), 20 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 4a53b2525..fbb3eb267 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -505,7 +505,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
 			line += Rinex_Printer::rightJustify(month, 6);
 			line += Rinex_Printer::rightJustify(day, 6);
 			line += std::string(3, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
+			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 19, 2), 19);
 			line += std::string(20, ' ');
 			line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
 			Rinex_Printer::lengthCheck(line);
@@ -3348,12 +3348,24 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     out << line << std::endl;
 
     // -------- Line MARKER TYPE
-    line.clear();
-    line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-    line += std::string(40, ' ');
-    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+    if (version == 2)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
+	if (version == 3)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
 
     // -------- Line OBSERVER / AGENCY
     line.clear();
@@ -3648,12 +3660,25 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    // -------- Line MARKER NAME
-    line.clear();
-    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+    // -------- Line MARKER NAME / TYPE
+    if (version == 2)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
+	if (version == 3)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
 
     // -------- Line MARKER TYPE
     line.clear();
@@ -3987,11 +4012,24 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- Line MARKER NAME
-    line.clear();
-    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
+    if (version == 2)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
+	if (version == 3)
+		{
+			line.clear();
+			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+			line += std::string(40, ' ');
+			line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+			Rinex_Printer::lengthCheck(line);
+			out << line << std::endl;
+		}
 
     // -------- Line MARKER TYPE
     line.clear();
@@ -4294,7 +4332,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     // -------- Line MARKER NAME
     line.clear();
     line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 8ba984873..846b3cd26 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -200,6 +200,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     if (d_nav.have_new_ephemeris() == true)
         {
             // get object for this SV (mandatory)
+    	 	d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
             LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;
diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc
index 4f96af9f5..24e08cba0 100644
--- a/src/core/system_parameters/gnss_satellite.cc
+++ b/src/core/system_parameters/gnss_satellite.cc
@@ -223,7 +223,13 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
 }
 
 
-
+signed int Gnss_Satellite::get_rf_link() const
+{
+    // Get satellite's rf link. Identifies the GLONASS Frequency Channel
+    signed int rf_link_;
+    rf_link_ = rf_link;
+    return rf_link_;
+}
 
 
 unsigned int Gnss_Satellite::get_PRN() const
diff --git a/src/core/system_parameters/gnss_satellite.h b/src/core/system_parameters/gnss_satellite.h
index 1db5691c2..0b7690da2 100644
--- a/src/core/system_parameters/gnss_satellite.h
+++ b/src/core/system_parameters/gnss_satellite.h
@@ -52,6 +52,7 @@ public:
     ~Gnss_Satellite();                         //!< Default Destructor.
     void update_PRN(unsigned int PRN);       	 //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
     unsigned int get_PRN() const;              //!< Gets satellite's PRN
+    signed int get_rf_link() const;				//!< Gets the satellite's rf link
     std::string get_system() const;            //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
     std::string get_system_short() const;      //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}
     std::string get_block() const;             //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"}

From 4e840f482fd1377f606cd902eb162826341cca4a Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 21 Jan 2018 17:27:19 -0700
Subject: [PATCH 329/379] bugfix: Fixes MARKER NUMBER  field for RINEX v2.11
 file generation

---
 src/algorithms/PVT/libs/rinex_printer.cc | 46 ++++++++++++------------
 1 file changed, 22 insertions(+), 24 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index fbb3eb267..f07d3fd00 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -3660,7 +3660,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    // -------- Line MARKER NAME / TYPE
+    // -------- Line MARKER NAME
+	line.clear();
+	line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+	line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+    // -------- Line MARKER NUMBER / TYPE
     if (version == 2)
 		{
 			line.clear();
@@ -3680,14 +3687,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 			out << line << std::endl;
 		}
 
-    // -------- Line MARKER TYPE
-    line.clear();
-    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
-    line += std::string(40, ' ');
-    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
-
     // -------- Line OBSERVER / AGENCY
     line.clear();
     std::string username;
@@ -4012,6 +4011,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- Line MARKER NAME
+	line.clear();
+	line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
+	line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+	Rinex_Printer::lengthCheck(line);
+	out << line << std::endl;
+
+    // -------- Line MARKER NUMBER / TYPE
     if (version == 2)
 		{
 			line.clear();
@@ -4031,14 +4037,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
 			out << line << std::endl;
 		}
 
-    // -------- Line MARKER TYPE
-    line.clear();
-    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
-    line += std::string(40, ' ');
-    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
-
     // -------- Line OBSERVER / AGENCY
     line.clear();
     std::string username;
@@ -4332,17 +4330,17 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     // -------- Line MARKER NAME
     line.clear();
     line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
     // -------- Line MARKER TYPE
-    //line.clear();
-    //line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
-    //line += std::string(40, ' ');
-    //line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-    //Rinex_Printer::lengthCheck(line);
-    //out << line << std::endl;
+    line.clear();
+    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- Line OBSERVER / AGENCY
     line.clear();

From 84fe651f0d67216e9e051bf0b32dcfd4f94a856d Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 23 Jan 2018 17:31:42 +0100
Subject: [PATCH 330/379] Adding Labsat v2 and v3 single channel signal
 recorder file source

---
 ...galileo_E1_extended_correlator_labsat.conf | 333 ++++++++++++
 .../signal_source/adapters/CMakeLists.txt     |   1 +
 .../adapters/labsat_signal_source.cc          | 122 +++++
 .../adapters/labsat_signal_source.h           |  94 ++++
 .../gnuradio_blocks/CMakeLists.txt            |   1 +
 .../gnuradio_blocks/labsat23_source.cc        | 474 ++++++++++++++++++
 .../gnuradio_blocks/labsat23_source.h         |  75 +++
 src/core/receiver/gnss_block_factory.cc       |  16 +
 8 files changed, 1116 insertions(+)
 create mode 100644 conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
 create mode 100644 src/algorithms/signal_source/adapters/labsat_signal_source.cc
 create mode 100644 src/algorithms/signal_source/adapters/labsat_signal_source.h
 create mode 100644 src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
 create mode 100644 src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h

diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
new file mode 100644
index 000000000..094f15ebe
--- /dev/null
+++ b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
@@ -0,0 +1,333 @@
+; Default configuration file
+; You can define your own receiver and invoke it by doing
+; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
+GNSS-SDR.internal_fs_hz=5456000
+
+;######### SIGNAL_SOURCE CONFIG ############
+;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+SignalSource.implementation=Labsat_Signal_Source
+
+SignalSource.selected_channel=1
+
+;#filename: path to file with the captured GNSS signal samples to be processed
+;# Labsat sile source automatically increments the file name when the signal is splitted in several files
+;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
+;# in this example, the first file complete path will be ../signals/GPS_025_0000.LS3
+
+SignalSource.filename=../signals/GPS_025    ; <- PUT YOUR FILE HERE
+
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+SignalSource.item_type=gr_complex
+
+;#sampling_frequency: Original Signal sampling frequency in [Hz]
+SignalSource.sampling_frequency=16368000
+
+;#freq: RF front-end center frequency in [Hz]
+SignalSource.freq=1575420000
+
+;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
+SignalSource.samples=0
+
+;#repeat: Repeat the processing file. Disable this option in this version
+SignalSource.repeat=false
+
+;#dump: Dump the Signal source data to a file. Disable this option in this version
+SignalSource.dump=false
+
+SignalSource.dump_filename=../data/signal_source.dat
+
+
+;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
+; it helps to not overload the CPU, but the processing time will be longer.
+SignalSource.enable_throttle_control=false
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+;## It holds blocks to change data type, filter and resample input data.
+
+;#implementation: Use [Pass_Through] or [Signal_Conditioner]
+;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+SignalConditioner.implementation=Signal_Conditioner
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+;## Changes the type of input data.
+;#implementation: [Pass_Through] disables this block
+DataTypeAdapter.implementation=Pass_Through
+DataTypeAdapter.item_type=gr_complex
+
+;######### INPUT_FILTER CONFIG ############
+;## Filter the input data. Can be combined with frequency translation for IF signals
+
+;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
+;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
+;# that shifts IF down to zero Hz.
+
+InputFilter.implementation=Freq_Xlating_Fir_Filter
+
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
+
+;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
+;#These options are based on parameters of gnuradio's function: gr_remez.
+;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
+;#reponse given a set of band edges, the desired reponse on those bands,
+;#and the weight given to the error in those bands.
+
+;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+InputFilter.input_item_type=gr_complex
+
+;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+InputFilter.output_item_type=gr_complex
+
+;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
+InputFilter.taps_item_type=float
+
+;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
+InputFilter.number_of_taps=5
+
+;#number_of _bands: Number of frequency bands in the filter.
+InputFilter.number_of_bands=2
+
+;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
+;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
+;#The number of band_begin and band_end elements must match the number of bands
+
+InputFilter.band1_begin=0.0
+InputFilter.band1_end=0.45
+InputFilter.band2_begin=0.55
+InputFilter.band2_end=1.0
+
+;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
+;#The number of ampl_begin and ampl_end elements must match the number of bands
+
+InputFilter.ampl1_begin=1.0
+InputFilter.ampl1_end=1.0
+InputFilter.ampl2_begin=0.0
+InputFilter.ampl2_end=0.0
+
+;#band_error: weighting applied to each band (usually 1).
+;#The number of band_error elements must match the number of bands
+InputFilter.band1_error=1.0
+InputFilter.band2_error=1.0
+
+;#filter_type: one of "bandpass", "hilbert" or "differentiator"
+InputFilter.filter_type=bandpass
+
+;#grid_density: determines how accurately the filter will be constructed.
+;The minimum value is 16; higher values are slower to compute the filter.
+InputFilter.grid_density=16
+
+;# Original sampling frequency stored in the signal file
+InputFilter.sampling_frequency=16368000
+
+;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
+;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
+
+InputFilter.IF=0
+
+;# Decimation factor after the frequency tranaslating block
+InputFilter.decimation_factor=3
+
+
+;######### CHANNELS GLOBAL CONFIG ############
+;#count: Number of available GPS satellite channels.
+Channels_1C.count=0
+;#count: Number of available Galileo satellite channels.
+Channels_1B.count=6
+;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
+Channels.in_acquisition=1
+
+;#signal:
+;#if the option is disabled by default is assigned "1C" GPS L1 C/A
+Channel0.signal=1B
+Channel1.signal=1B
+Channel2.signal=1B
+Channel3.signal=1B
+Channel4.signal=1B
+Channel5.signal=1B
+Channel6.signal=1B
+Channel7.signal=1B
+Channel8.signal=1B
+Channel9.signal=1B
+Channel10.signal=1B
+Channel11.signal=1B
+Channel12.signal=1B
+Channel13.signal=1B
+Channel14.signal=1B
+Channel15.signal=1B
+
+
+;######### GPS ACQUISITION CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz]
+Acquisition_1C.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition_1C.sampled_ms=1
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.use_CFAR_algorithm=false;
+;#threshold: Acquisition threshold
+Acquisition_1C.threshold=22
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_1C.doppler_max=5000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition_1C.doppler_step=250
+
+
+;######### GALILEO ACQUISITION CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=../data/acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz]
+Acquisition_1B.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition_1B.sampled_ms=4
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+Acquisition_1B.acquire_pilot=true
+Acquisition_1B.use_CFAR_algorithm=false
+;#threshold: Acquisition threshold
+Acquisition_1B.threshold=22
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_1B.doppler_max=5000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition_1B.doppler_step=125
+Acquisition_1B.bit_transition_flag=true
+
+;######### TRACKING GPS CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+Tracking_1C.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz]
+Tracking_1C.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=true
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=2.0;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+
+;######### TRACKING GALILEO CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
+;#item_type: Type and resolution for each of the signal samples.
+Tracking_1B.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz]
+Tracking_1B.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=true
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
+Tracking_1B.track_pilot=true
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1B.pll_bw_hz=7.5;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1B.dll_bw_hz=0.5;
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1B.pll_bw_narrow_hz=2.5;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1B.dll_bw_narrow_hz=0.25;
+
+Tracking_1B.extend_correlation_symbols=4;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1B.order=3;
+
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
+Tracking_1B.early_late_space_chips=0.15;
+
+;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
+Tracking_1B.very_early_late_space_chips=0.6;
+
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
+Tracking_1B.early_late_space_narrow_chips=0.15;
+
+;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
+Tracking_1B.very_early_late_space_narrow_chips=0.30;
+
+
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
+
+;######### TELEMETRY DECODER GALILEO CONFIG ############
+;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
+TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
+TelemetryDecoder_1B.dump=false
+
+;######### OBSERVABLES CONFIG ############
+;#implementation:
+Observables.implementation=Hybrid_Observables
+
+;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
+Observables.dump=false
+
+;#dump_filename: Log path and filename.
+Observables.dump_filename=./observables.dat
+
+
+;######### PVT CONFIG ############
+;#implementation: Position Velocity and Time (PVT) implementation:
+PVT.implementation=RTKLIB_PVT
+
+PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
+
+;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
+PVT.output_rate_ms=100;
+
+;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
+PVT.display_rate_ms=500;
+
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
+
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/src/algorithms/signal_source/adapters/CMakeLists.txt b/src/algorithms/signal_source/adapters/CMakeLists.txt
index 3d786bb46..2fb8f4be8 100644
--- a/src/algorithms/signal_source/adapters/CMakeLists.txt
+++ b/src/algorithms/signal_source/adapters/CMakeLists.txt
@@ -141,6 +141,7 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES file_signal_source.cc
                                   spir_file_signal_source.cc
                                   spir_gss6450_file_signal_source.cc
                                   rtl_tcp_signal_source.cc
+                                  labsat_signal_source.cc
                                   ${OPT_DRIVER_SOURCES}
 )
 
diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.cc b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
new file mode 100644
index 000000000..ead38e585
--- /dev/null
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
@@ -0,0 +1,122 @@
+/*!
+ * \file labsat_signal_source.cc
+ * \brief Labsat 2 and 3 front-end signal sampler driver
+ * \author Javier Arribas, jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "labsat_signal_source.h"
+#include <gnuradio/blocks/file_sink.h>
+#include <gnuradio/msg_queue.h>
+#include <gflags/gflags.h>
+#include <glog/logging.h>
+#include "labsat23_source.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+LabsatSignalSource::LabsatSignalSource(ConfigurationInterface* configuration,
+        std::string role, unsigned int in_stream, unsigned int out_stream, gr::msg_queue::sptr queue) :
+        role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+{
+    std::string default_item_type = "gr_complex";
+    std::string default_dump_file = "./data/source.bin";
+    item_type_ = configuration->property(role + ".item_type", default_item_type);
+    dump_ = configuration->property(role + ".dump", false);
+    dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
+
+    int channel_selector=configuration->property(role + ".selected_channel", 1);
+    std::string default_filename = "./example_capture.LS3";
+
+    samples_ = configuration->property(role + ".samples", 0);
+    filename_ = configuration->property(role + ".filename", default_filename);
+
+    if (item_type_.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            labsat23_source_ = labsat23_make_source(filename_.c_str(),channel_selector);
+            DLOG(INFO) << "Item size " << item_size_;
+            DLOG(INFO) << "labsat23_source_(" << labsat23_source_->unique_id() << ")";
+    }else
+        {
+            LOG(WARNING) << item_type_
+                    << " unrecognized item type for LabSat source";
+            item_size_ = sizeof(short);
+        }
+    if (dump_)
+        {
+            DLOG(INFO) << "Dumping output into file " << dump_filename_;
+            file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str());
+        }
+    if (dump_)
+        {
+            DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
+        }
+}
+
+
+
+LabsatSignalSource::~LabsatSignalSource()
+{}
+
+
+
+void LabsatSignalSource::connect(gr::top_block_sptr top_block)
+{
+    if (dump_)
+        {
+            top_block->connect(labsat23_source_, 0, file_sink_, 0);
+            DLOG(INFO) << "connected labsat23_source_ to file sink";
+        }
+    else
+        {
+            DLOG(INFO) << "nothing to connect internally";
+        }
+}
+
+
+
+void LabsatSignalSource::disconnect(gr::top_block_sptr top_block)
+{
+    if (dump_)
+        {
+            top_block->disconnect(labsat23_source_, 0, file_sink_, 0);
+        }
+}
+
+
+gr::basic_block_sptr LabsatSignalSource::get_left_block()
+{
+    LOG(WARNING) << "Left block of a signal source should not be retrieved";
+    return gr::block_sptr();
+}
+
+
+gr::basic_block_sptr LabsatSignalSource::get_right_block()
+{
+    return labsat23_source_;
+}
diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.h b/src/algorithms/signal_source/adapters/labsat_signal_source.h
new file mode 100644
index 000000000..6909acefc
--- /dev/null
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.h
@@ -0,0 +1,94 @@
+/*!
+ * \file labsat_signal_source.h
+ * \brief Labsat 2 and 3 front-end signal sampler driver
+ * \author Javier Arribas, jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef LABSAT_SIGNAL_SOURCE_H_
+#define LABSAT_SIGNAL_SOURCE_H_
+
+#include <string>
+#include <gnuradio/hier_block2.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/file_sink.h>
+#include "gnss_block_interface.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class reads samples from a GN3S USB dongle, a RF front-end signal sampler
+ */
+class LabsatSignalSource: public GNSSBlockInterface
+{
+public:
+    LabsatSignalSource(ConfigurationInterface* configuration,
+            std::string role, unsigned int in_stream,
+            unsigned int out_stream, gr::msg_queue::sptr queue);
+
+    virtual ~LabsatSignalSource();
+
+    inline std::string role() override
+    {
+        return role_;
+    }
+
+    /*!
+     * \brief Returns "LabsatSignalSource".
+     */
+    inline std::string implementation() override
+    {
+        return "Labsat_Signal_Source";
+    }
+
+    inline size_t item_size() override
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
+
+private:
+    std::string role_;
+    unsigned int in_stream_;
+    unsigned int out_stream_;
+    std::string item_type_;
+    size_t item_size_;
+    long samples_;
+    std::string filename_;
+    bool dump_;
+    std::string dump_filename_;
+    gr::block_sptr labsat23_source_;
+    gr::blocks::file_sink::sptr file_sink_;
+    boost::shared_ptr<gr::msg_queue> queue_;
+};
+
+#endif /*LABSAT_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt b/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
index 67b9f3162..a9252edb0 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
@@ -24,6 +24,7 @@ set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
      rtl_tcp_signal_source_c.cc
      unpack_2bit_samples.cc
      unpack_spir_gss6450_samples.cc
+     labsat23_source.cc
 )
 
 include_directories(
diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
new file mode 100644
index 000000000..375d246ab
--- /dev/null
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
@@ -0,0 +1,474 @@
+/*!
+ * \file labsat23_source.cc
+ *
+ * \brief Unpacks the Labsat 2 (ls2) and (ls3) capture files
+ * \author Javier Arribas jarribas (at) cttc.es
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "labsat23_source.h"
+#include <gnuradio/io_signature.h>
+#include <sstream>
+
+labsat23_source_sptr labsat23_make_source(const char *signal_file_basename, int channel_selector)
+{
+    return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector));
+}
+
+std::string labsat23_source::generate_filename()
+{
+    std::ostringstream ss;
+    ss << std::setw(4) << std::setfill('0') << d_current_file_number;
+    return d_signal_file_basename + "_" + ss.str()+".LS3";
+
+}
+
+labsat23_source::labsat23_source(const char *signal_file_basename, int channel_selector) : gr::block("labsat23_source",
+                                                                                                     gr::io_signature::make(0, 0, 0),
+                                                                                                     gr::io_signature::make(1, 1, sizeof(gr_complex)))
+{
+    if (channel_selector<1 or channel_selector>2)
+    {
+        std::cout<<"Labsat source config error: channel selection out of bounds, check gnss-sdr config file"<<std::endl;
+        exit(1);
+    }
+    d_channel_selector_config=channel_selector;
+    d_header_parsed=false;
+    d_bits_per_sample=0;
+    d_current_file_number=0;
+    d_labsat_version=0;
+    d_signal_file_basename=std::string(signal_file_basename);
+
+    std::string signal_file;
+    this->set_output_multiple(8);
+    signal_file=generate_filename();
+    binary_input_file = new std::ifstream (signal_file.c_str(), std::ios::in|std::ios::binary);
+
+    if (binary_input_file->is_open())
+    {
+        std::cout<<"Labsat file source is reading samples from "<<signal_file<<std::endl;
+    }else{
+        std::cout<<"Labsat file "<<signal_file<<" could not be opened!"<<std::endl;
+        delete binary_input_file;
+        exit(1);
+    }
+
+}
+
+
+labsat23_source::~labsat23_source()
+{
+    if (binary_input_file->is_open())
+    {
+        binary_input_file->close();
+    }
+    delete binary_input_file;
+}
+
+int labsat23_source::getBit(uint8_t byte, int position)
+{
+    return (byte >> position) & 0x01;
+}
+
+void labsat23_source::decode_samples_one_channel(int16_t input_short, gr_complex* out, int type)
+{
+    std::bitset<16> bs(input_short);
+    switch(type)
+    {
+        case 2:
+            //two bits per sample, 8 samples per int16
+            for (int i=0;i<8;i++)
+            {
+                out[i]=gr_complex(static_cast<float>(bs[15-(2*i)]),
+                                  static_cast<float>(bs[14-(2*i)]));
+                out[i]=out[i]*gr_complex(2,0)-gr_complex(1,1);
+            }
+            break;
+        case 4:
+            //four bits per sample, 4 samples per int16
+            for (int i=0;i<4;i++)
+            {
+                out[i]=gr_complex(0.0,0.0);
+                //In-Phase
+                if (bs[15-4*i])
+                {
+                    if (bs[13-4*i]) //11
+                    {
+                        out[i]+=gr_complex(-1,0);
+                    }
+                    else //10
+                    {
+                        out[i]+=gr_complex(-2,0);
+                    }
+                }
+                else{
+                    if (bs[13-4*i]) //01
+                    {
+                        out[i]+=gr_complex(1,0);
+                    }
+                }
+
+                //Quadrature
+                if (bs[14-4*i])
+                {
+                    if (bs[12-4*i]) //11
+                    {
+                        out[i]+=gr_complex(0,-1);
+                    }
+                    else //10
+                    {
+                        out[i]+=gr_complex(0,-2);
+                    }
+                }
+                else{
+                    if (bs[12-4*i]) //01
+                    {
+                        out[i]+=gr_complex(0,1);
+                    }
+                }
+                out[i]+=gr_complex(0.5,0.5);
+            }
+            break;
+    }
+}
+
+int labsat23_source::general_work(int noutput_items,
+                                  __attribute__((unused)) gr_vector_int &ninput_items,
+                                  __attribute__((unused)) gr_vector_const_void_star &input_items,
+                                  gr_vector_void_star &output_items)
+{
+
+    gr_complex *out = reinterpret_cast<gr_complex *>(output_items[0]);
+
+    if (d_header_parsed==false)
+    {
+
+        if (binary_input_file->eof()==false)
+        {
+            char memblock[1024];
+            binary_input_file->read(memblock,1024);
+            //parse Labsat header
+            //check preamble
+            int byte_counter=0;
+            bool preamble_ok=true;
+            for (int i=0;i<8;i++)
+            {
+                if (memblock[byte_counter]!=0x00) preamble_ok=false;
+                //std::cout<<"H["<<i<<"]:"<<(int)memblock[byte_counter]<<std::endl;
+                byte_counter++;
+            }
+
+            if (preamble_ok==false)
+            {
+                std::cout<<"Labsat source do not detect the preamble in the selected file"<<std::endl;
+                return -1;
+            }
+
+
+            // check Labsat version
+            if (memblock[byte_counter]==0x4C and memblock[byte_counter+1]==0x53 and memblock[byte_counter+2]==0x32)
+            {
+                d_labsat_version=2;
+                std::cout<<"Labsat file version 2 detected"<<std::endl;
+            }
+
+            if (memblock[byte_counter]==0x4C and memblock[byte_counter+1]==0x53 and memblock[byte_counter+2]==0x33)
+            {
+                d_labsat_version=3;
+                std::cout<<"Labsat file version 3 detected"<<std::endl;
+            }
+
+            if (d_labsat_version==0)
+            {
+                std::cout<<"Labsat source do not detect the labsat version in file header"<<std::endl;
+                return -1;
+            }
+
+
+            byte_counter+=3;
+
+            int sub_version=(int)memblock[byte_counter];
+
+            std::cout<<"Labsat file sub version "<<sub_version<<std::endl;
+
+            byte_counter++;
+
+            int header_bytes=0;
+            header_bytes += memblock[byte_counter] | (memblock[byte_counter+1]<<8) | (memblock[byte_counter+2]<<16) | (memblock[byte_counter+3]<<24);
+
+            byte_counter+=4;
+            //std::cout<<"header_bytes="<<header_bytes<<std::endl;
+
+            // read first section
+            // section ID (little-endian)
+            uint8_t section_id=(int)memblock[byte_counter]+(int)memblock[byte_counter+1]*256;
+            //std::cout<<"Section ID: "<<(int)section_id<<std::endl;
+            byte_counter+=2;
+
+            uint8_t section_lenght_bytes=0;
+            section_lenght_bytes += memblock[byte_counter] | (memblock[byte_counter+1]<<8) | (memblock[byte_counter+2]<<16) | (memblock[byte_counter+3]<<24);
+            //std::cout<<"section_lenght_bytes="<<(int)section_lenght_bytes<<std::endl;
+
+            byte_counter+=4;
+            if (section_id==2)
+            {
+                d_ref_clock=(uint8_t)memblock[byte_counter];
+                switch(d_ref_clock)
+                {
+                    case 0:
+                        std::cout<<"Labsat reference clock: internal OXCO"<<std::endl;
+                        break;
+                    case 1:
+                        std::cout<<"Labsat reference clock: internal TXCO"<<std::endl;
+                        break;
+                    case 2:
+                        std::cout<<"Labsat reference clock: external 10 MHz"<<std::endl;
+                        break;
+                    case 3:
+                        std::cout<<"Labsat reference clock: external 16.386 MHz"<<std::endl;
+                        break;
+                    default:
+                        std::cout<<"Labsat Unknown reference clock ID "<<(int)d_ref_clock<<std::endl;
+                }
+                byte_counter++;
+                d_bits_per_sample=(uint8_t)memblock[byte_counter];
+                switch(d_bits_per_sample)
+                {
+                    case 2:
+                        std::cout<<"Labsat is using 2 bits per sample"<<std::endl;
+                        break;
+                    case 4:
+                        std::cout<<"Labsat is using 4 bits per sample"<<std::endl;
+                        break;
+                    default:
+                        std::cout<<"Labsat Unknown bits per sample ID "<<(int)d_bits_per_sample<<std::endl;
+                        return -1;
+                }
+
+                byte_counter++;
+                d_channel_selector=(uint8_t)memblock[byte_counter];
+                switch(d_channel_selector)
+                {
+                    case 0:
+                        std::cout<<"Available channels: Channel A + B, 1 bit quantisation"<<std::endl;
+                        break;
+                    case 1:
+                        std::cout<<"Available channels: Channel A, 1 bit quantisation"<<std::endl;
+                        break;
+                    case 2:
+                        std::cout<<"Available channels: Channel B, 1 bit quantisation"<<std::endl;
+                        break;
+                    case 3:
+                        std::cout<<"Available channels: Channel A, 2 bit quantisation"<<std::endl;
+                        break;
+                    case 4:
+                        std::cout<<"Available channels: Channel B, 2 bit quantisation"<<std::endl;
+                        break;
+                    default:
+                        std::cout<<"Unknown channel selection ID "<<(int)d_channel_selector<<std::endl;
+                        return -1;
+                }
+
+                //check if the selected channel in config file match the file encoding
+                if (d_channel_selector_config==2 and d_channel_selector!=0)
+                {
+                    std::cout<<"Labsat source channel config inconsistency: channel 2 is selected but the file has only one channel"<<std::endl;
+                    return -1;
+                }
+
+                //todo: Add support for dual channel files
+                if (d_channel_selector==0)
+                {
+                    std::cout<<"ERROR: Labsat file contains more than one channel and it is not currently supported by Labsat signal source."<<std::endl;
+                    return -1;
+                }
+                byte_counter++;
+                uint8_t quantization=(uint8_t)memblock[byte_counter];
+                switch(quantization)
+                {
+                    case 1:
+                        std::cout<<"1 bit per sample"<<std::endl;
+                        break;
+                    case 2:
+                        std::cout<<"2 bit per sample"<<std::endl;
+                        break;
+                    default:
+                        std::cout<<"Unknown quantization ID "<<(int)quantization<<std::endl;
+                }
+                byte_counter++;
+                uint8_t channel_a_constellation=(uint8_t)memblock[byte_counter];
+                switch(channel_a_constellation)
+                {
+                    case 0:
+                        std::cout<<"Labsat Channel A is GPS"<<std::endl;
+                        break;
+                    case 1:
+                        std::cout<<"Labsat Channel A is GLONASS"<<std::endl;
+                        break;
+                    case 2:
+                        std::cout<<"Labsat Channel A is BDS"<<std::endl;
+                        break;
+                    default:
+                        std::cout<<"Unknown channel A constellation ID "<<(int)channel_a_constellation<<std::endl;
+                }
+                byte_counter++;
+                uint8_t channel_b_constellation=(uint8_t)memblock[byte_counter];
+                switch(channel_b_constellation)
+                {
+                    case 0:
+                        std::cout<<"Labsat Channel B is GPS"<<std::endl;
+                        break;
+                    case 1:
+                        std::cout<<"Labsat Channel B is GLONASS"<<std::endl;
+                        break;
+                    case 2:
+                        std::cout<<"Labsat Channel B is BDS"<<std::endl;
+                        break;
+                    default:
+                        std::cout<<"Unknown channel B constellation ID "<<(int)channel_b_constellation<<std::endl;
+                }
+
+                //end of header
+                d_header_parsed=true;
+                //seek file to the first signal sample
+                binary_input_file->clear();
+                binary_input_file->seekg(header_bytes, binary_input_file->beg);
+                return 0;
+            }else{
+                std::cout<<"Labsat file header error: section 2 is not available."<<std::endl;
+                return -1;
+            }
+
+        }else{
+            std::cout<<"Labsat file read error: file is empty."<<std::endl;
+            return -1;
+        }
+    }else{
+        //ready to start reading samples
+        switch(d_bits_per_sample)
+        {
+            case 2:
+            {
+                switch(d_channel_selector)
+                {
+                    case 0:
+                        // dual channel 2 bits per complex sample
+                        break;
+                    default:
+                        //single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16)
+                        int n_int16_to_read=noutput_items/8;
+                        if (n_int16_to_read>0)
+                        {
+                            int16_t memblock[n_int16_to_read];
+                            binary_input_file->read((char*)memblock,n_int16_to_read*2);
+                            n_int16_to_read=binary_input_file->gcount()/2; //from bytes to int16
+                            if (n_int16_to_read>0)
+                            {
+                                int output_pointer=0;
+                                for (int i=0;i<n_int16_to_read;i++)
+                                {
+                                    decode_samples_one_channel(memblock[i],&out[output_pointer], d_bits_per_sample);
+                                    output_pointer+=8;
+                                }
+                                return output_pointer;
+                            }else{
+                                //trigger the read of the next file in the sequence
+                                std::cout<<"End of current file, reading the next Labsat file in sequence: "<<generate_filename()<<std::endl;
+
+                                d_current_file_number++;
+                                binary_input_file->close();
+                                binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
+                                if (binary_input_file->is_open())
+                                {
+                                    std::cout<<"Labsat file source is reading samples from "<<generate_filename()<<std::endl;
+                                }else{
+                                    std::cout<<"Last file reached, LabSat source stop"<<std::endl;
+                                    return -1;
+                                }
+                            }
+                        }else{
+                            return 0;
+                        }
+                };
+                break;
+            }
+            case 4:
+            {
+                switch(d_channel_selector)
+                {
+                    case 0:
+                        // dual channel
+                        break;
+                    default:
+                        //single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16)
+                        int n_int16_to_read=noutput_items/4;
+                        if (n_int16_to_read>0)
+                        {
+                            int16_t memblock[n_int16_to_read];
+                            binary_input_file->read((char*)memblock,n_int16_to_read*2);
+                            n_int16_to_read=binary_input_file->gcount()/2; //from bytes to int16
+                            if (n_int16_to_read>0)
+                            {
+                                int output_pointer=0;
+                                for (int i=0;i<n_int16_to_read;i++)
+                                {
+                                    decode_samples_one_channel(memblock[i],&out[output_pointer], d_bits_per_sample);
+                                    output_pointer+=4;
+                                }
+                                return output_pointer;
+                            }else{
+                                //trigger the read of the next file in the sequence
+                                std::cout<<"End of current file, reading the next Labsat file in sequence: "<<generate_filename()<<std::endl;
+
+                                d_current_file_number++;
+                                binary_input_file->close();
+                                binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
+                                if (binary_input_file->is_open())
+                                {
+                                    std::cout<<"Labsat file source is reading samples from "<<generate_filename()<<std::endl;
+                                }else{
+                                    std::cout<<"Last file reached, LabSat source stop"<<std::endl;
+                                    return -1;
+                                }
+                            }
+                        }else{
+                            return 0;
+                        }
+                }
+                break;
+            }
+            default:
+            {
+                return -1;
+            }
+        }
+    }
+    std::cout<<"Warning!!"<<std::endl;
+    return 0;
+}
diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
new file mode 100644
index 000000000..66e6135a1
--- /dev/null
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
@@ -0,0 +1,75 @@
+/*!
+ * \file labsat23_source.h
+ *
+ * \brief Unpacks the Labsat 2 (ls2) and (ls3) capture files
+ * \author Javier Arribas jarribas (at) cttc.es
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef LABSAT23_SOURCE_H
+#define LABSAT23_SOURCE_H
+
+#include <gnuradio/block.h>
+#include <string>
+#include <iostream>
+#include <fstream>
+#include <stdint.h>
+
+class labsat23_source;
+
+typedef boost::shared_ptr<labsat23_source> labsat23_source_sptr;
+
+labsat23_source_sptr labsat23_make_source(const char *signal_file_basename, int channel_selector);
+
+/*!
+ * \brief This class implements conversion between Labsat2 and 3 format byte packet samples to gr_complex
+ */
+class labsat23_source: public gr::block
+{
+private:
+    friend labsat23_source_sptr labsat23_make_source_sptr(const char *signal_file_basename, int channel_selector);
+    std::string generate_filename();
+    void decode_samples_one_channel(int16_t input_short, gr_complex* out, int type);
+    int getBit(uint8_t byte, int position);
+    bool d_header_parsed;
+    uint8_t d_channel_selector;
+    int d_channel_selector_config;
+    int d_current_file_number;
+    uint8_t d_labsat_version;
+    std::string d_signal_file_basename;
+    std::ifstream *binary_input_file;
+    uint8_t d_ref_clock;
+    uint8_t d_bits_per_sample;
+
+public:
+    labsat23_source(const char *signal_file_basename, int channel_selector);
+    ~labsat23_source();
+    int general_work(int noutput_items,
+                     gr_vector_int &ninput_items,
+                     gr_vector_const_void_star &input_items,
+                     gr_vector_void_star &output_items);
+};
+
+#endif
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 322577e62..855b192a3 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -51,6 +51,7 @@
 #include "spir_gss6450_file_signal_source.h"
 #include "rtl_tcp_signal_source.h"
 #include "two_bit_packed_file_signal_source.h"
+#include "labsat_signal_source.h"
 #include "channel.h"
 
 #include "signal_conditioner.h"
@@ -896,6 +897,21 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     block = std::move(block_);
 
             }
+            catch (const std::exception &e)
+            {
+                    std::cout << "GNSS-SDR program ended." << std::endl;
+                    exit(1);
+            }
+        }
+    else if (implementation.compare("Labsat_Signal_Source") == 0)
+        {
+            try
+            {
+                    std::unique_ptr<GNSSBlockInterface> block_(new LabsatSignalSource(configuration.get(), role, in_streams,
+                            out_streams, queue));
+                    block = std::move(block_);
+            }
+
             catch (const std::exception &e)
             {
                     std::cout << "GNSS-SDR program ended." << std::endl;

From a5d65f3424537e9e432cc32768fdb4a299fc75c3 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 23 Jan 2018 17:33:06 +0100
Subject: [PATCH 331/379] Bug fix: adding exception control to std::map access
 in observables block

---
 .../gnuradio_blocks/hybrid_observables_cc.cc          | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
index efd29e092..66cd0fce0 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
@@ -453,6 +453,7 @@ int hybrid_observables_cc::general_work (int noutput_items ,
                                                                                     d_gnss_synchro_history_queue[i].at(distance - 1)));
                                                                         }
                                                                 }
+
                                                         }
                                                     else
                                                         {
@@ -478,7 +479,8 @@ int hybrid_observables_cc::general_work (int noutput_items ,
 
                             // compute interpolated TOW value at T_rx_s
                             int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
-                            Gnss_Synchro adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
+                            Gnss_Synchro adj_obs;
+                            adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
                             double ref_adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
 
                             double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
@@ -504,7 +506,12 @@ int hybrid_observables_cc::general_work (int noutput_items ,
                                     // two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
                                     // TOW at the selected receiver time T_rx_s
                                     int element_key = gnss_synchro_map_iter->second.Channel_ID;
-                                    adj_obs = adjacent_gnss_synchro_map.at(element_key);
+                                    try{
+                                        adj_obs = adjacent_gnss_synchro_map.at(element_key);
+                                    }catch(const std::exception & ex)
+                                    {
+                                        continue;
+                                    }
 
                                     double adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz;
 

From 114121ef510b4f52cedf4519b79db204a65a9164 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 23 Jan 2018 17:36:32 +0100
Subject: [PATCH 332/379] Addign some useful matlab binary file reading
 functions

---
 src/utils/matlab/libs/read_complex_binary.m   | 57 +++++++++++++++++++
 .../matlab/libs/read_complex_char_binary.m    | 48 ++++++++++++++++
 .../matlab/libs/read_complex_short_binary.m   | 48 ++++++++++++++++
 3 files changed, 153 insertions(+)
 create mode 100644 src/utils/matlab/libs/read_complex_binary.m
 create mode 100644 src/utils/matlab/libs/read_complex_char_binary.m
 create mode 100644 src/utils/matlab/libs/read_complex_short_binary.m

diff --git a/src/utils/matlab/libs/read_complex_binary.m b/src/utils/matlab/libs/read_complex_binary.m
new file mode 100644
index 000000000..a201b99bb
--- /dev/null
+++ b/src/utils/matlab/libs/read_complex_binary.m
@@ -0,0 +1,57 @@
+%
+% Copyright 2001 Free Software Foundation, Inc.
+%
+% This file is part of GNU Radio
+%
+% GNU Radio is free software; you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation; either version 3, or (at your option)
+% any later version.
+%
+% GNU Radio is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with GNU Radio; see the file COPYING.  If not, write to
+% the Free Software Foundation, Inc., 51 Franklin Street,
+% Boston, MA 02110-1301, USA.
+%
+
+function v = read_complex_binary (filename, count, start_sample)
+
+  %% usage: read_complex_binary (filename, [count], [start_sample])
+  %%
+  %%  open filename and return the contents as a column vector,
+  %%  treating them as 32 bit complex numbers
+  %%
+
+  m = nargchk (1,2,nargin);
+  if (m)
+    %usage (m);
+  end
+
+  if (nargin < 2)
+    count = Inf;
+    start_sample=0;
+  end
+
+  if (nargin < 3)
+    start_sample=0;
+  end
+  
+  f = fopen (filename, 'rb');
+  if (f < 0)
+    v = 0;
+  else
+    if (start_sample>0)
+        bytes_per_sample=4;
+        fseek(f,start_sample*bytes_per_sample,'bof');
+    end
+    t = fread (f, [2, count], 'float');
+    fclose (f);
+    v = t(1,:) + t(2,:)*i;
+    [r, c] = size (v);
+    v = reshape (v, c, r);
+  end
diff --git a/src/utils/matlab/libs/read_complex_char_binary.m b/src/utils/matlab/libs/read_complex_char_binary.m
new file mode 100644
index 000000000..cafaedcc7
--- /dev/null
+++ b/src/utils/matlab/libs/read_complex_char_binary.m
@@ -0,0 +1,48 @@
+%
+% Copyright 2001 Free Software Foundation, Inc.
+% 
+% This file is part of GNU Radio
+% 
+% GNU Radio is free software; you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation; either version 3, or (at your option)
+% any later version.
+% 
+% GNU Radio is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU General Public License for more details.
+% 
+% You should have received a copy of the GNU General Public License
+% along with GNU Radio; see the file COPYING.  If not, write to
+% the Free Software Foundation, Inc., 51 Franklin Street,
+% Boston, MA 02110-1301, USA.
+% 
+
+function v = read_complex_char_binary (filename, count)
+
+  %% usage: read_complex_binary (filename, [count])
+  %%
+  %%  open filename and return the contents as a column vector, 
+  %%  treating them as 32 bit complex numbers
+  %%
+
+  m = nargchk (1,2,nargin);
+  if (m)
+    usage (m);
+  end
+
+  if (nargin < 2)
+    count = Inf;
+  end
+
+  f = fopen (filename, 'rb');
+  if (f < 0)
+    v = 0;
+  else
+    t = fread (f, [2, count], 'int8');
+    fclose (f);
+    v = t(1,:) + t(2,:)*i;
+    [r, c] = size (v);
+    v = reshape (v, c, r);
+  end
diff --git a/src/utils/matlab/libs/read_complex_short_binary.m b/src/utils/matlab/libs/read_complex_short_binary.m
new file mode 100644
index 000000000..55118528b
--- /dev/null
+++ b/src/utils/matlab/libs/read_complex_short_binary.m
@@ -0,0 +1,48 @@
+%
+% Copyright 2001 Free Software Foundation, Inc.
+% 
+% This file is part of GNU Radio
+% 
+% GNU Radio is free software; you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation; either version 3, or (at your option)
+% any later version.
+% 
+% GNU Radio is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU General Public License for more details.
+% 
+% You should have received a copy of the GNU General Public License
+% along with GNU Radio; see the file COPYING.  If not, write to
+% the Free Software Foundation, Inc., 51 Franklin Street,
+% Boston, MA 02110-1301, USA.
+% 
+
+function v = read_complex_short_binary (filename, count)
+
+  %% usage: read_complex_binary (filename, [count])
+  %%
+  %%  open filename and return the contents as a column vector, 
+  %%  treating them as 32 bit complex numbers
+  %%
+
+  m = nargchk (1,2,nargin);
+  if (m)
+    usage (m);
+  end
+
+  if (nargin < 2)
+    count = Inf;
+  end
+
+  f = fopen (filename, 'rb');
+  if (f < 0)
+    v = 0;
+  else
+    t = fread (f, [2, count], 'short');
+    fclose (f);
+    v = t(1,:) + t(2,:)*i;
+    [r, c] = size (v);
+    v = reshape (v, c, r);
+  end

From ef2c2bcf6bdd53f6e2d0e60939b428bada8b519d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 19:51:36 +0100
Subject: [PATCH 333/379] Fix building with Clang

---
 .../signal_source/adapters/spir_gss6450_file_signal_source.cc   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc b/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc
index f19d9d3d6..75d30b9f5 100644
--- a/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc
@@ -131,7 +131,7 @@ SpirGSS6450FileSignalSource::SpirGSS6450FileSignalSource(ConfigurationInterface*
 
             if(size > 0)
                 {
-                    samples_ = static_cast<unsigned long long>(floor(static_cast<double>(size - bytes_seek) / (sample_size_byte * static_cast<double>(n_channels_))));
+                    samples_ = static_cast<unsigned long long>(floor(static_cast<double>(static_cast<long>(size) - static_cast<long>(bytes_seek)) / (sample_size_byte * static_cast<double>(n_channels_))));
                     samples_ = samples_- static_cast<unsigned long long>(ceil(0.002 * sampling_frequency_)); //process all the samples available in the file excluding the last 2 ms
                 }
         }

From 2a9d6975e0279d745e7d43659726aab139cbede0 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 20:07:43 +0100
Subject: [PATCH 334/379] Apply coding style

---
 .../gnuradio_blocks/labsat23_source.cc        | 701 +++++++++---------
 1 file changed, 361 insertions(+), 340 deletions(-)

diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
index 375d246ab..d5bfea224 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
@@ -36,439 +36,460 @@
 #include <gnuradio/io_signature.h>
 #include <sstream>
 
+
 labsat23_source_sptr labsat23_make_source(const char *signal_file_basename, int channel_selector)
 {
     return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector));
 }
 
+
 std::string labsat23_source::generate_filename()
 {
     std::ostringstream ss;
     ss << std::setw(4) << std::setfill('0') << d_current_file_number;
     return d_signal_file_basename + "_" + ss.str()+".LS3";
-
 }
 
+
 labsat23_source::labsat23_source(const char *signal_file_basename, int channel_selector) : gr::block("labsat23_source",
-                                                                                                     gr::io_signature::make(0, 0, 0),
-                                                                                                     gr::io_signature::make(1, 1, sizeof(gr_complex)))
+        gr::io_signature::make(0, 0, 0),
+        gr::io_signature::make(1, 1, sizeof(gr_complex)))
 {
-    if (channel_selector<1 or channel_selector>2)
-    {
-        std::cout<<"Labsat source config error: channel selection out of bounds, check gnss-sdr config file"<<std::endl;
-        exit(1);
-    }
-    d_channel_selector_config=channel_selector;
-    d_header_parsed=false;
-    d_bits_per_sample=0;
-    d_current_file_number=0;
-    d_labsat_version=0;
-    d_signal_file_basename=std::string(signal_file_basename);
+    if (channel_selector < 1 or channel_selector > 2)
+        {
+            std::cout << "Labsat source config error: channel selection out of bounds, check gnss-sdr config file" << std::endl;
+            exit(1);
+        }
+    d_channel_selector_config = channel_selector;
+    d_header_parsed = false;
+    d_bits_per_sample = 0;
+    d_current_file_number = 0;
+    d_labsat_version = 0;
+    d_signal_file_basename = std::string(signal_file_basename);
 
     std::string signal_file;
     this->set_output_multiple(8);
-    signal_file=generate_filename();
+    signal_file = generate_filename();
     binary_input_file = new std::ifstream (signal_file.c_str(), std::ios::in|std::ios::binary);
 
     if (binary_input_file->is_open())
-    {
-        std::cout<<"Labsat file source is reading samples from "<<signal_file<<std::endl;
-    }else{
-        std::cout<<"Labsat file "<<signal_file<<" could not be opened!"<<std::endl;
-        delete binary_input_file;
-        exit(1);
-    }
-
+        {
+            std::cout << "Labsat file source is reading samples from " << signal_file << std::endl;
+        }
+    else
+        {
+            std::cout << "Labsat file " << signal_file << " could not be opened!" << std::endl;
+            delete binary_input_file;
+            exit(1);
+        }
 }
 
 
 labsat23_source::~labsat23_source()
 {
     if (binary_input_file->is_open())
-    {
-        binary_input_file->close();
-    }
+        {
+            binary_input_file->close();
+        }
     delete binary_input_file;
 }
 
+
 int labsat23_source::getBit(uint8_t byte, int position)
 {
     return (byte >> position) & 0x01;
 }
 
+
 void labsat23_source::decode_samples_one_channel(int16_t input_short, gr_complex* out, int type)
 {
     std::bitset<16> bs(input_short);
     switch(type)
     {
-        case 2:
-            //two bits per sample, 8 samples per int16
-            for (int i=0;i<8;i++)
+    case 2:
+        //two bits per sample, 8 samples per int16
+        for (int i = 0; i < 8; i++)
             {
-                out[i]=gr_complex(static_cast<float>(bs[15-(2*i)]),
-                                  static_cast<float>(bs[14-(2*i)]));
-                out[i]=out[i]*gr_complex(2,0)-gr_complex(1,1);
+                out[i] = gr_complex(static_cast<float>(bs[15-(2*i)]),
+                        static_cast<float>(bs[14-(2*i)]));
+                out[i] = out[i]*gr_complex(2,0)-gr_complex(1,1);
             }
-            break;
-        case 4:
-            //four bits per sample, 4 samples per int16
-            for (int i=0;i<4;i++)
+        break;
+    case 4:
+        //four bits per sample, 4 samples per int16
+        for (int i = 0; i < 4; i++)
             {
-                out[i]=gr_complex(0.0,0.0);
+                out[i] = gr_complex(0.0,0.0);
                 //In-Phase
                 if (bs[15-4*i])
-                {
-                    if (bs[13-4*i]) //11
                     {
-                        out[i]+=gr_complex(-1,0);
+                        if (bs[13-4*i]) //11
+                            {
+                                out[i] += gr_complex(-1,0);
+                            }
+                        else //10
+                            {
+                                out[i] += gr_complex(-2,0);
+                            }
                     }
-                    else //10
+                else
                     {
-                        out[i]+=gr_complex(-2,0);
+                        if (bs[13-4*i]) //01
+                            {
+                                out[i] += gr_complex(1,0);
+                            }
                     }
-                }
-                else{
-                    if (bs[13-4*i]) //01
-                    {
-                        out[i]+=gr_complex(1,0);
-                    }
-                }
 
                 //Quadrature
                 if (bs[14-4*i])
-                {
-                    if (bs[12-4*i]) //11
                     {
-                        out[i]+=gr_complex(0,-1);
+                        if (bs[12-4*i]) //11
+                            {
+                                out[i] += gr_complex(0,-1);
+                            }
+                        else //10
+                            {
+                                out[i] += gr_complex(0,-2);
+                            }
                     }
-                    else //10
+                else
                     {
-                        out[i]+=gr_complex(0,-2);
+                        if (bs[12-4*i]) //01
+                            {
+                                out[i] += gr_complex(0,1);
+                            }
                     }
-                }
-                else{
-                    if (bs[12-4*i]) //01
-                    {
-                        out[i]+=gr_complex(0,1);
-                    }
-                }
-                out[i]+=gr_complex(0.5,0.5);
+                out[i] += gr_complex(0.5,0.5);
             }
-            break;
+        break;
     }
 }
 
-int labsat23_source::general_work(int noutput_items,
-                                  __attribute__((unused)) gr_vector_int &ninput_items,
-                                  __attribute__((unused)) gr_vector_const_void_star &input_items,
-                                  gr_vector_void_star &output_items)
-{
 
+int labsat23_source::general_work(int noutput_items,
+        __attribute__((unused)) gr_vector_int &ninput_items,
+        __attribute__((unused)) gr_vector_const_void_star &input_items,
+        gr_vector_void_star &output_items)
+{
     gr_complex *out = reinterpret_cast<gr_complex *>(output_items[0]);
 
-    if (d_header_parsed==false)
-    {
-
-        if (binary_input_file->eof()==false)
+    if (d_header_parsed == false)
         {
-            char memblock[1024];
-            binary_input_file->read(memblock,1024);
-            //parse Labsat header
-            //check preamble
-            int byte_counter=0;
-            bool preamble_ok=true;
-            for (int i=0;i<8;i++)
-            {
-                if (memblock[byte_counter]!=0x00) preamble_ok=false;
-                //std::cout<<"H["<<i<<"]:"<<(int)memblock[byte_counter]<<std::endl;
-                byte_counter++;
-            }
-
-            if (preamble_ok==false)
-            {
-                std::cout<<"Labsat source do not detect the preamble in the selected file"<<std::endl;
-                return -1;
-            }
-
-
-            // check Labsat version
-            if (memblock[byte_counter]==0x4C and memblock[byte_counter+1]==0x53 and memblock[byte_counter+2]==0x32)
-            {
-                d_labsat_version=2;
-                std::cout<<"Labsat file version 2 detected"<<std::endl;
-            }
-
-            if (memblock[byte_counter]==0x4C and memblock[byte_counter+1]==0x53 and memblock[byte_counter+2]==0x33)
-            {
-                d_labsat_version=3;
-                std::cout<<"Labsat file version 3 detected"<<std::endl;
-            }
-
-            if (d_labsat_version==0)
-            {
-                std::cout<<"Labsat source do not detect the labsat version in file header"<<std::endl;
-                return -1;
-            }
-
-
-            byte_counter+=3;
-
-            int sub_version=(int)memblock[byte_counter];
-
-            std::cout<<"Labsat file sub version "<<sub_version<<std::endl;
-
-            byte_counter++;
-
-            int header_bytes=0;
-            header_bytes += memblock[byte_counter] | (memblock[byte_counter+1]<<8) | (memblock[byte_counter+2]<<16) | (memblock[byte_counter+3]<<24);
-
-            byte_counter+=4;
-            //std::cout<<"header_bytes="<<header_bytes<<std::endl;
-
-            // read first section
-            // section ID (little-endian)
-            uint8_t section_id=(int)memblock[byte_counter]+(int)memblock[byte_counter+1]*256;
-            //std::cout<<"Section ID: "<<(int)section_id<<std::endl;
-            byte_counter+=2;
-
-            uint8_t section_lenght_bytes=0;
-            section_lenght_bytes += memblock[byte_counter] | (memblock[byte_counter+1]<<8) | (memblock[byte_counter+2]<<16) | (memblock[byte_counter+3]<<24);
-            //std::cout<<"section_lenght_bytes="<<(int)section_lenght_bytes<<std::endl;
-
-            byte_counter+=4;
-            if (section_id==2)
-            {
-                d_ref_clock=(uint8_t)memblock[byte_counter];
-                switch(d_ref_clock)
+            if (binary_input_file->eof() == false)
                 {
-                    case 0:
-                        std::cout<<"Labsat reference clock: internal OXCO"<<std::endl;
-                        break;
-                    case 1:
-                        std::cout<<"Labsat reference clock: internal TXCO"<<std::endl;
-                        break;
-                    case 2:
-                        std::cout<<"Labsat reference clock: external 10 MHz"<<std::endl;
-                        break;
-                    case 3:
-                        std::cout<<"Labsat reference clock: external 16.386 MHz"<<std::endl;
-                        break;
-                    default:
-                        std::cout<<"Labsat Unknown reference clock ID "<<(int)d_ref_clock<<std::endl;
+                    char memblock[1024];
+                    binary_input_file->read(memblock, 1024);
+                    //parse Labsat header
+                    //check preamble
+                    int byte_counter = 0;
+                    bool preamble_ok = true;
+                    for (int i = 0; i < 8; i++)
+                        {
+                            if (memblock[byte_counter] != 0x00) preamble_ok = false;
+                            //std::cout << "H[" << i << "]:" << (int)memblock[byte_counter] << std::endl;
+                            byte_counter++;
+                        }
+
+                    if (preamble_ok == false)
+                        {
+                            std::cout << "Labsat source do not detect the preamble in the selected file" << std::endl;
+                            return -1;
+                        }
+
+                    // check Labsat version
+                    if (memblock[byte_counter] == 0x4C and memblock[byte_counter+1] == 0x53 and memblock[byte_counter+2] == 0x32)
+                        {
+                            d_labsat_version = 2;
+                            std::cout << "Labsat file version 2 detected" << std::endl;
+                        }
+
+                    if (memblock[byte_counter] == 0x4C and memblock[byte_counter+1] == 0x53 and memblock[byte_counter+2] == 0x33)
+                        {
+                            d_labsat_version = 3;
+                            std::cout << "Labsat file version 3 detected" << std::endl;
+                        }
+
+                    if (d_labsat_version == 0)
+                        {
+                            std::cout << "Labsat source do not detect the labsat version in file header" << std::endl;
+                            return -1;
+                        }
+
+                    byte_counter += 3;
+
+                    int sub_version = static_cast<int>(memblock[byte_counter]);
+
+                    std::cout << "Labsat file sub version " << sub_version << std::endl;
+
+                    byte_counter++;
+
+                    int header_bytes = 0;
+                    header_bytes += memblock[byte_counter] | (memblock[byte_counter+1] << 8) | (memblock[byte_counter+2] << 16) | (memblock[byte_counter+3] << 24);
+
+                    byte_counter += 4;
+                    //std::cout << "header_bytes=" << header_bytes << std::endl;
+
+                    // read first section
+                    // section ID (little-endian)
+                    uint8_t section_id = static_cast<int>(memblock[byte_counter]) + static_cast<int>(memblock[byte_counter+1]) * 256;
+                    //std::cout << "Section ID: " << (int)section_id << std::endl;
+                    byte_counter += 2;
+
+                    uint8_t section_lenght_bytes = 0;
+                    section_lenght_bytes += memblock[byte_counter] | (memblock[byte_counter+1] << 8) | (memblock[byte_counter+2] << 16) | (memblock[byte_counter+3] << 24);
+                    //std::cout << "section_lenght_bytes=" << (int)section_lenght_bytes << std::endl;
+
+                    byte_counter += 4;
+                    if (section_id == 2)
+                        {
+                            d_ref_clock = static_cast<uint8_t>(memblock[byte_counter]);
+                            switch(d_ref_clock)
+                            {
+                            case 0:
+                                std::cout << "Labsat reference clock: internal OXCO" << std::endl;
+                                break;
+                            case 1:
+                                std::cout << "Labsat reference clock: internal TXCO" << std::endl;
+                                break;
+                            case 2:
+                                std::cout << "Labsat reference clock: external 10 MHz" << std::endl;
+                                break;
+                            case 3:
+                                std::cout << "Labsat reference clock: external 16.386 MHz" << std::endl;
+                                break;
+                            default:
+                                std::cout << "Labsat Unknown reference clock ID " << static_cast<int>(d_ref_clock) << std::endl;
+                            }
+                            byte_counter++;
+                            d_bits_per_sample = static_cast<uint8_t>(memblock[byte_counter]);
+                            switch(d_bits_per_sample)
+                            {
+                            case 2:
+                                std::cout << "Labsat is using 2 bits per sample" << std::endl;
+                                break;
+                            case 4:
+                                std::cout << "Labsat is using 4 bits per sample" << std::endl;
+                                break;
+                            default:
+                                std::cout << "Labsat Unknown bits per sample ID " << static_cast<int>(d_bits_per_sample) << std::endl;
+                                return -1;
+                            }
+
+                            byte_counter++;
+                            d_channel_selector = static_cast<uint8_t>(memblock[byte_counter]);
+                            switch(d_channel_selector)
+                            {
+                            case 0:
+                                std::cout << "Available channels: Channel A + B, 1 bit quantisation" << std::endl;
+                                break;
+                            case 1:
+                                std::cout << "Available channels: Channel A, 1 bit quantisation" << std::endl;
+                                break;
+                            case 2:
+                                std::cout << "Available channels: Channel B, 1 bit quantisation" << std::endl;
+                                break;
+                            case 3:
+                                std::cout << "Available channels: Channel A, 2 bit quantisation" << std::endl;
+                                break;
+                            case 4:
+                                std::cout << "Available channels: Channel B, 2 bit quantisation" << std::endl;
+                                break;
+                            default:
+                                std::cout << "Unknown channel selection ID " << static_cast<int>(d_channel_selector) << std::endl;
+                                return -1;
+                            }
+
+                            //check if the selected channel in config file match the file encoding
+                            if (d_channel_selector_config == 2 and d_channel_selector != 0)
+                                {
+                                    std::cout << "Labsat source channel config inconsistency: channel 2 is selected but the file has only one channel" << std::endl;
+                                    return -1;
+                                }
+
+                            //todo: Add support for dual channel files
+                            if (d_channel_selector == 0)
+                                {
+                                    std::cout << "ERROR: Labsat file contains more than one channel and it is not currently supported by Labsat signal source." << std::endl;
+                                    return -1;
+                                }
+                            byte_counter++;
+                            uint8_t quantization = static_cast<uint8_t>(memblock[byte_counter]);
+                            switch(quantization)
+                            {
+                            case 1:
+                                std::cout << "1 bit per sample" << std::endl;
+                                break;
+                            case 2:
+                                std::cout << "2 bit per sample" << std::endl;
+                                break;
+                            default:
+                                std::cout << "Unknown quantization ID " << static_cast<int>(quantization) << std::endl;
+                            }
+                            byte_counter++;
+                            uint8_t channel_a_constellation = static_cast<uint8_t>(memblock[byte_counter]);
+                            switch(channel_a_constellation)
+                            {
+                            case 0:
+                                std::cout << "Labsat Channel A is GPS" << std::endl;
+                                break;
+                            case 1:
+                                std::cout << "Labsat Channel A is GLONASS" << std::endl;
+                                break;
+                            case 2:
+                                std::cout << "Labsat Channel A is BDS" << std::endl;
+                                break;
+                            default:
+                                std::cout << "Unknown channel A constellation ID " << static_cast<int>(channel_a_constellation) << std::endl;
+                            }
+                            byte_counter++;
+                            uint8_t channel_b_constellation = static_cast<uint8_t>(memblock[byte_counter]);
+                            switch(channel_b_constellation)
+                            {
+                            case 0:
+                                std::cout << "Labsat Channel B is GPS" << std::endl;
+                                break;
+                            case 1:
+                                std::cout << "Labsat Channel B is GLONASS" << std::endl;
+                                break;
+                            case 2:
+                                std::cout << "Labsat Channel B is BDS" << std::endl;
+                                break;
+                            default:
+                                std::cout << "Unknown channel B constellation ID " << static_cast<int>(channel_b_constellation) << std::endl;
+                            }
+
+                            //end of header
+                            d_header_parsed = true;
+                            //seek file to the first signal sample
+                            binary_input_file->clear();
+                            binary_input_file->seekg(header_bytes, binary_input_file->beg);
+                            return 0;
+                        }
+                    else
+                        {
+                            std::cout << "Labsat file header error: section 2 is not available." << std::endl;
+                            return -1;
+                        }
                 }
-                byte_counter++;
-                d_bits_per_sample=(uint8_t)memblock[byte_counter];
-                switch(d_bits_per_sample)
+            else
                 {
-                    case 2:
-                        std::cout<<"Labsat is using 2 bits per sample"<<std::endl;
-                        break;
-                    case 4:
-                        std::cout<<"Labsat is using 4 bits per sample"<<std::endl;
-                        break;
-                    default:
-                        std::cout<<"Labsat Unknown bits per sample ID "<<(int)d_bits_per_sample<<std::endl;
-                        return -1;
-                }
-
-                byte_counter++;
-                d_channel_selector=(uint8_t)memblock[byte_counter];
-                switch(d_channel_selector)
-                {
-                    case 0:
-                        std::cout<<"Available channels: Channel A + B, 1 bit quantisation"<<std::endl;
-                        break;
-                    case 1:
-                        std::cout<<"Available channels: Channel A, 1 bit quantisation"<<std::endl;
-                        break;
-                    case 2:
-                        std::cout<<"Available channels: Channel B, 1 bit quantisation"<<std::endl;
-                        break;
-                    case 3:
-                        std::cout<<"Available channels: Channel A, 2 bit quantisation"<<std::endl;
-                        break;
-                    case 4:
-                        std::cout<<"Available channels: Channel B, 2 bit quantisation"<<std::endl;
-                        break;
-                    default:
-                        std::cout<<"Unknown channel selection ID "<<(int)d_channel_selector<<std::endl;
-                        return -1;
-                }
-
-                //check if the selected channel in config file match the file encoding
-                if (d_channel_selector_config==2 and d_channel_selector!=0)
-                {
-                    std::cout<<"Labsat source channel config inconsistency: channel 2 is selected but the file has only one channel"<<std::endl;
+                    std::cout << "Labsat file read error: file is empty." << std::endl;
                     return -1;
                 }
-
-                //todo: Add support for dual channel files
-                if (d_channel_selector==0)
-                {
-                    std::cout<<"ERROR: Labsat file contains more than one channel and it is not currently supported by Labsat signal source."<<std::endl;
-                    return -1;
-                }
-                byte_counter++;
-                uint8_t quantization=(uint8_t)memblock[byte_counter];
-                switch(quantization)
-                {
-                    case 1:
-                        std::cout<<"1 bit per sample"<<std::endl;
-                        break;
-                    case 2:
-                        std::cout<<"2 bit per sample"<<std::endl;
-                        break;
-                    default:
-                        std::cout<<"Unknown quantization ID "<<(int)quantization<<std::endl;
-                }
-                byte_counter++;
-                uint8_t channel_a_constellation=(uint8_t)memblock[byte_counter];
-                switch(channel_a_constellation)
-                {
-                    case 0:
-                        std::cout<<"Labsat Channel A is GPS"<<std::endl;
-                        break;
-                    case 1:
-                        std::cout<<"Labsat Channel A is GLONASS"<<std::endl;
-                        break;
-                    case 2:
-                        std::cout<<"Labsat Channel A is BDS"<<std::endl;
-                        break;
-                    default:
-                        std::cout<<"Unknown channel A constellation ID "<<(int)channel_a_constellation<<std::endl;
-                }
-                byte_counter++;
-                uint8_t channel_b_constellation=(uint8_t)memblock[byte_counter];
-                switch(channel_b_constellation)
-                {
-                    case 0:
-                        std::cout<<"Labsat Channel B is GPS"<<std::endl;
-                        break;
-                    case 1:
-                        std::cout<<"Labsat Channel B is GLONASS"<<std::endl;
-                        break;
-                    case 2:
-                        std::cout<<"Labsat Channel B is BDS"<<std::endl;
-                        break;
-                    default:
-                        std::cout<<"Unknown channel B constellation ID "<<(int)channel_b_constellation<<std::endl;
-                }
-
-                //end of header
-                d_header_parsed=true;
-                //seek file to the first signal sample
-                binary_input_file->clear();
-                binary_input_file->seekg(header_bytes, binary_input_file->beg);
-                return 0;
-            }else{
-                std::cout<<"Labsat file header error: section 2 is not available."<<std::endl;
-                return -1;
-            }
-
-        }else{
-            std::cout<<"Labsat file read error: file is empty."<<std::endl;
-            return -1;
         }
-    }else{
-        //ready to start reading samples
-        switch(d_bits_per_sample)
+    else
         {
-            case 2:
+            //ready to start reading samples
+            switch(d_bits_per_sample)
             {
-                switch(d_channel_selector)
+            case 2:
                 {
+                    switch(d_channel_selector)
+                    {
                     case 0:
                         // dual channel 2 bits per complex sample
                         break;
                     default:
                         //single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16)
-                        int n_int16_to_read=noutput_items/8;
-                        if (n_int16_to_read>0)
-                        {
-                            int16_t memblock[n_int16_to_read];
-                            binary_input_file->read((char*)memblock,n_int16_to_read*2);
-                            n_int16_to_read=binary_input_file->gcount()/2; //from bytes to int16
-                            if (n_int16_to_read>0)
+                        int n_int16_to_read = noutput_items / 8;
+                        if (n_int16_to_read > 0)
                             {
-                                int output_pointer=0;
-                                for (int i=0;i<n_int16_to_read;i++)
-                                {
-                                    decode_samples_one_channel(memblock[i],&out[output_pointer], d_bits_per_sample);
-                                    output_pointer+=8;
-                                }
-                                return output_pointer;
-                            }else{
-                                //trigger the read of the next file in the sequence
-                                std::cout<<"End of current file, reading the next Labsat file in sequence: "<<generate_filename()<<std::endl;
+                                int16_t memblock[n_int16_to_read];
+                                binary_input_file->read(reinterpret_cast<char*>(memblock), n_int16_to_read * 2);
+                                n_int16_to_read = binary_input_file->gcount() / 2; //from bytes to int16
+                                if (n_int16_to_read > 0)
+                                    {
+                                        int output_pointer = 0;
+                                        for (int i = 0; i < n_int16_to_read; i++)
+                                            {
+                                                decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
+                                                output_pointer += 8;
+                                            }
+                                        return output_pointer;
+                                    }
+                                else
+                                    {
+                                        //trigger the read of the next file in the sequence
+                                        std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
 
-                                d_current_file_number++;
-                                binary_input_file->close();
-                                binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
-                                if (binary_input_file->is_open())
-                                {
-                                    std::cout<<"Labsat file source is reading samples from "<<generate_filename()<<std::endl;
-                                }else{
-                                    std::cout<<"Last file reached, LabSat source stop"<<std::endl;
-                                    return -1;
-                                }
+                                        d_current_file_number++;
+                                        binary_input_file->close();
+                                        binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
+                                        if (binary_input_file->is_open())
+                                            {
+                                                std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
+                                            }
+                                        else
+                                            {
+                                                std::cout << "Last file reached, LabSat source stop" << std::endl;
+                                                return -1;
+                                            }
+                                    }
                             }
-                        }else{
-                            return 0;
-                        }
-                };
-                break;
-            }
+                        else
+                            {
+                                return 0;
+                            }
+                    };
+                    break;
+                }
             case 4:
-            {
-                switch(d_channel_selector)
                 {
+                    switch(d_channel_selector)
+                    {
                     case 0:
                         // dual channel
                         break;
                     default:
                         //single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16)
-                        int n_int16_to_read=noutput_items/4;
-                        if (n_int16_to_read>0)
-                        {
-                            int16_t memblock[n_int16_to_read];
-                            binary_input_file->read((char*)memblock,n_int16_to_read*2);
-                            n_int16_to_read=binary_input_file->gcount()/2; //from bytes to int16
-                            if (n_int16_to_read>0)
+                        int n_int16_to_read = noutput_items / 4;
+                        if (n_int16_to_read > 0)
                             {
-                                int output_pointer=0;
-                                for (int i=0;i<n_int16_to_read;i++)
-                                {
-                                    decode_samples_one_channel(memblock[i],&out[output_pointer], d_bits_per_sample);
-                                    output_pointer+=4;
-                                }
-                                return output_pointer;
-                            }else{
-                                //trigger the read of the next file in the sequence
-                                std::cout<<"End of current file, reading the next Labsat file in sequence: "<<generate_filename()<<std::endl;
+                                int16_t memblock[n_int16_to_read];
+                                binary_input_file->read(reinterpret_cast<char*>(memblock), n_int16_to_read * 2);
+                                n_int16_to_read = binary_input_file->gcount() / 2; //from bytes to int16
+                                if (n_int16_to_read > 0)
+                                    {
+                                        int output_pointer = 0;
+                                        for (int i = 0; i < n_int16_to_read; i++)
+                                            {
+                                                decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
+                                                output_pointer += 4;
+                                            }
+                                        return output_pointer;
+                                    }
+                                else
+                                    {
+                                        //trigger the read of the next file in the sequence
+                                        std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
 
-                                d_current_file_number++;
-                                binary_input_file->close();
-                                binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
-                                if (binary_input_file->is_open())
-                                {
-                                    std::cout<<"Labsat file source is reading samples from "<<generate_filename()<<std::endl;
-                                }else{
-                                    std::cout<<"Last file reached, LabSat source stop"<<std::endl;
-                                    return -1;
-                                }
+                                        d_current_file_number++;
+                                        binary_input_file->close();
+                                        binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
+                                        if (binary_input_file->is_open())
+                                            {
+                                                std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
+                                            }
+                                        else
+                                            {
+                                                std::cout << "Last file reached, LabSat source stop" << std::endl;
+                                                return -1;
+                                            }
+                                    }
                             }
-                        }else{
-                            return 0;
-                        }
+                        else
+                            {
+                                return 0;
+                            }
+                    }
+                    break;
                 }
-                break;
-            }
             default:
-            {
-                return -1;
+                {
+                    return -1;
+                }
             }
         }
-    }
-    std::cout<<"Warning!!"<<std::endl;
+    std::cout << "Warning!!" << std::endl;
     return 0;
 }

From 35c11d012050113c1824093ec84a494813649b88 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 20:09:39 +0100
Subject: [PATCH 335/379] Apply coding style

---
 .../signal_source/adapters/labsat_signal_source.cc          | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.cc b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
index ead38e585..d71922955 100644
--- a/src/algorithms/signal_source/adapters/labsat_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
@@ -61,10 +61,10 @@ LabsatSignalSource::LabsatSignalSource(ConfigurationInterface* configuration,
             labsat23_source_ = labsat23_make_source(filename_.c_str(),channel_selector);
             DLOG(INFO) << "Item size " << item_size_;
             DLOG(INFO) << "labsat23_source_(" << labsat23_source_->unique_id() << ")";
-    }else
+        }
+    else
         {
-            LOG(WARNING) << item_type_
-                    << " unrecognized item type for LabSat source";
+            LOG(WARNING) << item_type_ << " unrecognized item type for LabSat source";
             item_size_ = sizeof(short);
         }
     if (dump_)

From f6f14f246b30a893e192056582ad93d25455fb20 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 21:23:02 +0100
Subject: [PATCH 336/379] Remove repeated and unrequired includes

---
 .../signal_source/adapters/labsat_signal_source.cc           | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.cc b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
index d71922955..ddd0805c2 100644
--- a/src/algorithms/signal_source/adapters/labsat_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
@@ -29,9 +29,6 @@
  */
 
 #include "labsat_signal_source.h"
-#include <gnuradio/blocks/file_sink.h>
-#include <gnuradio/msg_queue.h>
-#include <gflags/gflags.h>
 #include <glog/logging.h>
 #include "labsat23_source.h"
 #include "configuration_interface.h"
@@ -49,7 +46,7 @@ LabsatSignalSource::LabsatSignalSource(ConfigurationInterface* configuration,
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
 
-    int channel_selector=configuration->property(role + ".selected_channel", 1);
+    int channel_selector = configuration->property(role + ".selected_channel", 1);
     std::string default_filename = "./example_capture.LS3";
 
     samples_ = configuration->property(role + ".samples", 0);

From 9b7ce39c57b2242dc1a9b1bc28db768e19c043b2 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 21:41:19 +0100
Subject: [PATCH 337/379] Fix wrong comments and add consistency in header
 guard name

---
 .../signal_source/adapters/gn3s_signal_source.h        |  6 +++---
 .../signal_source/adapters/labsat_signal_source.h      | 10 +++++-----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/algorithms/signal_source/adapters/gn3s_signal_source.h b/src/algorithms/signal_source/adapters/gn3s_signal_source.h
index af6ab2714..b8b61cbdb 100644
--- a/src/algorithms/signal_source/adapters/gn3s_signal_source.h
+++ b/src/algorithms/signal_source/adapters/gn3s_signal_source.h
@@ -29,8 +29,8 @@
  */
 
 
-#ifndef GN3S_SIGNAL_SOURCE_H_
-#define GN3S_SIGNAL_SOURCE_H_
+#ifndef GNSS_SDR_GN3S_SIGNAL_SOURCE_H_
+#define GNSS_SDR_GN3S_SIGNAL_SOURCE_H_
 
 #include <string>
 #include <gnuradio/hier_block2.h>
@@ -90,4 +90,4 @@ private:
     boost::shared_ptr<gr::msg_queue> queue_;
 };
 
-#endif /*GN3S_SIGNAL_SOURCE_H_*/
+#endif /*GNSS_SDR_GN3S_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.h b/src/algorithms/signal_source/adapters/labsat_signal_source.h
index 6909acefc..43821e8e8 100644
--- a/src/algorithms/signal_source/adapters/labsat_signal_source.h
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.h
@@ -29,8 +29,8 @@
  */
 
 
-#ifndef LABSAT_SIGNAL_SOURCE_H_
-#define LABSAT_SIGNAL_SOURCE_H_
+#ifndef GNSS_SDR_LABSAT_SIGNAL_SOURCE_H_
+#define GNSS_SDR_LABSAT_SIGNAL_SOURCE_H_
 
 #include <string>
 #include <gnuradio/hier_block2.h>
@@ -42,7 +42,7 @@
 class ConfigurationInterface;
 
 /*!
- * \brief This class reads samples from a GN3S USB dongle, a RF front-end signal sampler
+ * \brief This class reads samples stored by a LabSat 2 or LabSat 3 device
  */
 class LabsatSignalSource: public GNSSBlockInterface
 {
@@ -59,7 +59,7 @@ public:
     }
 
     /*!
-     * \brief Returns "LabsatSignalSource".
+     * \brief Returns "Labsat_Signal_Source".
      */
     inline std::string implementation() override
     {
@@ -91,4 +91,4 @@ private:
     boost::shared_ptr<gr::msg_queue> queue_;
 };
 
-#endif /*LABSAT_SIGNAL_SOURCE_H_*/
+#endif /*GNSS_SDR_LABSAT_SIGNAL_SOURCE_H_*/

From 80edc4313f3d4a8ea3ef9c91b8a155772029fb53 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 21:48:42 +0100
Subject: [PATCH 338/379] Change header guard name for consistency

---
 .../signal_source/gnuradio_blocks/labsat23_source.h           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
index 66e6135a1..ffc1b440b 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
@@ -28,8 +28,8 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef LABSAT23_SOURCE_H
-#define LABSAT23_SOURCE_H
+#ifndef GNSS_SDR_LABSAT23_SOURCE_H
+#define GNSS_SDR_LABSAT23_SOURCE_H
 
 #include <gnuradio/block.h>
 #include <string>

From 8386289984edc40eb9ce376f21a045704e41d2c0 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 23 Jan 2018 22:52:15 +0100
Subject: [PATCH 339/379] Initialize all members in the constructor

---
 src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
index d5bfea224..fe9a9c4f7 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
@@ -65,6 +65,8 @@ labsat23_source::labsat23_source(const char *signal_file_basename, int channel_s
     d_bits_per_sample = 0;
     d_current_file_number = 0;
     d_labsat_version = 0;
+    d_ref_clock = 0;
+    d_channel_selector = 0;
     d_signal_file_basename = std::string(signal_file_basename);
 
     std::string signal_file;

From 00a0b2ae2dc4039733b42eed1bdbb7af1d1b77b3 Mon Sep 17 00:00:00 2001
From: Gastd <gabriel.araujo.5000@gmail.com>
Date: Tue, 23 Jan 2018 20:23:28 -0200
Subject: [PATCH 340/379] Update values

---
 conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
index ad49d03e0..7e9a9d279 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
@@ -26,10 +26,10 @@ Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
 Channel.signal=1G
-Channels.in_acquisition=1
+Channels.in_acquisition=2
 Channels_1G.count=8
 
-Channel0.satellite=24   ; k=
+Channel0.satellite=24   ; k=2
 Channel1.satellite=1    ; k=1
 Channel2.satellite=2    ; k=-4
 Channel3.satellite=20   ; k=-5
@@ -53,9 +53,9 @@ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
 Tracking_1G.item_type=gr_complex
 Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
-Tracking_1G.pll_bw_hz=25.0;
+Tracking_1G.pll_bw_hz=40.0;
 Tracking_1G.dll_bw_hz=3.0;
-Tracking_1G.pll_bw_narrow_hz = 20.0;
+Tracking_1G.pll_bw_narrow_hz = 25.0;
 Tracking_1G.dll_bw_narrow_hz = 2.0;
 Tracking_1G.extend_correlation_ms = 1;
 Tracking_1G.dump=true;

From 0159fd8dfce350b1c05177da71e6eff63d434a5a Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 01:00:40 +0100
Subject: [PATCH 341/379] Document Glonass l1 C/A signal identifier

---
 README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 06f884a00..554a9428a 100644
--- a/README.md
+++ b/README.md
@@ -1046,12 +1046,14 @@ Each channel must be assigned to a GNSS signal, according to the following ident
 | **Signal**        | **Identifier**  |
 |:------------------|:---------------:|
 | GPS L1 C/A        |      1C         |
+| Galileo E1b/c     |      1B         |
+| Glonass L1 C/A    |      1G         |
 | GPS L2 L2C(M)     |      2S         |
 | GPS L5            |      L5         |
-| Galileo E1b/c     |      1B         |
 | Galileo E5a       |      5X         |
 
 
+
 Example: Eight GPS L1 C/A channels.
 ~~~~~~
 ;######### CHANNELS GLOBAL CONFIG ############

From c9790a65495b20eeeed623f4a5d763672813839d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 17:38:57 +0100
Subject: [PATCH 342/379] Fix typos

---
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 60 +++++++++----------
 1 file changed, 29 insertions(+), 31 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index a49aa3952..0ed0d1a71 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -105,24 +105,24 @@ void GlonassL1CaPcpsAcquisitionTest::init()
     signal.copy(gnss_synchro.Signal, 2, 0);
     gnss_synchro.PRN = 1;
     config->set_property("GNSS-SDR.internal_fs_sps", "62314000");
-    config->set_property("Acquisition.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "9540000");
-    config->set_property("Acquisition.coherent_integration_time_ms", "1");
-    config->set_property("Acquisition.dump", "true");
-    config->set_property("Acquisition.dump_filename", "./acquisition.dat");
-    config->set_property("Acquisition.implementation", "Glonass_L1_CA_PCPS_Acquisition");
-    config->set_property("Acquisition.threshold", "0.001");
-    config->set_property("Acquisition.doppler_max", "5000");
-    config->set_property("Acquisition.doppler_step", "500");
-    config->set_property("Acquisition.repeat_satellite", "false");
-    config->set_property("Acquisition.pfa", "0.0");
+    config->set_property("Acquisition_1G.item_type", "gr_complex");
+    config->set_property("Acquisition_1G.if", "9540000");
+    config->set_property("Acquisition_1G.coherent_integration_time_ms", "1");
+    config->set_property("Acquisition_1G.dump", "true");
+    config->set_property("Acquisition_1G.dump_filename", "./acquisition.dat");
+    config->set_property("Acquisition_1G.implementation", "Glonass_L1_CA_PCPS_Acquisition");
+    config->set_property("Acquisition_1G.threshold", "0.001");
+    config->set_property("Acquisition_1G.doppler_max", "5000");
+    config->set_property("Acquisition_1G.doppler_step", "500");
+    config->set_property("Acquisition_1G.repeat_satellite", "false");
+    //config->set_property("Acquisition_1G.pfa", "0.0");
 }
 
 
 TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate)
 {
     init();
-    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 1);
 }
 
 
@@ -136,7 +136,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
 
     top_block = gr::make_top_block("Acquisition test");
     init();
-    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = boost::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 1);
     boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
 
     ASSERT_NO_THROW( {
@@ -146,15 +146,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
         top_block->connect(source, 0, valve, 0);
         top_block->connect(valve, 0, acquisition->get_left_block(), 0);
         top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
-
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test.";
 
     EXPECT_NO_THROW( {
         begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
         elapsed_seconds = end - begin;
-    }) << "Failure running the top_block." << std::endl;
+    }) << "Failure running the top_block.";
 
     std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }
@@ -169,33 +168,37 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     double expected_delay_samples = 31874;
     double expected_doppler_hz = -9500;
     init();
-    std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 1);
 
     boost::shared_ptr<GlonassL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make();
 
     ASSERT_NO_THROW( {
         acquisition->set_channel(1);
-    }) << "Failure setting channel." << std::endl;
+    }) << "Failure setting channel.";
 
     ASSERT_NO_THROW( {
         acquisition->set_gnss_synchro(&gnss_synchro);
-    }) << "Failure setting gnss_synchro." << std::endl;
+    }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.001);
-    }) << "Failure setting threshold." << std::endl;
+        acquisition->set_threshold(0.0001);
+    }) << "Failure setting threshold.";
 
     ASSERT_NO_THROW( {
         acquisition->set_doppler_max(10000);
-    }) << "Failure setting doppler_max." << std::endl;
+    }) << "Failure setting doppler_max.";
 
     ASSERT_NO_THROW( {
         acquisition->set_doppler_step(250);
-    }) << "Failure setting doppler_step." << std::endl;
+    }) << "Failure setting doppler_step.";
 
     ASSERT_NO_THROW( {
         acquisition->connect(top_block);
-    }) << "Failure connecting acquisition to the top_block." << std::endl;
+    }) << "Failure connecting acquisition to the top_block.";
+
+    acquisition->set_local_code();
+    acquisition->set_state(1); // Ensure that acquisition starts at the first sample
+    acquisition->init();
 
     ASSERT_NO_THROW( {
         std::string path = std::string(TEST_PATH);
@@ -204,19 +207,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
         gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
         top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
         top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
-
-
-    acquisition->set_state(1); // Ensure that acquisition starts at the first sample
-    acquisition->init();
+    }) << "Failure connecting the blocks of acquisition test.";
 
     EXPECT_NO_THROW( {
         begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
         elapsed_seconds = end - begin;
-    }) << "Failure running the top_block." << std::endl;
-
+    }) << "Failure running the top_block.";
 
     unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
     std::cout <<  "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;

From 9ff66b3377ffdab886a2e024b31fc3990cb3906b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:06:03 +0100
Subject: [PATCH 343/379] Fix tests

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 24 +++++++++----------
 .../glonass_l1_ca_pcps_acquisition_test.cc    |  6 ++---
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index abc2bedb3..ec77c5951 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -420,14 +420,14 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
         top_block->connect(source, 0, valve, 0);
         top_block->connect(valve, 0, acquisition->get_left_block(), 0);
         top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
-    }) << "Failure connecting the blocks of acquisition test."<< std::endl;
+    }) << "Failure connecting the blocks of acquisition test.";
 
     EXPECT_NO_THROW( {
         begin = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
         elapsed_seconds = end - begin;
-    }) << "Failure running the top_block."<< std::endl;
+    }) << "Failure running the top_block.";
 
     std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 
@@ -446,28 +446,28 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
     ASSERT_NO_THROW( {
         acquisition->set_channel(1);
-    }) << "Failure setting channel."<< std::endl;
+    }) << "Failure setting channel.";
 
     ASSERT_NO_THROW( {
         acquisition->set_gnss_synchro(&gnss_synchro);
-    }) << "Failure setting gnss_synchro."<< std::endl;
+    }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
         acquisition->set_doppler_max(10000);
-    }) << "Failure setting doppler_max."<< std::endl;
+    }) << "Failure setting doppler_max.";
 
     ASSERT_NO_THROW( {
         acquisition->set_doppler_step(500);
-    }) << "Failure setting doppler_step."<< std::endl;
+    }) << "Failure setting doppler_step.";
 
     ASSERT_NO_THROW( {
         acquisition->set_threshold(0.5);
-    }) << "Failure setting threshold."<< std::endl;
+    }) << "Failure setting threshold.";
 
     ASSERT_NO_THROW( {
         acquisition->connect(top_block);
         top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
-    }) << "Failure connecting acquisition to the top_block."<< std::endl;
+    }) << "Failure connecting acquisition to the top_block.";
 
     acquisition->init();
 
@@ -478,7 +478,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
         signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue));
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-    }) << "Failure connecting the blocks of acquisition test." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test.";
 
     // i = 0 --> satellite in acquisition is visible
     // i = 1 --> satellite in acquisition is not visible
@@ -501,7 +501,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 
             EXPECT_NO_THROW( {
                 top_block->run(); // Start threads and wait
-            }) << "Failure running the top_block."<< std::endl;
+            }) << "Failure running the top_block.";
 
             if (i == 0)
                 {
@@ -519,12 +519,12 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
 #ifdef OLD_BOOST
             ASSERT_NO_THROW( {
                 ch_thread.timed_join(boost::posix_time::seconds(1));
-            }) << "Failure while waiting the queue to stop" << std::endl;
+            }) << "Failure while waiting the queue to stop.";
 #endif
 #ifndef OLD_BOOST
             ASSERT_NO_THROW( {
                 ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
-            }) << "Failure while waiting the queue to stop" << std::endl;
+            }) << "Failure while waiting the queue to stop";
 #endif
         }
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 0ed0d1a71..592350300 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -166,7 +166,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     top_block = gr::make_top_block("Acquisition test");
 
     double expected_delay_samples = 31874;
-    double expected_doppler_hz = -9500;
+    double expected_doppler_hz = -8000;
     init();
     std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition_1G", 1, 1);
 
@@ -181,7 +181,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.0001);
+        acquisition->set_threshold(0.0005);
     }) << "Failure setting threshold.";
 
     ASSERT_NO_THROW( {
@@ -189,7 +189,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting doppler_max.";
 
     ASSERT_NO_THROW( {
-        acquisition->set_doppler_step(250);
+        acquisition->set_doppler_step(500);
     }) << "Failure setting doppler_step.";
 
     ASSERT_NO_THROW( {

From c62e7a683db0e7dac199689ef77a4f1402879037 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:16:01 +0100
Subject: [PATCH 344/379] Fix warning of unused parameters

---
 src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 9fe1b4f6a..85290da73 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -522,9 +522,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
             bool flag_write_RTCM_1019_output = false;
             bool flag_write_RTCM_1020_output = false;
             bool flag_write_RTCM_1045_output = false;
-            bool flag_write_RTCM_1077_output = false;
-            bool flag_write_RTCM_1087_output = false;
-            bool flag_write_RTCM_1097_output = false;
             bool flag_write_RTCM_MSM_output = false;
             bool flag_write_RINEX_obs_output = false;
             bool flag_write_RINEX_nav_output = false;
@@ -634,7 +631,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                         }
                                     if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) && (d_rtcm_MT1087_rate_ms != 0) )
                                         {
-                                            flag_write_RTCM_1087_output = true;
                                             last_RTCM_1087_output_time = current_RX_time;
                                         }
                                     if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0) )

From 1cf8f93a52dd2ec6cab7f6bc0b50832590bca691 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:19:15 +0100
Subject: [PATCH 345/379] Fix warning of unused variables

---
 src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 839df16dc..2478539a5 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -280,7 +280,6 @@ TEST(RtcmTest, MT1019)
 TEST(RtcmTest, MT1020)
 {
     auto rtcm = std::make_shared<Rtcm>();
-    bool expected_true = true;
 
     // Objects to populate the ephemeris and utc fields
     Glonass_Gnav_Ephemeris gnav_ephemeris = Glonass_Gnav_Ephemeris();
@@ -357,7 +356,7 @@ TEST(RtcmTest, MSMCell)
     auto rtcm = std::make_shared<Rtcm>();
     Gps_Ephemeris gps_eph = Gps_Ephemeris();
     Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
-    Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
+    // Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
     std::map<int, Gnss_Synchro> pseudoranges;
 
     Gnss_Synchro gnss_synchro;

From 2685dd0dfa453ec2e2aa3b651cb8f82634fabb32 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:21:45 +0100
Subject: [PATCH 346/379] Fix typo

---
 src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 2478539a5..4e60b7360 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -356,7 +356,7 @@ TEST(RtcmTest, MSMCell)
     auto rtcm = std::make_shared<Rtcm>();
     Gps_Ephemeris gps_eph = Gps_Ephemeris();
     Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
-    // Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
+    Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
     std::map<int, Gnss_Synchro> pseudoranges;
 
     Gnss_Synchro gnss_synchro;

From 5296c5e81fa881f4e2802a55eae755db52109f54 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:25:06 +0100
Subject: [PATCH 347/379] Fix warning

---
 .../unit-tests/signal-processing-blocks/pvt/rtcm_test.cc      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 4e60b7360..9e367c85e 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -356,7 +356,7 @@ TEST(RtcmTest, MSMCell)
     auto rtcm = std::make_shared<Rtcm>();
     Gps_Ephemeris gps_eph = Gps_Ephemeris();
     Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
-    Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
+    //Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
     std::map<int, Gnss_Synchro> pseudoranges;
 
     Gnss_Synchro gnss_synchro;
@@ -419,7 +419,7 @@ TEST(RtcmTest, MSMCell)
 
     gps_eph.i_satellite_PRN = gnss_synchro2.PRN;
     gal_eph.i_satellite_PRN = gnss_synchro.PRN;
-    glo_gnav_eph.i_satellite_PRN = gnss_synchro.PRN;
+    //glo_gnav_eph.i_satellite_PRN = gnss_synchro.PRN;
 
     std::string MSM1 = rtcm->print_MSM_1(gps_eph,
             {},

From 5c78778a93510dd40118fcb2771f97e5ab92b821 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:32:11 +0100
Subject: [PATCH 348/379] Add header

---
 .../glonass_l1_ca_pcps_acquisition.cc         | 52 ++++++++++++++++---
 .../adapters/glonass_l1_ca_pcps_acquisition.h | 32 ++++++++++++
 2 files changed, 76 insertions(+), 8 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 5afc7e073..9bbc9475f 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -1,3 +1,36 @@
+/*!
+ * \file glonass_l1_ca_pcps_acquisition.cc
+ * \brief  Adapts a PCPS acquisition block to an AcquisitionInterface for
+ * Glonass L1 C/A signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include "glonass_l1_ca_pcps_acquisition.h"
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
@@ -7,10 +40,11 @@
 
 
 using google::LogMessage;
+
 GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
         ConfigurationInterface* configuration, std::string role,
         unsigned int in_streams, unsigned int out_streams) :
-    role_(role), in_streams_(in_streams), out_streams_(out_streams)
+                role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
     configuration_ = configuration;
     std::string default_item_type = "gr_complex";
@@ -55,12 +89,14 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
                     bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
             DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
 
-        }else{
-                item_size_ = sizeof(gr_complex);
-                acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
-                        doppler_max_, if_, fs_in_, code_length_, code_length_,
-                        bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
-                DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
+                    doppler_max_, if_, fs_in_, code_length_, code_length_,
+                    bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
+            DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
         }
 
     stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
@@ -260,7 +296,7 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
         {
             frequency_bins++;
         }
-    */
+     */
 
     frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_;
 
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
index 65f6b9874..f338a1504 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -1,3 +1,35 @@
+/*!
+ * \file glonass_l1_ca_pcps_acquisition.h
+ * \brief  Adapts a PCPS acquisition block to an AcquisitionInterface for
+ * Glonass L1 C/A signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
 
 #ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
 #define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_

From d6044c0ece0548d65e9e4d04d899e2c0573311a5 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 18:36:36 +0100
Subject: [PATCH 349/379] Fix indentation

---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     | 104 +++++++++---------
 1 file changed, 51 insertions(+), 53 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 8ba984873..22aa23538 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -150,39 +150,39 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             chip_acc_counter += 1;
 
             if(chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT))
-              {
-                if (chip_acc > 0)
-                    {
-                        bi_binary_code.push_back('1');
-                        chip_acc_counter = 0;
-                        chip_acc = 0;
-                    }
-                else
-                    {
-                        bi_binary_code.push_back('0');
-                        chip_acc_counter = 0;
-                        chip_acc = 0;
-                    }
-              }
+                {
+                    if (chip_acc > 0)
+                        {
+                            bi_binary_code.push_back('1');
+                            chip_acc_counter = 0;
+                            chip_acc = 0;
+                        }
+                    else
+                        {
+                            bi_binary_code.push_back('0');
+                            chip_acc_counter = 0;
+                            chip_acc = 0;
+                        }
+                }
         }
     // Convert from bi-binary code to relative code
     for(int i = 0; i < (GLONASS_GNAV_STRING_BITS); i++)
         {
             if(bi_binary_code[2*i] == '1' && bi_binary_code[2*i + 1] == '0')
-              {
-                relative_code.push_back('1');
-              }
+                {
+                    relative_code.push_back('1');
+                }
             else
-              {
-                relative_code.push_back('0');
-              }
+                {
+                    relative_code.push_back('0');
+                }
         }
     // Convert from relative code to data bits
     data_bits.push_back('0');
     for(int i = 1; i < (GLONASS_GNAV_STRING_BITS); i++)
-    {
-        data_bits.push_back(((relative_code[i-1]-'0') ^ (relative_code[i]-'0')) + '0');
-    }
+        {
+            data_bits.push_back(((relative_code[i-1]-'0') ^ (relative_code[i]-'0')) + '0');
+        }
 
     // 2. Call the GLONASS GNAV string decoder
     d_nav.string_decoder(data_bits);
@@ -203,7 +203,6 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
             LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;
-
         }
     if (d_nav.have_new_utc_model() == true)
         {
@@ -250,20 +249,20 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     unsigned int required_symbols=GLONASS_GNAV_STRING_SYMBOLS;
 
     if (d_symbol_history.size()>required_symbols)
-    {
-        //******* preamble correlation ********
-        for (int i = 0; i < d_symbols_per_preamble; i++)
-            {
-                if (d_symbol_history.at(i).Prompt_I < 0)    // symbols clipping
-                    {
-                        corr_value -= d_preambles_symbols[i];
-                    }
-                else
-                    {
-                        corr_value += d_preambles_symbols[i];
-                    }
-            }
-    }
+        {
+            //******* preamble correlation ********
+            for (int i = 0; i < d_symbols_per_preamble; i++)
+                {
+                    if (d_symbol_history.at(i).Prompt_I < 0)    // symbols clipping
+                        {
+                            corr_value -= d_preambles_symbols[i];
+                        }
+                    else
+                        {
+                            corr_value += d_preambles_symbols[i];
+                        }
+                }
+        }
 
     //******* frame sync ******************
     if (d_stat == 0) //no preamble information
@@ -276,7 +275,6 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                     // Enter into frame pre-detection status
                     d_stat = 1;
                     d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the preamble sample stamp
-
                 }
         }
     else if (d_stat == 1) // posible preamble lock
@@ -294,8 +292,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                             d_preamble_index = d_sample_counter; //record the preamble sample stamp
                             d_stat = 2;
                             // send asynchronous message to tracking to inform of frame sync and extend correlation time
-														pmt::pmt_t value = pmt::from_double(static_cast<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) - 0.001);
-														this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
+                            pmt::pmt_t value = pmt::from_double(static_cast<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) - 0.001);
+                            this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
                         }
                     else
                         {
@@ -309,7 +307,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
         }
     else if (d_stat == 2)
         {
-    				// FIXME: The preamble index marks the first symbol of the string count. Here I just wait for another full string to be received before processing
+            // FIXME: The preamble index marks the first symbol of the string count. Here I just wait for another full string to be received before processing
             if (d_sample_counter == d_preamble_index + GLONASS_GNAV_STRING_SYMBOLS)
                 {
                     // NEW GLONASS string received
@@ -398,14 +396,14 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
             // MULTIPLEXED FILE RECORDING - Record results to file
             try
             {
-                double tmp_double;
-                unsigned long int tmp_ulong_int;
-                tmp_double = d_TOW_at_current_symbol;
-                d_dump_file.write((char*)&tmp_double, sizeof(double));
-                tmp_ulong_int = current_symbol.Tracking_sample_counter;
-                d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
-                tmp_double = 0;
-                d_dump_file.write((char*)&tmp_double, sizeof(double));
+                    double tmp_double;
+                    unsigned long int tmp_ulong_int;
+                    tmp_double = d_TOW_at_current_symbol;
+                    d_dump_file.write((char*)&tmp_double, sizeof(double));
+                    tmp_ulong_int = current_symbol.Tracking_sample_counter;
+                    d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
+                    tmp_double = 0;
+                    d_dump_file.write((char*)&tmp_double, sizeof(double));
             }
             catch (const std::ifstream::failure & e)
             {
@@ -415,9 +413,9 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 
     // remove used symbols from history
     if (d_symbol_history.size()>required_symbols)
-    {
-        d_symbol_history.pop_front();
-    }
+        {
+            d_symbol_history.pop_front();
+        }
     //3. Make the output (copy the object contents to the GNURadio reserved memory)
     *out[0] = current_symbol;
 

From 9b28aa9e6bda2205850deb39b941e3b91a28c8ee Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 19:08:08 +0100
Subject: [PATCH 350/379] Fix test

---
 .../pvt/rinex_printer_test.cc                         | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
index ceb2d8373..963ab0186 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
@@ -174,7 +174,7 @@ TEST(RinexPrinterTest, MixedObsHeaderGpsGlo)
 
     std::shared_ptr<Rinex_Printer> rp1;
     rp1 = std::make_shared<Rinex_Printer>();
-    rp1->rinex_obs_header(rp1->obsFile, eph_gps, eph_glo, 0.0, "1C");
+    rp1->rinex_obs_header(rp1->obsFile, eph_gps, eph_glo, 0.0, "1G");
     rp1->obsFile.seekp(0);
     int systems_found = 0;
 
@@ -200,7 +200,7 @@ TEST(RinexPrinterTest, MixedObsHeaderGpsGlo)
         }
 
     std::string expected_str("G    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES ");
-    std::string expected_str2("R    8 C1C L1C D1C S1C                                      SYS / # / OBS TYPES ");
+    std::string expected_str2("R    4 C1C L1C D1C S1C                                      SYS / # / OBS TYPES ");
     EXPECT_EQ(0, expected_str.compare(line_aux));
     EXPECT_EQ(0, expected_str2.compare(line_aux2));
     if(remove(rp1->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
@@ -627,7 +627,7 @@ TEST(RinexPrinterTest, MixedObsLogGpsGlo)
 
     std::shared_ptr<Rinex_Printer> rp;
     rp = std::make_shared<Rinex_Printer>();
-    rp->rinex_obs_header(rp->obsFile, eph_gps, eph_glo, 0.0, "1C");
+    rp->rinex_obs_header(rp->obsFile, eph_gps, eph_glo, 0.0, "1G");
 
     std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
 
@@ -658,7 +658,7 @@ TEST(RinexPrinterTest, MixedObsLogGpsGlo)
     std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
     std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
 
-    sig = "1C";
+    sig = "1G";
     std::memcpy((void*)gs5.Signal, sig.c_str(), 3);
     std::memcpy((void*)gs6.Signal, sig.c_str(), 3);
     std::memcpy((void*)gs7.Signal, sig.c_str(), 3);
@@ -718,7 +718,8 @@ TEST(RinexPrinterTest, MixedObsLogGpsGlo)
                         }
                 }
         }
-    std::string expected_str("R16  22000000.000 7         0.127 7       -20.000 7        42.000  22000000.000 6         8.292 6      1534.000 6        41.000");
+
+    std::string expected_str("R16  22000000.000 6         8.292 6      1534.000 6        41.000  22000000.000 7         0.127 7       -20.000 7        42.000");
     EXPECT_EQ(0, expected_str.compare(line_aux));
 
     if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";

From d33f5e1772781d903baeec076806b481ed6e2b4b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 19:22:32 +0100
Subject: [PATCH 351/379] Fix test

---
 src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 9e367c85e..fdc7084a4 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -462,7 +462,7 @@ TEST(RtcmTest, MSMCell)
              divergence_free,
              more_messages);
     std::string MSM1_bin_2 = rtcm->binary_data_to_bin(MSM1_2);
-    EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
+    EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010001100")); // check cell mask
 
     Gnss_Synchro gnss_synchro7;
     gnss_synchro7.PRN = 10;

From df4e93b59f3fd2dd20c68fba12a7f4b1414b0ed4 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 19:23:45 +0100
Subject: [PATCH 352/379] Initialize all members in the constructor

---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc  | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 3fd0e74cd..107334df5 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -219,6 +219,8 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
     d_carrier_frequency_hz = 0.0;
     d_carrier_doppler_old_hz = 0.0;
 
+    d_glonass_freq_ch = 0;
+
     //set_min_output_buffer((long int)300);
 }
 

From 831bc2ae2d6c298851ac9e47a9aaf6cb6e4790aa Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 19:25:03 +0100
Subject: [PATCH 353/379] Initialize all members in the constructor

---
 .../gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc   | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 9619167f4..7cf86026f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -220,6 +220,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
     d_carrier_frequency_hz = 0.0;
     d_carrier_doppler_old_hz = 0.0;
 
+    d_glonass_freq_ch = 0;
     //set_min_output_buffer((long int)300);
 }
 

From e7ba7ef23deed1af0475d81d7a94dce7dc72bcd8 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 24 Jan 2018 21:27:15 +0100
Subject: [PATCH 354/379] Fix warning

---
 src/algorithms/PVT/libs/rinex_printer.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 4a53b2525..1f39acac7 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -8307,7 +8307,7 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
 {
     double tod = 0.0;
 	double glot2utc = 3*3600;
-	double obs_time_utc = 0.0, obs_time_glot = 0.0;
+	double obs_time_glot = 0.0;
 	int i = 0;
 
 	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
@@ -8347,7 +8347,7 @@ double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const d
 {
     double tod = 0.0;
 	double glot2utc = 3*3600;
-	double obs_time_utc = 0.0, obs_time_glot = 0.0;
+	double obs_time_glot = 0.0;
 	int i = 0;
 	double leap_second = 0;
 

From 6f3e43ec087686e89bf9685d95384516569a49e2 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carlesfernandez@gmail.com>
Date: Thu, 25 Jan 2018 15:07:13 +0100
Subject: [PATCH 355/379] Initialize all members in the cosntructor

---
 .../glonass_gnav_navigation_message.cc        | 29 +++++++------------
 1 file changed, 11 insertions(+), 18 deletions(-)

diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 102b57dfb..abc13409d 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -43,7 +43,7 @@
 void Glonass_Gnav_Navigation_Message::reset()
 {
     //!< Satellite Identification
-	i_satellite_PRN = 0;
+    i_satellite_PRN = 0;
     i_alm_satellite_slot_number = 0;    //!< SV Orbit Slot Number
     flag_update_slot_number = false;
 
@@ -79,6 +79,7 @@ void Glonass_Gnav_Navigation_Message::reset()
     flag_CRC_test = false;
     d_frame_ID = 0;
     d_string_ID = 0;
+    i_channel_ID = 0;
 
     // Clock terms
     d_satClkCorr = 0.0;
@@ -88,8 +89,7 @@ void Glonass_Gnav_Navigation_Message::reset()
     // Data update information
     d_previous_tb = 0.0;
     for(unsigned int i = 0; i < GLONASS_L1_CA_NBR_SATS; i++)
-        d_previous_Na[i] = 0.0;
-
+    d_previous_Na[i] = 0.0;
 
     std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
 
@@ -97,9 +97,9 @@ void Glonass_Gnav_Navigation_Message::reset()
     std::string _system ("GLONASS");
     //TODO SHould number of channels be hardcoded?
     for(unsigned int i = 1; i < 14; i++)
-        {
-            satelliteBlock[i] = gnss_sat.what_block(_system, i);
-        }
+    {
+        satelliteBlock[i] = gnss_sat.what_block(_system, i);
+    }
 }
 
 
@@ -129,7 +129,6 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
 			string_bits[i] = static_cast<int>(bits[i]);
 		}
 
-
     //!< Compute C1 term
     sum_bits = 0;
     for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
@@ -330,7 +329,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
     if(flag_CRC_test == false)
         return 0;
 
-
     // Decode all 15 string messages
     d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
     switch (d_string_ID) {
@@ -441,18 +439,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
                     if (flag_ephemeris_str_1 == true)
-                    {
-                        gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
-                        flag_TOW_set = true;
-                        flag_TOW_new = true;
-                    }
+                        {
+                            gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
+                            flag_TOW_set = true;
+                            flag_TOW_new = true;
+                        }
 
                     // 4) Set time of day (tod) when ephemeris data is complety decoded
                     gnav_ephemeris.d_tod = gnav_ephemeris.d_t_k + 2*d_string_ID;
-
                 }
 
-
             break;
 
         case 6:
@@ -678,11 +674,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID
                       << ", but acceptable range is from 1-15";
 
-
             break;
     } // switch string ID ...
 
-
     return d_string_ID;
 }
 
@@ -755,7 +749,6 @@ bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a ne
                     flag_almanac_str_7 = false;
                     new_alm = true;
                 }
-
         }
     if ((flag_almanac_str_8 == true) and (flag_almanac_str_9 == true))
         {

From b6fcc4d21870fc72f48e2f7acaa9b22878d9cf09 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 25 Jan 2018 19:35:28 +0100
Subject: [PATCH 356/379] Remove warning of unused parameter and dead code, fix
 indentation

---
 src/algorithms/PVT/libs/rinex_printer.cc | 2129 +++++++++++-----------
 src/algorithms/PVT/libs/rinex_printer.h  |   26 +-
 2 files changed, 1060 insertions(+), 1095 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 1f39acac7..f48ba8ab5 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -465,52 +465,52 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
 
     // -------- Line system time correction
     if (version == 3)
-		{
-			line.clear();
-			line += std::string("GLUT");
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
-			line += std::string(10, ' ');
-			line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+        {
+            line.clear();
+            line += std::string("GLUT");
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+            line += std::string(10, ' ');
+            line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// -------- Line system time correction 2
-			line.clear();
-			line += std::string("GLGP");
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
-			line += std::string(10, ' ');
-			line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+            // -------- Line system time correction 2
+            line.clear();
+            line += std::string("GLGP");
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+            line += std::string(10, ' ');
+            line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
     if (version == 2)
-		{
-    		// Set reference time and its clock corrections
-    		boost::posix_time::ptime p_utc_ref_time = glonass_gnav_eph.glot_to_utc(glonass_gnav_eph.d_t_b, 0.0);
-			std::string timestring = boost::posix_time::to_iso_string(p_utc_ref_time);
-			std::string year (timestring, 0, 4);
-			std::string month (timestring, 4, 2);
-			std::string day (timestring, 6, 2);
+        {
+            // Set reference time and its clock corrections
+            boost::posix_time::ptime p_utc_ref_time = glonass_gnav_eph.glot_to_utc(glonass_gnav_eph.d_t_b, 0.0);
+            std::string timestring = boost::posix_time::to_iso_string(p_utc_ref_time);
+            std::string year (timestring, 0, 4);
+            std::string month (timestring, 4, 2);
+            std::string day (timestring, 6, 2);
 
-			line.clear();
-			line += Rinex_Printer::rightJustify(year, 6);
-			line += Rinex_Printer::rightJustify(month, 6);
-			line += Rinex_Printer::rightJustify(day, 6);
-			line += std::string(3, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
-			line += std::string(20, ' ');
-			line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+            line.clear();
+            line += Rinex_Printer::rightJustify(year, 6);
+            line += Rinex_Printer::rightJustify(month, 6);
+            line += Rinex_Printer::rightJustify(day, 6);
+            line += std::string(3, ' ');
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
+            line += std::string(20, ' ');
+            line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- End of Header
     line.clear();
@@ -621,7 +621,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line 6 leap seconds
     // For leap second information, see http://www.endruntechnologies.com/leap.htm
     line.clear();
@@ -642,6 +641,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@@ -743,7 +743,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line 6 leap seconds
     // For leap second information, see http://www.endruntechnologies.com/leap.htm
     line.clear();
@@ -764,6 +763,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@@ -828,7 +828,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line system time correction
     line.clear();
     line += std::string("GAUT");
@@ -874,6 +873,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::string line;
@@ -921,7 +921,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line ionospheric info 1
     line.clear();
     line += std::string("GAL ");
@@ -936,7 +935,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line system time correction
     line.clear();
     line += std::string("GAUT");
@@ -961,7 +959,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line 6 leap seconds
     // For leap second information, see http://www.endruntechnologies.com/leap.htm
     line.clear();
@@ -982,6 +979,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono & iono, const Gps_CNAV_Utc_Model & utc_model)
 {
     std::string line;
@@ -1097,6 +1095,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono & io
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model)
 {
     std::string line;
@@ -1120,7 +1119,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
             line += std::string("G: GPS");
             line += std::string(14, ' ');
             // ...
-
         }
 
     line += std::string("RINEX VERSION / TYPE");
@@ -1266,7 +1264,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- End of Header
     line.clear();
     line += std::string(60, ' ');
@@ -1275,6 +1272,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::string line;
@@ -1322,7 +1320,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line ionospheric info 1
     line.clear();
     line += std::string("GAL ");
@@ -1386,7 +1383,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- Line 6 leap seconds
     // For leap second information, see http://www.endruntechnologies.com/leap.htm
     line.clear();
@@ -1589,6 +1585,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_
     std::cout << "The RINEX Navigation file header has been updated with UTC info." << std::endl;
 }
 
+
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
 {
     std::vector<std::string> data;
@@ -1684,6 +1681,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
     std::cout << "The RINEX Navigation file header has been updated with UTC and IONO info." << std::endl;
 }
 
+
 void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Utc_Model& utc_model, const Gps_Iono& iono)
 {
     std::vector<std::string> data;
@@ -2039,7 +2037,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
                         {
                             data.push_back(line_str);
                         }
-
                 }
             else
                 {
@@ -2253,7 +2250,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gp
                         {
                             data.push_back(line_str);
                         }
-
                 }
             else
                 {
@@ -2274,11 +2270,12 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gp
     std::cout << "The RINEX Navigation file header has been updated with UTC and IONO info." << std::endl;
 }
 
+
 void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
     //Avoid compiler warning, there is not time system correction between Galileo and GLONASS
-   if(galileo_almanac.A_0G_10){}
+    if(galileo_almanac.A_0G_10){}
     std::vector<std::string> data;
     std::string line_aux;
 
@@ -2373,7 +2370,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
 }
 
 
-
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
 {
     std::string line;
@@ -2382,7 +2378,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
     for(gps_ephemeris_iter = eph_map.cbegin();
             gps_ephemeris_iter != eph_map.cend();
             gps_ephemeris_iter++)
-    {
+        {
             // -------- SV / EPOCH / SV CLK
             boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GPS_time(gps_ephemeris_iter->second, gps_ephemeris_iter->second.d_Toc);
             std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
@@ -2490,7 +2486,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 1
             line.clear();
 
@@ -2524,7 +2519,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 2
             line.clear();
             if (version == 2)
@@ -2549,8 +2543,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
-
             // -------- BROADCAST ORBIT - 3
             line.clear();
             if (version == 2)
@@ -2575,8 +2567,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
-
             // -------- BROADCAST ORBIT - 4
             line.clear();
             if (version == 2)
@@ -2601,8 +2591,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
-
             // -------- BROADCAST ORBIT - 5
             line.clear();
             if (version == 2)
@@ -2653,7 +2641,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephe
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 7
             line.clear();
             if (version == 2)
@@ -2747,7 +2734,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 1
             line.clear();
             line += std::string(5, ' ');
@@ -2771,7 +2757,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 2
             line.clear();
             line += std::string(5, ' ');
@@ -2787,7 +2772,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 3
             line.clear();
             line += std::string(5, ' ');
@@ -2801,7 +2785,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 4
             line.clear();
             line += std::string(5, ' ');
@@ -2817,7 +2800,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 5
             line.clear();
             line += std::string(5, ' ');
@@ -2834,7 +2816,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 6
             line.clear();
             line += std::string(5, ' ');
@@ -2849,7 +2830,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 7
             line.clear();
             line += std::string(5, ' ');
@@ -2912,7 +2892,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 1
             line.clear();
             line += std::string(5, ' ');
@@ -2926,7 +2905,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 2
             line.clear();
             line += std::string(5, ' ');
@@ -2940,7 +2918,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 3
             line.clear();
             line += std::string(5, ' ');
@@ -2954,7 +2931,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 4
             line.clear();
             line += std::string(5, ' ');
@@ -2968,7 +2944,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 5
             line.clear();
             line += std::string(5, ' ');
@@ -2989,7 +2964,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 6
             line.clear();
             line += std::string(5, ' ');
@@ -3029,7 +3003,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 7
             line.clear();
             line += std::string(5, ' ');
@@ -3055,7 +3028,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
     for(glonass_gnav_ephemeris_iter = eph_map.begin();
             glonass_gnav_ephemeris_iter != eph_map.end();
             glonass_gnav_ephemeris_iter++)
-    {
+        {
             // -------- SV / EPOCH / SV CLK
             boost::posix_time::ptime p_utc_time = glonass_gnav_ephemeris_iter->second.glot_to_utc(glonass_gnav_ephemeris_iter->second.d_t_b, 0.0);
             std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
@@ -3111,23 +3084,23 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                             line += minutes;
                         }
                     line += std::string(1, ' ');
-					if(boost::lexical_cast<int>(seconds) < 10)
-						{
-							line += std::string(1, ' ');
-							line += std::string(seconds, 1, 1);
-						}
-					else
-						{
-							line += seconds;
-						}
-					line += std::string(1, '.');
-					std::string decimal = std::string("0");
-					if (timestring.size() > 16)
-						{
-							std::string decimal (timestring, 16, 1);
-						}
-					line += decimal;
-					line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(seconds) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(seconds, 1, 1);
+                        }
+                    else
+                        {
+                            line += seconds;
+                        }
+                    line += std::string(1, '.');
+                    std::string decimal = std::string("0");
+                    if (timestring.size() > 16)
+                        {
+                            std::string decimal (timestring, 16, 1);
+                        }
+                    line += decimal;
+                    line += std::string(1, ' ');
                     line += Rinex_Printer::doub2for(-glonass_gnav_ephemeris_iter->second.d_tau_c, 18, 2);
                     line += std::string(1, ' ');
                     line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
@@ -3164,7 +3137,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 1
             line.clear();
             // TODO Why is this happening here?. The extra space maybe is intended to help with readability
@@ -3191,7 +3163,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             // -------- BROADCAST ORBIT - 2
             line.clear();
             if (version == 2)
@@ -3217,8 +3188,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
-
             // -------- BROADCAST ORBIT - 3
             line.clear();
             if (version == 2)
@@ -3247,6 +3216,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
         }
 }
 
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map)
 {
     version = 3;
@@ -3262,12 +3232,14 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Eph
     Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
 }
 
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
 {
     Rinex_Printer::log_rinex_nav(out, gps_eph_map);
     Rinex_Printer::log_rinex_nav(out, glonass_gnav_eph_map);
 }
 
+
 void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map)
 {
     version = 3;
@@ -3277,7 +3249,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
 }
 
 
-
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string glonass_bands)
 {
     if(eph.d_m){} //Avoid compiler warning
@@ -3732,90 +3703,90 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 
     // -------- SYS / OBS TYPES
     if(version == 3)
-		{
-			// one line per available system
-			line.clear();
-			line += satelliteSystem["GPS"];
-			line += std::string(2, ' ');
-			std::stringstream strm;
-			numberTypesObservations = 4;
-			strm << numberTypesObservations;
-			line += Rinex_Printer::rightJustify(strm.str(), 3);
-			// per type of observation
-			// GPS L1 PSEUDORANGE
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GPS_L1_CA"];
-			// GPS L1 PHASE
-			line += std::string(1, ' ');
-			line += observationType["CARRIER_PHASE"];
-			line += observationCode["GPS_L1_CA"];
-			// GPS DOPPLER L1
-			line += std::string(1, ' ');
-			line += observationType["DOPPLER"];
-			line += observationCode["GPS_L1_CA"];
-			// GPS L1 CA SIGNAL STRENGTH
-			line += std::string(1, ' ');
-			line += observationType["SIGNAL_STRENGTH"];
-			line += observationCode["GPS_L1_CA"];
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+        {
+            // one line per available system
+            line.clear();
+            line += satelliteSystem["GPS"];
+            line += std::string(2, ' ');
+            std::stringstream strm;
+            numberTypesObservations = 4;
+            strm << numberTypesObservations;
+            line += Rinex_Printer::rightJustify(strm.str(), 3);
+            // per type of observation
+            // GPS L1 PSEUDORANGE
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GPS_L1_CA"];
+            // GPS L1 PHASE
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GPS_L1_CA"];
+            // GPS DOPPLER L1
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GPS_L1_CA"];
+            // GPS L1 CA SIGNAL STRENGTH
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GPS_L1_CA"];
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// Find GLONASS Signal in Mixed file
-			unsigned int number_of_observations_glo = 0;
-			std::string signal_("1G");
-			std::size_t found_1G = glonass_bands.find(signal_);
-			if(found_1G != std::string::npos)
-				{
-					number_of_observations_glo = number_of_observations_glo + 4;
-				}
-			signal_ = "2G";
-			std::size_t found_2G = glonass_bands.find(signal_);
-			if(found_2G != std::string::npos)
-				{
-					number_of_observations_glo = number_of_observations_glo + 4;
-				}
-			line.clear();
-			line += satelliteSystem["GLONASS"];
-			line += std::string(2, ' ');
-			line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
-			if(found_1G != std::string::npos)
-				{
-					line += std::string(1, ' ');
-					line += observationType["PSEUDORANGE"];
-					line += observationCode["GLONASS_G1_CA"];
-					line += std::string(1, ' ');
-					line += observationType["CARRIER_PHASE"];
-					line += observationCode["GLONASS_G1_CA"];
-					line += std::string(1, ' ');
-					line += observationType["DOPPLER"];
-					line += observationCode["GLONASS_G1_CA"];
-					line += std::string(1, ' ');
-					line += observationType["SIGNAL_STRENGTH"];
-					line += observationCode["GLONASS_G1_CA"];
-				}
-			if(found_2G != std::string::npos)
-				{
-					line += std::string(1, ' ');
-					line += observationType["PSEUDORANGE"];
-					line += observationCode["GLONASS_G2_CA"];
-					line += std::string(1, ' ');
-					line += observationType["CARRIER_PHASE"];
-					line += observationCode["GLONASS_G2_CA"];
-					line += std::string(1, ' ');
-					line += observationType["DOPPLER"];
-					line += observationCode["GLONASS_G2_CA"];
-					line += std::string(1, ' ');
-					line += observationType["SIGNAL_STRENGTH"];
-					line += observationCode["GLONASS_G2_CA"];
-				}
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+            // Find GLONASS Signal in Mixed file
+            unsigned int number_of_observations_glo = 0;
+            std::string signal_("1G");
+            std::size_t found_1G = glonass_bands.find(signal_);
+            if(found_1G != std::string::npos)
+                {
+                    number_of_observations_glo = number_of_observations_glo + 4;
+                }
+            signal_ = "2G";
+            std::size_t found_2G = glonass_bands.find(signal_);
+            if(found_2G != std::string::npos)
+                {
+                    number_of_observations_glo = number_of_observations_glo + 4;
+                }
+            line.clear();
+            line += satelliteSystem["GLONASS"];
+            line += std::string(2, ' ');
+            line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+            if(found_1G != std::string::npos)
+                {
+                    line += std::string(1, ' ');
+                    line += observationType["PSEUDORANGE"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["CARRIER_PHASE"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["DOPPLER"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["SIGNAL_STRENGTH"];
+                    line += observationCode["GLONASS_G1_CA"];
+                }
+            if(found_2G != std::string::npos)
+                {
+                    line += std::string(1, ' ');
+                    line += observationType["PSEUDORANGE"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["CARRIER_PHASE"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["DOPPLER"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["SIGNAL_STRENGTH"];
+                    line += observationCode["GLONASS_G2_CA"];
+                }
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
     if(version == 2)
         {
             // -------- SYS / OBS TYPES
@@ -3844,14 +3815,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 
     // -------- Signal Strength units (only version 3)
     if(version == 3)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("DBHZ", 20);
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("DBHZ", 20);
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- TIME OF FIRST OBS
     line.clear();
@@ -3879,48 +3850,48 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     // -------- GLONASS SLOT / FRQ # (On;y version 3)
     if (version == 3)
         {
-			// -------- GLONASS SLOT / FRQ #
-    		// TODO Need to provide system with list of all satellites and update this accordingly
-			line.clear();
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
-			line += std::string(1, ' ');
-			line += satelliteSystem["GLONASS"];
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-			line += std::string(1, ' ');
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+            // -------- GLONASS SLOT / FRQ #
+            // TODO Need to provide system with list of all satellites and update this accordingly
+            line.clear();
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+            line += std::string(1, ' ');
+            line += satelliteSystem["GLONASS"];
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+            line += std::string(1, ' ');
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// -------- GLONASS CODE/PHS/BIS
-			// No GLONASS Phase bias correction used to align code and phase observations.
-			line.clear();
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_P"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_P"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+            // -------- GLONASS CODE/PHS/BIS
+            // No GLONASS Phase bias correction used to align code and phase observations.
+            line.clear();
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_P"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_P"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
         }
 
     // -------- end of header
@@ -4070,96 +4041,95 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
 
     // -------- SYS / OBS TYPES
     // one line per available system
-	line.clear();
-	line += satelliteSystem["GPS"];
-	line += std::string(2, ' ');
-	std::stringstream strm;
-	numberTypesObservations = 4;
-	strm << numberTypesObservations;
-	line += Rinex_Printer::rightJustify(strm.str(), 3);
-	// per type of observation
-	// GPS L1 PSEUDORANGE
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GPS_L2_L2CM"];
-	// GPS L1 PHASE
-	line += std::string(1, ' ');
-	line += observationType["CARRIER_PHASE"];
-	line += observationCode["GPS_L2_L2CM"];
-	// GPS DOPPLER L1
-	line += std::string(1, ' ');
-	line += observationType["DOPPLER"];
-	line += observationCode["GPS_L2_L2CM"];
-	// GPS L1 CA SIGNAL STRENGTH
-	line += std::string(1, ' ');
-	line += observationType["SIGNAL_STRENGTH"];
-	line += observationCode["GPS_L2_L2CM"];
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    line.clear();
+    line += satelliteSystem["GPS"];
+    line += std::string(2, ' ');
+    std::stringstream strm;
+    numberTypesObservations = 4;
+    strm << numberTypesObservations;
+    line += Rinex_Printer::rightJustify(strm.str(), 3);
+    // per type of observation
+    // GPS L1 PSEUDORANGE
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GPS_L2_L2CM"];
+    // GPS L1 PHASE
+    line += std::string(1, ' ');
+    line += observationType["CARRIER_PHASE"];
+    line += observationCode["GPS_L2_L2CM"];
+    // GPS DOPPLER L1
+    line += std::string(1, ' ');
+    line += observationType["DOPPLER"];
+    line += observationCode["GPS_L2_L2CM"];
+    // GPS L1 CA SIGNAL STRENGTH
+    line += std::string(1, ' ');
+    line += observationType["SIGNAL_STRENGTH"];
+    line += observationCode["GPS_L2_L2CM"];
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
-	// Find GLONASS Signal in Mixed file
-	unsigned int number_of_observations_glo = 0;
-	std::string signal_("1G");
-	std::size_t found_1G = glonass_bands.find(signal_);
-	if(found_1G != std::string::npos)
-		{
-			number_of_observations_glo = number_of_observations_glo + 4;
-		}
-	signal_ = "2G";
-	std::size_t found_2G = glonass_bands.find(signal_);
-	if(found_2G != std::string::npos)
-		{
-			number_of_observations_glo = number_of_observations_glo + 4;
-		}
-	line.clear();
-	line += satelliteSystem["GLONASS"];
-	line += std::string(2, ' ');
-	line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
-	if(found_1G != std::string::npos)
-		{
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += observationType["CARRIER_PHASE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += observationType["DOPPLER"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += observationType["SIGNAL_STRENGTH"];
-			line += observationCode["GLONASS_G1_CA"];
-		}
-	if(found_2G != std::string::npos)
-		{
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += observationType["CARRIER_PHASE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += observationType["DOPPLER"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += observationType["SIGNAL_STRENGTH"];
-			line += observationCode["GLONASS_G2_CA"];
-		}
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    // Find GLONASS Signal in Mixed file
+    unsigned int number_of_observations_glo = 0;
+    std::string signal_("1G");
+    std::size_t found_1G = glonass_bands.find(signal_);
+    if(found_1G != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+    signal_ = "2G";
+    std::size_t found_2G = glonass_bands.find(signal_);
+    if(found_2G != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+    line.clear();
+    line += satelliteSystem["GLONASS"];
+    line += std::string(2, ' ');
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+    if(found_1G != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G1_CA"];
+        }
+    if(found_2G != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G2_CA"];
+        }
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- Signal Strength units (only version 3)
     line.clear();
-	line += Rinex_Printer::leftJustify("DBHZ", 20);
-	line += std::string(40, ' ');
-	line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
-
+    line += Rinex_Printer::leftJustify("DBHZ", 20);
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- TIME OF FIRST OBS
     line.clear();
@@ -4185,48 +4155,47 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- GLONASS SLOT / FRQ #
-	// TODO Need to provide system with list of all satellites and update this accordingly
-	line.clear();
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
-	line += std::string(1, ' ');
-	line += satelliteSystem["GLONASS"];
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-	line += std::string(1, ' ');
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
-
-	// -------- GLONASS CODE/PHS/BIS
-	// No GLONASS Phase bias correction used to align code and phase observations.
-	line.clear();
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G1_CA"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G1_P"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G2_CA"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G2_P"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    // TODO Need to provide system with list of all satellites and update this accordingly
+    line.clear();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+    line += std::string(1, ' ');
+    line += satelliteSystem["GLONASS"];
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+    line += std::string(1, ' ');
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
+    // -------- GLONASS CODE/PHS/BIS
+    // No GLONASS Phase bias correction used to align code and phase observations.
+    line.clear();
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G1_CA"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G1_P"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G2_CA"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G2_P"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- end of header
     line.clear();
@@ -4236,6 +4205,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands, const std::string glonass_bands)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@@ -4811,6 +4781,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation)
 {
     std::string line;
@@ -5698,7 +5669,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
             number_of_observations_gal = number_of_observations_gal + 4;
         }
 
-
     line += satelliteSystem["Galileo"];
     line += std::string(2, ' ');
     line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_gal), 3);
@@ -5796,12 +5766,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 }
 
 
-
-void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
+void Rinex_Printer::update_obs_header(std::fstream& out __attribute__((unused)), const Glonass_Gnav_Utc_Model& utc_model)
 {
     if(utc_model.d_N_4)
         {
-
+            // do nothing
         }
 }
 
@@ -6008,7 +5977,6 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Galileo_Utc_Model
 }
 
 
-
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables, const std::string glonass_band)
 {
     // RINEX observations timestamps are GPS timestamps.
@@ -6092,7 +6060,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             for(observables_iter = observables.begin();
                     observables_iter != observables.end();
                     observables_iter++)
@@ -6110,10 +6077,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -6124,10 +6091,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     // GLONASS L1 CA DOPPLER
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
@@ -6135,10 +6102,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     //GLONASS L1 SIGNAL STRENGTH
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
@@ -6210,10 +6177,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -6225,10 +6192,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GLONASS L1 CA DOPPLER
@@ -6237,10 +6204,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
@@ -6313,261 +6280,260 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
             line += std::string(1, '0');
         }
     if (version == 3)
-    	{
-			std::string year (timestring, 0, 4);
-			line += std::string(1, '>');
-			line += std::string(1, ' ');
-			line += year;
-			line += std::string(1, ' ');
-			line += month;
-			line += std::string(1, ' ');
-			line += day;
-			line += std::string(1, ' ');
-			line += hour;
-			line += std::string(1, ' ');
-			line += minutes;
+        {
+            std::string year (timestring, 0, 4);
+            line += std::string(1, '>');
+            line += std::string(1, ' ');
+            line += year;
+            line += std::string(1, ' ');
+            line += month;
+            line += std::string(1, ' ');
+            line += day;
+            line += std::string(1, ' ');
+            line += hour;
+            line += std::string(1, ' ');
+            line += minutes;
 
-			line += std::string(1, ' ');
-			double seconds = fmod(gps_t, 60);
-			// Add extra 0 if seconds are < 10
-			if (seconds < 10)
-				{
-					line +=std::string(1, '0');
-				}
-			line += Rinex_Printer::asString(seconds, 7);
-			line += std::string(2, ' ');
-			// Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
-			line += std::string(1, '0');
+            line += std::string(1, ' ');
+            double seconds = fmod(gps_t, 60);
+            // Add extra 0 if seconds are < 10
+            if (seconds < 10)
+                {
+                    line +=std::string(1, '0');
+                }
+            line += Rinex_Printer::asString(seconds, 7);
+            line += std::string(2, ' ');
+            // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+            line += std::string(1, '0');
+        }
 
-    	}
-	//Number of satellites observed in current epoch
-	//Get maps with observations
-	std::map<int, Gnss_Synchro> observablesG1C;
-	std::map<int, Gnss_Synchro> observablesR1C;
-	std::map<int, Gnss_Synchro> observablesR2C;
-	std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    //Number of satellites observed in current epoch
+    //Get maps with observations
+    std::map<int, Gnss_Synchro> observablesG1C;
+    std::map<int, Gnss_Synchro> observablesR1C;
+    std::map<int, Gnss_Synchro> observablesR2C;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
 
-	for(observables_iter = observables.begin();
-			observables_iter != observables.end();
-			observables_iter++)
-		{
-			std::string system_(&observables_iter->second.System, 1);
-			std::string sig_(observables_iter->second.Signal);
-			if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
-				{
-					observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
-				{
-					observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
-				{
-					observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-		}
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
+                {
+                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
+                {
+                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
 
-	std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
-	std::set<unsigned int> available_glo_prns;
-	std::set<unsigned int>::iterator it;
-	for(observables_iter = observablesR1C.begin();
-			observables_iter != observablesR1C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+    std::set<unsigned int> available_glo_prns;
+    std::set<unsigned int>::iterator it;
+    for(observables_iter = observablesR1C.begin();
+            observables_iter != observablesR1C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	for(observables_iter = observablesR2C.begin();
-			observables_iter != observablesR2C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    for(observables_iter = observablesR2C.begin();
+            observables_iter != observablesR2C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	int numGloSatellitesObserved = available_glo_prns.size();
-	int numGpsSatellitesObserved = observablesG1C.size();
-	int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
-	if(version == 2)
-	{
-		// Add list of GPS satellites
-		for(observables_iter = observablesG1C.begin();
-							observables_iter != observablesG1C.end();
-							observables_iter++)
-			{
-				line += satelliteSystem["GPS"];
-				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
-				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-			}
-		// Add list of GLONASS L1 satellites
-		for(observables_iter = observablesR1C.begin();
-							observables_iter != observablesR1C.end();
-							observables_iter++)
-			{
-				line += satelliteSystem["GLONASS"];
-				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
-				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-			}
-		// Add list of GLONASS L2 satellites
-		for(observables_iter = observablesR2C.begin();
-							observables_iter != observablesR2C.end();
-							observables_iter++)
-			{
-				line += satelliteSystem["GLONASS"];
-				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
-				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-			}
-	}
-	line += std::string(80 - line.size(), ' ');
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    int numGloSatellitesObserved = available_glo_prns.size();
+    int numGpsSatellitesObserved = observablesG1C.size();
+    int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+    if(version == 2)
+        {
+            // Add list of GPS satellites
+            for(observables_iter = observablesG1C.begin();
+                    observables_iter != observablesG1C.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GPS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+            // Add list of GLONASS L1 satellites
+            for(observables_iter = observablesR1C.begin();
+                    observables_iter != observablesR1C.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+            // Add list of GLONASS L2 satellites
+            for(observables_iter = observablesR2C.begin();
+                    observables_iter != observablesR2C.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+        }
+    line += std::string(80 - line.size(), ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
-	// -------- OBSERVATION record
-	std::string s;
-	std::string lineObs;
-	for(observables_iter = observablesG1C.begin();
-			observables_iter != observablesG1C.end();
-			observables_iter++)
-		{
-			lineObs.clear();
+    // -------- OBSERVATION record
+    std::string s;
+    std::string lineObs;
+    for(observables_iter = observablesG1C.begin();
+            observables_iter != observablesG1C.end();
+            observables_iter++)
+        {
+            lineObs.clear();
 
-			s.assign(1, observables_iter->second.System);
-			if(version == 3)
-				{
-					// Specify system only if in version 3
-					if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
-					if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
-					if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
-					lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-				}
+            s.assign(1, observables_iter->second.System);
+            if(version == 3)
+                {
+                    // Specify system only if in version 3
+                    if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+                    if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+                    lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
 
-			// Pseudorange Measurements
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+            // Pseudorange Measurements
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
 
-			//Loss of lock indicator (LLI)
-			int lli = 0; // Include in the observation!!
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
+            //Loss of lock indicator (LLI)
+            int lli = 0; // Include in the observation!!
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
-			// Signal Strength Indicator (SSI)
-			int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // Signal Strength Indicator (SSI)
+            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// PHASE
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // PHASE
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// DOPPLER
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // DOPPLER
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// SIGNAL STRENGTH
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+            // SIGNAL STRENGTH
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
 
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 
-	std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
-	for(it = available_glo_prns.begin();
-			it != available_glo_prns.end();
-			it++)
-		{
-			lineObs.clear();
-			if(version == 3)
-				{
-					lineObs += satelliteSystem["GLONASS"];
-					if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
-					lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
-				}
-			ret = total_glo_map.equal_range(*it);
-			for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
-				{
-					/// \todo Need to account for pseudorange correction for glonass
-					double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+    for(it = available_glo_prns.begin();
+            it != available_glo_prns.end();
+            it++)
+        {
+            lineObs.clear();
+            if(version == 3)
+                {
+                    lineObs += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+                    lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+                }
+            ret = total_glo_map.equal_range(*it);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    /// \todo Need to account for pseudorange correction for glonass
+                    double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
-					//Loss of lock indicator (LLI)
-					int lli = 0; // Include in the observation!!
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
-					// Signal Strength Indicator (SSI)
-					int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS CARRIER PHASE
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GLONASS CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS  DOPPLER
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GLONASS  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS SIGNAL STRENGTH
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
-				}
-
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+                    // GLONASS SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+                }
 
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 }
 
 
@@ -6589,228 +6555,226 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
     std::string minutes (timestring, 11, 2);
 
     std::string year (timestring, 0, 4);
-	line += std::string(1, '>');
-	line += std::string(1, ' ');
-	line += year;
-	line += std::string(1, ' ');
-	line += month;
-	line += std::string(1, ' ');
-	line += day;
-	line += std::string(1, ' ');
-	line += hour;
-	line += std::string(1, ' ');
-	line += minutes;
+    line += std::string(1, '>');
+    line += std::string(1, ' ');
+    line += year;
+    line += std::string(1, ' ');
+    line += month;
+    line += std::string(1, ' ');
+    line += day;
+    line += std::string(1, ' ');
+    line += hour;
+    line += std::string(1, ' ');
+    line += minutes;
 
-	line += std::string(1, ' ');
-	double seconds = fmod(gps_t, 60);
-	// Add extra 0 if seconds are < 10
-	if (seconds < 10)
-		{
-			line +=std::string(1, '0');
-		}
-	line += Rinex_Printer::asString(seconds, 7);
-	line += std::string(2, ' ');
-	// Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
-	line += std::string(1, '0');
+    line += std::string(1, ' ');
+    double seconds = fmod(gps_t, 60);
+    // Add extra 0 if seconds are < 10
+    if (seconds < 10)
+        {
+            line +=std::string(1, '0');
+        }
+    line += Rinex_Printer::asString(seconds, 7);
+    line += std::string(2, ' ');
+    // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+    line += std::string(1, '0');
 
+    //Number of satellites observed in current epoch
+    //Get maps with observations
+    std::map<int, Gnss_Synchro> observablesG2S;
+    std::map<int, Gnss_Synchro> observablesR1C;
+    std::map<int, Gnss_Synchro> observablesR2C;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
 
-	//Number of satellites observed in current epoch
-	//Get maps with observations
-	std::map<int, Gnss_Synchro> observablesG2S;
-	std::map<int, Gnss_Synchro> observablesR1C;
-	std::map<int, Gnss_Synchro> observablesR2C;
-	std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
+                {
+                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
+                {
+                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("G") == 0) && (sig_.compare("2S") == 0))
+                {
+                    observablesG2S.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
 
-	for(observables_iter = observables.begin();
-			observables_iter != observables.end();
-			observables_iter++)
-		{
-			std::string system_(&observables_iter->second.System, 1);
-			std::string sig_(observables_iter->second.Signal);
-			if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
-				{
-					observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
-				{
-					observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("G") == 0) && (sig_.compare("2S") == 0))
-				{
-					observablesG2S.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-		}
+    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+    std::set<unsigned int> available_glo_prns;
+    std::set<unsigned int>::iterator it;
+    for(observables_iter = observablesR1C.begin();
+            observables_iter != observablesR1C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
-	std::set<unsigned int> available_glo_prns;
-	std::set<unsigned int>::iterator it;
-	for(observables_iter = observablesR1C.begin();
-			observables_iter != observablesR1C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    for(observables_iter = observablesR2C.begin();
+            observables_iter != observablesR2C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	for(observables_iter = observablesR2C.begin();
-			observables_iter != observablesR2C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    int numGloSatellitesObserved = available_glo_prns.size();
+    int numGpsSatellitesObserved = observablesG2S.size();
+    int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
 
-	int numGloSatellitesObserved = available_glo_prns.size();
-	int numGpsSatellitesObserved = observablesG2S.size();
-	int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+    line += std::string(80 - line.size(), ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
-	line += std::string(80 - line.size(), ' ');
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    // -------- OBSERVATION record
+    std::string s;
+    std::string lineObs;
+    for(observables_iter = observablesG2S.begin();
+            observables_iter != observablesG2S.end();
+            observables_iter++)
+        {
+            lineObs.clear();
 
-	// -------- OBSERVATION record
-	std::string s;
-	std::string lineObs;
-	for(observables_iter = observablesG2S.begin();
-			observables_iter != observablesG2S.end();
-			observables_iter++)
-		{
-			lineObs.clear();
+            s.assign(1, observables_iter->second.System);
+            // Specify system only if in version 3
+            if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+            if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+            if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
 
-			s.assign(1, observables_iter->second.System);
-			// Specify system only if in version 3
-			if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
-			if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
-			if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
-			lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+            // Pseudorange Measurements
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
 
+            //Loss of lock indicator (LLI)
+            int lli = 0; // Include in the observation!!
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
-			// Pseudorange Measurements
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+            // Signal Strength Indicator (SSI)
+            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			//Loss of lock indicator (LLI)
-			int lli = 0; // Include in the observation!!
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
+            // PHASE
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// Signal Strength Indicator (SSI)
-			int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // DOPPLER
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// PHASE
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // SIGNAL STRENGTH
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
 
-			// DOPPLER
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 
-			// SIGNAL STRENGTH
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+    for(it = available_glo_prns.begin();
+            it != available_glo_prns.end();
+            it++)
+        {
+            lineObs.clear();
+            lineObs += satelliteSystem["GLONASS"];
+            if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
 
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+            ret = total_glo_map.equal_range(*it);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    /// \todo Need to account for pseudorange correction for glonass
+                    double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
-	std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
-	for(it = available_glo_prns.begin();
-			it != available_glo_prns.end();
-			it++)
-		{
-			lineObs.clear();
-			lineObs += satelliteSystem["GLONASS"];
-			if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
-			lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
-			ret = total_glo_map.equal_range(*it);
-			for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
-				{
-					/// \todo Need to account for pseudorange correction for glonass
-					double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					//Loss of lock indicator (LLI)
-					int lli = 0; // Include in the observation!!
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
+                    // GLONASS CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// Signal Strength Indicator (SSI)
-					int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GLONASS  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS CARRIER PHASE
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-					// GLONASS  DOPPLER
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-					// GLONASS SIGNAL STRENGTH
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
-				}
-
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+                    // GLONASS SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+                }
 
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 }
 
+
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int,Gnss_Synchro>& observables)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@@ -6941,10 +6905,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
             // Signal Strength Indicator (SSI)
             int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -6956,10 +6920,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // DOPPLER
@@ -6968,10 +6932,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // SIGNAL STRENGTH
@@ -7001,10 +6965,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -7016,10 +6980,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GLONASS  DOPPLER
@@ -7028,10 +6992,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GLONASS SIGNAL STRENGTH
@@ -7124,7 +7088,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-
             for(observables_iter = observables.cbegin();
                     observables_iter != observables.cend();
                     observables_iter++)
@@ -7142,10 +7105,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -7156,10 +7119,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    // else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     // GPS L1 CA DOPPLER
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
@@ -7167,10 +7130,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     //GPS L1 SIGNAL STRENGTH
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
@@ -7198,9 +7161,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
             double seconds = fmod(gps_t, 60);
             // Add extra 0 if seconds are < 10
             if (seconds < 10)
-            {
-                line += std::string(1, '0');
-            }
+                {
+                    line += std::string(1, '0');
+                }
             line += Rinex_Printer::asString(seconds, 7);
             line += std::string(2, ' ');
             // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
@@ -7217,7 +7180,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                 }
             line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
 
-
             // Receiver clock offset (optional)
             //line += rightJustify(asString(clockOffset, 12), 15);
 
@@ -7243,10 +7205,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -7258,10 +7220,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GPS L1 CA DOPPLER
@@ -7270,10 +7232,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
@@ -7365,10 +7327,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris &
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //   }
 
             // Signal Strength Indicator (SSI)
             int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -7380,10 +7342,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris &
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // GPS L2 DOPPLER
@@ -7392,10 +7354,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris &
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //   }
 
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
@@ -7557,10 +7519,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    // else
+                    //   {
+                    //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -7572,10 +7534,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GPS  DOPPLER
@@ -7584,10 +7546,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GPS SIGNAL STRENGTH
@@ -7677,97 +7639,97 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
     std::set<unsigned int> available_prns;
     std::set<unsigned int>::iterator it;
     if(found_1B != std::string::npos)
-    {
-        for(observables_iter = observablesE1B.begin();
-                observables_iter != observablesE1B.end();
-                observables_iter++)
-            {
-                unsigned int prn_ = observables_iter->second.PRN;
-                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-                it = available_prns.find(prn_);
-                if(it == available_prns.end())
-                    {
-                        available_prns.insert(prn_);
-                    }
-            }
-    }
-    if(found_E5a != std::string::npos)
-    {
-        for(observables_iter = observablesE5A.cbegin();
-                observables_iter != observablesE5A.cend();
-                observables_iter++)
-            {
-                unsigned int prn_ = observables_iter->second.PRN;
-                it = available_prns.find(prn_);
-                if(it == available_prns.end())
-                    {
-                        available_prns.insert(prn_);
-                        if(found_1B != std::string::npos)
+        {
+            for(observables_iter = observablesE1B.begin();
+                    observables_iter != observablesE1B.end();
+                    observables_iter++)
+                {
+                    unsigned int prn_ = observables_iter->second.PRN;
+                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+                    it = available_prns.find(prn_);
+                    if(it == available_prns.end())
                         {
-                            Gnss_Synchro gs = Gnss_Synchro();
-                            std::string sys = "E";
-                            gs.System = *sys.c_str();
-                            std::string sig = "1B";
-                            std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                            gs.PRN = prn_;
-                            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                            available_prns.insert(prn_);
                         }
-                    }
-                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-            }
-    }
+                }
+        }
+    if(found_E5a != std::string::npos)
+        {
+            for(observables_iter = observablesE5A.cbegin();
+                    observables_iter != observablesE5A.cend();
+                    observables_iter++)
+                {
+                    unsigned int prn_ = observables_iter->second.PRN;
+                    it = available_prns.find(prn_);
+                    if(it == available_prns.end())
+                        {
+                            available_prns.insert(prn_);
+                            if(found_1B != std::string::npos)
+                                {
+                                    Gnss_Synchro gs = Gnss_Synchro();
+                                    std::string sys = "E";
+                                    gs.System = *sys.c_str();
+                                    std::string sig = "1B";
+                                    std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                    gs.PRN = prn_;
+                                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                }
+                        }
+                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+                }
+        }
     if(found_E5b != std::string::npos)
-    {
-        for(observables_iter = observablesE5B.cbegin();
-                observables_iter != observablesE5B.cend();
-                observables_iter++)
-            {
-                unsigned int prn_ = observables_iter->second.PRN;
-                it = available_prns.find(prn_);
-                if(it == available_prns.end())
-                    {
-                        available_prns.insert(prn_);
-                        if(found_1B != std::string::npos)
-                            {
-                                Gnss_Synchro gs = Gnss_Synchro();
-                                std::string sys = "E";
-                                gs.System = *sys.c_str();
-                                std::string sig = "1B";
-                                std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                                gs.PRN = prn_;
-                                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
-                            }
-                        if(found_E5a != std::string::npos)
-                            {
-                                Gnss_Synchro gs = Gnss_Synchro();
-                                std::string sys = "E";
-                                gs.System = *sys.c_str();
-                                std::string sig = "5X";
-                                std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                                gs.PRN = prn_;
-                                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
-                            }
-                    }
-                else
-                    {
-                        // if 5X is listed but empty
-                        if(found_E5a != std::string::npos)
-                            {
-                                if( (total_map.count(prn_)) == 1)
-                                    {
-                                        Gnss_Synchro gs = Gnss_Synchro();
-                                        std::string sys = "E";
-                                        gs.System = *sys.c_str();
-                                        std::string sig = "5X";
-                                        std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                                        gs.PRN = prn_;
-                                        total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
-                                    }
-                            }
-                    }
-                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-            }
-    }
+        {
+            for(observables_iter = observablesE5B.cbegin();
+                    observables_iter != observablesE5B.cend();
+                    observables_iter++)
+                {
+                    unsigned int prn_ = observables_iter->second.PRN;
+                    it = available_prns.find(prn_);
+                    if(it == available_prns.end())
+                        {
+                            available_prns.insert(prn_);
+                            if(found_1B != std::string::npos)
+                                {
+                                    Gnss_Synchro gs = Gnss_Synchro();
+                                    std::string sys = "E";
+                                    gs.System = *sys.c_str();
+                                    std::string sig = "1B";
+                                    std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                    gs.PRN = prn_;
+                                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                }
+                            if(found_E5a != std::string::npos)
+                                {
+                                    Gnss_Synchro gs = Gnss_Synchro();
+                                    std::string sys = "E";
+                                    gs.System = *sys.c_str();
+                                    std::string sig = "5X";
+                                    std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                    gs.PRN = prn_;
+                                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                }
+                        }
+                    else
+                        {
+                            // if 5X is listed but empty
+                            if(found_E5a != std::string::npos)
+                                {
+                                    if( (total_map.count(prn_)) == 1)
+                                        {
+                                            Gnss_Synchro gs = Gnss_Synchro();
+                                            std::string sys = "E";
+                                            gs.System = *sys.c_str();
+                                            std::string sig = "5X";
+                                            std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                            gs.PRN = prn_;
+                                            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                        }
+                                }
+                        }
+                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+                }
+        }
     int numSatellitesObserved = available_prns.size();
     line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
     // Receiver clock offset (optional)
@@ -7797,10 +7759,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -7812,10 +7774,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo  DOPPLER
@@ -7824,10 +7786,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo SIGNAL STRENGTH
@@ -7989,10 +7951,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
             // Signal Strength Indicator (SSI)
             int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -8004,10 +7966,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //   }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // DOPPLER
@@ -8016,10 +7978,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // SIGNAL STRENGTH
@@ -8049,10 +8011,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -8064,10 +8026,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo  DOPPLER
@@ -8076,10 +8038,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo SIGNAL STRENGTH
@@ -8306,83 +8268,86 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
 boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
 {
     double tod = 0.0;
-	double glot2utc = 3*3600;
-	double obs_time_glot = 0.0;
-	int i = 0;
+    double glot2utc = 3*3600;
+    double obs_time_glot = 0.0;
+    int i = 0;
 
-	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
-	obs_time_glot = obs_time + glot2utc;
+    // Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
+    obs_time_glot = obs_time + glot2utc;
 
-	// Get seconds of day in glonass time
-	tod = fmod (obs_time_glot, 86400);
+    // Get seconds of day in glonass time
+    tod = fmod (obs_time_glot, 86400);
 
-	// Form date and time duration types
-	boost::posix_time::time_duration t1(0, 0, tod);
-	boost::gregorian::date d1(eph.d_yr, 1, 1);
-	boost::gregorian::days d2(eph.d_N_T-1);
-	boost::posix_time::ptime glo_time(d1 + d2, t1);
+    // Form date and time duration types
+    boost::posix_time::time_duration t1(0, 0, tod);
+    boost::gregorian::date d1(eph.d_yr, 1, 1);
+    boost::gregorian::days d2(eph.d_N_T-1);
+    boost::posix_time::ptime glo_time(d1 + d2, t1);
 
-	// Convert to utc
-	boost::posix_time::time_duration t2(0, 0, glot2utc);
-	boost::posix_time::ptime utc_time = glo_time - t2;
+    // Convert to utc
+    boost::posix_time::time_duration t2(0, 0, glot2utc);
+    boost::posix_time::ptime utc_time = glo_time - t2;
 
-	// Adjust for leap second correction
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-		{
-			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
-			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
-			boost::posix_time::ptime ls_time(d3, t3);
-			if (utc_time >= ls_time)
-			{
-				// We subtract the leap second when going from gpst to utc
-				utc_time = utc_time - boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
-				break;
-			}
-		}
+    // Adjust for leap second correction
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+        {
+            boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+            boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+            boost::posix_time::ptime ls_time(d3, t3);
+            if (utc_time >= ls_time)
+                {
+                    // We subtract the leap second when going from gpst to utc
+                    utc_time = utc_time - boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
+                    break;
+                }
+        }
 
-	return utc_time;
+    return utc_time;
 }
 
+
 double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time)
 {
     double tod = 0.0;
-	double glot2utc = 3*3600;
-	double obs_time_glot = 0.0;
-	int i = 0;
-	double leap_second = 0;
+    double glot2utc = 3*3600;
+    double obs_time_glot = 0.0;
+    int i = 0;
+    double leap_second = 0;
 
-	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
-	obs_time_glot = gps_obs_time + glot2utc;
+    // Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
+    obs_time_glot = gps_obs_time + glot2utc;
 
-	// Get seconds of day in glonass time
-	tod = fmod (obs_time_glot, 86400);
+    // Get seconds of day in glonass time
+    tod = fmod (obs_time_glot, 86400);
 
-	// Form date and time duration types
-	boost::posix_time::time_duration t1(0, 0, tod);
-	boost::gregorian::date d1(eph.d_yr, 1, 1);
-	boost::gregorian::days d2(eph.d_N_T-1);
-	boost::posix_time::ptime glo_time(d1 + d2, t1);
+    // Form date and time duration types
+    boost::posix_time::time_duration t1(0, 0, tod);
+    boost::gregorian::date d1(eph.d_yr, 1, 1);
+    boost::gregorian::days d2(eph.d_N_T-1);
+    boost::posix_time::ptime glo_time(d1 + d2, t1);
 
-	// Convert to utc
-	boost::posix_time::time_duration t2(0, 0, glot2utc);
-	boost::posix_time::ptime utc_time = glo_time - t2;
+    // Convert to utc
+    boost::posix_time::time_duration t2(0, 0, glot2utc);
+    boost::posix_time::ptime utc_time = glo_time - t2;
 
-	// Adjust for leap second correction
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-		{
-			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
-			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
-			boost::posix_time::ptime ls_time(d3, t3);
-			if (utc_time >= ls_time)
-			{
-				// We subtract the leap second when going from gpst to utc
-				leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]);
-				break;
-			}
-		}
+    // Adjust for leap second correction
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+        {
+            boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+            boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+            boost::posix_time::ptime ls_time(d3, t3);
+            if (utc_time >= ls_time)
+                {
+                    // We subtract the leap second when going from gpst to utc
+                    leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]);
+                    break;
+                }
+        }
 
-	return leap_second;
+    return leap_second;
 }
+
+
 /*
 
 enum RINEX_enumMarkerType {
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index ee90ef3a4..8f4580208 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -204,20 +204,20 @@ public:
     boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time);
 
     /*!
-	 *  \brief Computes the UTC Time and returns a boost::posix_time::ptime object
-	 *  \details Function used as a method to convert the observation time into UTC time which is used
-	 *  as the default time for RINEX files
-	 *  \param eph GLONASS GNAV Ephemeris object
-	 *  \param obs_time Observation time in GPS seconds of week
-	 */
-	boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
+     *  \brief Computes the UTC Time and returns a boost::posix_time::ptime object
+     *  \details Function used as a method to convert the observation time into UTC time which is used
+     *  as the default time for RINEX files
+     *  \param eph GLONASS GNAV Ephemeris object
+     *  \param obs_time Observation time in GPS seconds of week
+     */
+    boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
 
-	/*!
-	 *  \brief Computes number of leap seconds of GPS relative to UTC
-	 *  \param eph GLONASS GNAV Ephemeris object
-	 *  \param gps_obs_time Observation time in GPS seconds of week
-	 */
-	double get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time);
+    /*!
+     *  \brief Computes number of leap seconds of GPS relative to UTC
+     *  \param eph GLONASS GNAV Ephemeris object
+     *  \param gps_obs_time Observation time in GPS seconds of week
+     */
+    double get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time);
 
     /*!
      *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file

From f600f958643c1dac72f06ee1293daa9e07228b9c Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 25 Jan 2018 19:39:42 +0100
Subject: [PATCH 357/379] Remove unused variables

---
 src/algorithms/PVT/libs/rinex_printer.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index f48ba8ab5..26e101e85 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -6485,7 +6485,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
             for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
                 {
                     /// \todo Need to account for pseudorange correction for glonass
-                    double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+                    //double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
                     lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
                     //Loss of lock indicator (LLI)
@@ -6723,7 +6723,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
             for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
                 {
                     /// \todo Need to account for pseudorange correction for glonass
-                    double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+                    //double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
                     lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
                     //Loss of lock indicator (LLI)

From 30988b8e144db8ac91c716e381607c712da124ef Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 12:40:58 +0100
Subject: [PATCH 358/379] Remove unrequired includes. Remove tabs. Fix
 indentation

---
 src/core/system_parameters/GLONASS_L1_CA.h    |   1 +
 .../system_parameters/glonass_gnav_almanac.cc |  39 +-
 .../system_parameters/glonass_gnav_almanac.h  |   7 +-
 .../glonass_gnav_ephemeris.cc                 | 185 +++---
 .../glonass_gnav_ephemeris.h                  |  31 +-
 .../glonass_gnav_navigation_message.cc        | 628 +++++++++---------
 .../glonass_gnav_navigation_message.h         |  39 +-
 7 files changed, 459 insertions(+), 471 deletions(-)

diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h
index 06f1112f3..af0bd0227 100644
--- a/src/core/system_parameters/GLONASS_L1_CA.h
+++ b/src/core/system_parameters/GLONASS_L1_CA.h
@@ -32,6 +32,7 @@
 #ifndef GNSS_SDR_GLONASS_L1_CA_H_
 #define GNSS_SDR_GLONASS_L1_CA_H_
 
+#include <map>
 #include <vector>
 #include <utility> // std::pair
 #include "MATH_CONSTANTS.h"
diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc
index 3b5ca7014..297a1cb59 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.cc
+++ b/src/core/system_parameters/glonass_gnav_almanac.cc
@@ -29,30 +29,27 @@
  *
  * -------------------------------------------------------------------------
  */
+
 #include "glonass_gnav_almanac.h"
-#include <cmath>
-#include "GLONASS_L1_CA.h"
-#include "gnss_satellite.h"
 
 Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
 {
-  i_satellite_freq_channel = 0;
-  i_satellite_PRN = 0;
-  i_satellite_slot_number = 0;
-
-  d_n_A = 0.0;
-  d_H_n_A = 0.0;
-  d_lambda_n_A = 0.0;
-  d_t_lambda_n_A = 0.0;
-  d_Delta_i_n_A = 0.0;
-  d_Delta_T_n_A = 0.0;
-  d_Delta_T_n_A_dot = 0.0;
-  d_epsilon_n_A = 0.0;
-  d_omega_n_A = 0.0;
-  d_M_n_A = 0.0;
-  d_KP = 0.0;
-  d_tau_n_A = 0.0;
-  d_C_n = false;
-  d_l_n = false;
+    i_satellite_freq_channel = 0;
+    i_satellite_PRN = 0;
+    i_satellite_slot_number = 0;
 
+    d_n_A = 0.0;
+    d_H_n_A = 0.0;
+    d_lambda_n_A = 0.0;
+    d_t_lambda_n_A = 0.0;
+    d_Delta_i_n_A = 0.0;
+    d_Delta_T_n_A = 0.0;
+    d_Delta_T_n_A_dot = 0.0;
+    d_epsilon_n_A = 0.0;
+    d_omega_n_A = 0.0;
+    d_M_n_A = 0.0;
+    d_KP = 0.0;
+    d_tau_n_A = 0.0;
+    d_C_n = false;
+    d_l_n = false;
 }
diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h
index 3fc255118..896c5cd62 100644
--- a/src/core/system_parameters/glonass_gnav_almanac.h
+++ b/src/core/system_parameters/glonass_gnav_almanac.h
@@ -34,9 +34,6 @@
 #ifndef GNSS_SDR_GLONASS_ALMANAC_H_
 #define GNSS_SDR_GLONASS_ALMANAC_H_
 
-#include <map>
-#include <string>
-#include "boost/assign.hpp"
 #include <boost/serialization/nvp.hpp>
 
 /*!
@@ -59,8 +56,8 @@ public:
     double d_M_n_A;             //!< Type of satellite n_A [dimensionless]
     double d_KP;                //!< Notification on forthcoming leap second correction of UTC [dimensionless]
     double d_tau_n_A;           //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant  t_lambdan_A[s]
-    bool d_C_n;	                //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
-    bool d_l_n;		              //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    bool d_C_n;                 //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
+    bool d_l_n;                 //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Satellite Identification Information
     int i_satellite_freq_channel;           //!< SV Frequency Channel Number
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc
index 6cd530c59..e899db773 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.cc
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc
@@ -32,56 +32,55 @@
 
 #include "glonass_gnav_ephemeris.h"
 #include <cmath>
-#include <boost/date_time/posix_time/posix_time.hpp>
-
 #include "GLONASS_L1_CA.h"
 #include "gnss_satellite.h"
 
 Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 {
-	d_m = 0.0;             //!< String number within frame [dimensionless]
-	d_t_k = 0.0;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
-	d_t_b = 0.0;           //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
-	d_M = 0.0;             //!< Type of satellite transmitting navigation signal [dimensionless]
-	d_gamma_n = 0.0;       //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
-	d_tau_n = 0.0;         //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
-	d_Xn = 0.0;            //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-	d_Yn = 0.0;            //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-	d_Zn = 0.0;            //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-	d_VXn = 0.0;           //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-	d_VYn = 0.0;           //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-	d_VZn = 0.0;           //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-	d_AXn = 0.0;           //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-	d_AYn = 0.0;           //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-	d_AZn = 0.0;           //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
-	d_B_n = 0.0;           //!< Health flag [dimensionless]
-	d_P = 0.0;             //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
-	d_N_T = 0.0;           //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
-	d_F_T = 0.0;           //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
-	d_n = 0.0;             //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
-	d_Delta_tau_n = 0.0;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
-	d_E_n = 0.0;           //!< Characterises "age" of a current information [days]
-	d_P_1 = 0.0;           //!< Flag of the immediate data updating [minutes]
-	d_P_2 = false;           //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-	d_P_3 = false;           //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-	d_P_4 = false;           //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-	d_l3rd_n = false;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-	d_l5th_n = false;        //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    d_m = 0.0;             //!< String number within frame [dimensionless]
+    d_t_k = 0.0;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
+    d_t_b = 0.0;           //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
+    d_M = 0.0;             //!< Type of satellite transmitting navigation signal [dimensionless]
+    d_gamma_n = 0.0;       //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+    d_tau_n = 0.0;         //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
+    d_Xn = 0.0;            //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+    d_Yn = 0.0;            //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+    d_Zn = 0.0;            //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+    d_VXn = 0.0;           //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+    d_VYn = 0.0;           //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+    d_VZn = 0.0;           //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+    d_AXn = 0.0;           //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_AYn = 0.0;           //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_AZn = 0.0;           //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+    d_B_n = 0.0;           //!< Health flag [dimensionless]
+    d_P = 0.0;             //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+    d_N_T = 0.0;           //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
+    d_F_T = 0.0;           //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+    d_n = 0.0;             //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+    d_Delta_tau_n = 0.0;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+    d_E_n = 0.0;           //!< Characterises "age" of a current information [days]
+    d_P_1 = 0.0;           //!< Flag of the immediate data updating [minutes]
+    d_P_2 = false;         //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    d_P_3 = false;         //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    d_P_4 = false;         //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    d_l3rd_n = false;      //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    d_l5th_n = false;      //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
-	// Satellite Identification Information
-	i_satellite_freq_channel = 0;  			//!< SV Frequency Channel Number
-	i_satellite_PRN = 0;           			//!< SV PRN Number, equivalent to slot number for compatibility with GPS
-	i_satellite_slot_number = 0;			//!< SV Slot Number
-	d_yr = 1972;                           //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
-	d_satClkDrift = 0.0;                   //!< GLONASS clock error
-	d_dtr = 0.0;                           //!< relativistic clock correction term
-	d_iode = 0.0;                          //!< Issue of data, ephemeris (Bit 0-6 of tb)
-	d_tau_c = 0.0;
-	d_TOW = 0.0; // tow of the start of frame
-	d_WN = 0.0; //  week number of the start of frame
-	d_tod = 0.0;
+    // Satellite Identification Information
+    i_satellite_freq_channel = 0;  //!< SV Frequency Channel Number
+    i_satellite_PRN = 0;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
+    i_satellite_slot_number = 0;   //!< SV Slot Number
+    d_yr = 1972;                   //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
+    d_satClkDrift = 0.0;           //!< GLONASS clock error
+    d_dtr = 0.0;                   //!< relativistic clock correction term
+    d_iode = 0.0;                  //!< Issue of data, ephemeris (Bit 0-6 of tb)
+    d_tau_c = 0.0;
+    d_TOW = 0.0; // tow of the start of frame
+    d_WN = 0.0; //  week number of the start of frame
+    d_tod = 0.0;
 }
 
+
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
 {
     boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
@@ -92,74 +91,75 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
     return glonass_time;
 }
 
+
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
 {
-	double tod = 0.0;
-	double glot2utc = 3*3600;
+    double tod = 0.0;
+    double glot2utc = 3*3600;
 
-	tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
-	boost::posix_time::time_duration t(0, 0, tod);
-	boost::gregorian::date d1(d_yr, 1, 1);
-	boost::gregorian::days d2(d_N_T - 1);
-	boost::posix_time::ptime utc_time(d1+d2, t);
+    tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
+    boost::posix_time::time_duration t(0, 0, tod);
+    boost::gregorian::date d1(d_yr, 1, 1);
+    boost::gregorian::days d2(d_N_T - 1);
+    boost::posix_time::ptime utc_time(d1 + d2, t);
 
-	return utc_time;
+    return utc_time;
 }
 
+
 void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
 {
-	double tod = 0.0;
-	double glot2utc = 3*3600;
-	double days = 0.0;
-	double total_sec = 0.0, sec_of_day = 0.0;
-	int i = 0;
+    double tod = 0.0;
+    double glot2utc = 3*3600;
+    double days = 0.0;
+    double total_sec = 0.0, sec_of_day = 0.0;
+    int i = 0;
 
-	boost::gregorian::date gps_epoch { 1980, 1, 6 };
+    boost::gregorian::date gps_epoch { 1980, 1, 6 };
 
-	// tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
-	// tk plus 10 sec is the true tod since get_TOW is called when in str5
-	tod = tod_offset - glot2utc ;
+    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
+    // tk plus 10 sec is the true tod since get_TOW is called when in str5
+    tod = tod_offset - glot2utc ;
 
+    boost::posix_time::time_duration t(0, 0, tod);
+    boost::gregorian::date d1(d_yr, 1, 1);
+    boost::gregorian::days d2(d_N_T-1);
+    boost::posix_time::ptime utc_time(d1+d2, t);
+    boost::gregorian::date utc_date = utc_time.date();
+    boost::posix_time::ptime gps_time;
 
-	boost::posix_time::time_duration t(0, 0, tod);
-	boost::gregorian::date d1(d_yr, 1, 1);
-	boost::gregorian::days d2(d_N_T-1);
-	boost::posix_time::ptime utc_time(d1+d2, t);
-	boost::gregorian::date utc_date = utc_time.date();
-	boost::posix_time::ptime gps_time;
+    // Adjust for leap second correction
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+        {
+            boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+            boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+            boost::posix_time::ptime ls_time(d3, t3);
+            if (utc_time >= ls_time)
+                {
+                    // We add the leap second when going from utc to gpst
+                    gps_time = utc_time + boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
+                    break;
+                }
+        }
 
-	// Adjust for leap second correction
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-		{
-			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
-			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
-			boost::posix_time::ptime ls_time(d3, t3);
-			if (utc_time >= ls_time)
-			{
-				// We add the leap second when going from utc to gpst
-				gps_time = utc_time + boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
-				break;
-			}
-		}
+    // Total number of days
+    std::string fdat = boost::posix_time::to_simple_string(gps_time);
+    days =  static_cast<double>((utc_date - gps_epoch).days());
 
-	// Total number of days
-	std::string fdat = boost::posix_time::to_simple_string(gps_time);
-	days =  static_cast<double>((utc_date - gps_epoch).days());
+    // Total number of seconds
+    sec_of_day = static_cast<double>((gps_time.time_of_day()).total_seconds());
+    total_sec = days*86400 + sec_of_day;
 
-	// Total number of seconds
-	sec_of_day = static_cast<double>((gps_time.time_of_day()).total_seconds());
-	total_sec = days*86400 + sec_of_day;
-
-	// Compute Week number
-	*wn = floor(total_sec/604800);
-
-	// Compute the arithmetic modules to wrap around range
-	*tow = total_sec - 604800*floor(total_sec/604800);
-	// Perform corrections from fractional seconds
-	*tow += glot2utc_corr + glot2gpst_corr;
+    // Compute Week number
+    *wn = floor(total_sec/604800);
 
+    // Compute the arithmetic modules to wrap around range
+    *tow = total_sec - 604800*floor(total_sec/604800);
+    // Perform corrections from fractional seconds
+    *tow += glot2utc_corr + glot2gpst_corr;
 }
 
+
 double Glonass_Gnav_Ephemeris::check_t(double time)
 {
     double corrTime;
@@ -176,6 +176,7 @@ double Glonass_Gnav_Ephemeris::check_t(double time)
     return corrTime;
 }
 
+
 // FIXME Fix reference here
 // 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
 double Glonass_Gnav_Ephemeris::sv_clock_drift(double transmitTime, double timeCorrUTC)
diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h
index 5400e890f..cf43566e2 100644
--- a/src/core/system_parameters/glonass_gnav_ephemeris.h
+++ b/src/core/system_parameters/glonass_gnav_ephemeris.h
@@ -35,9 +35,6 @@
 #define GNSS_SDR_GLONASS_GNAV_EPHEMERIS_H_
 
 
-#include <map>
-#include <string>
-#include "boost/assign.hpp"
 #include <boost/serialization/nvp.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 
@@ -64,7 +61,7 @@ public:
     double d_m;             //!< String number within frame [dimensionless]
     double d_t_k;           //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
     double d_t_b;           //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
-    double d_M;		            //!< Type of satellite transmitting navigation signal [dimensionless]
+    double d_M;             //!< Type of satellite transmitting navigation signal [dimensionless]
     double d_gamma_n;       //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
     double d_tau_n;         //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
     double d_Xn;            //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
@@ -84,25 +81,25 @@ public:
     double d_Delta_tau_n;   //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
     double d_E_n;           //!< Characterises "age" of a current information [days]
     double d_P_1;           //!< Flag of the immediate data updating [minutes]
-    bool d_P_2;	            //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-    bool d_P_3;	            //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
-    bool d_P_4;		          //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-    bool d_l3rd_n;        	//!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-    bool d_l5th_n;        	//!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    bool d_P_2;             //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+    bool d_P_3;             //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
+    bool d_P_4;             //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
+    bool d_l3rd_n;          //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is healthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+    bool d_l5th_n;          //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is healthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
 
     // Inmediate deliverables of ephemeris information
     // Satellite Identification Information
-    int i_satellite_freq_channel;  			//!< SV Frequency Channel Number
+    int i_satellite_freq_channel;           //!< SV Frequency Channel Number
     unsigned int i_satellite_PRN;           //!< SV PRN Number, equivalent to slot number for compatibility with GPS
     unsigned int i_satellite_slot_number;   //!< SV Slot Number
     double d_yr;                            //!< Current year
     double d_satClkDrift;                   //!< GLONASS clock error
     double d_dtr;                           //!< relativistic clock correction term
     double d_iode;                          //!< Issue of data, ephemeris (Bit 0-6 of tb)
-    double d_tau_c;							//!< GLONASST 2 UTC correction (todo) may be eliminated
-    double d_TOW; 							//!< GLONASST IN GPST seconds of week
-    double d_WN; 							//!< GLONASST IN GPST week number of the start of frame
-    double d_tod;							//!< Time of Day since ephemeris where decoded
+    double d_tau_c;                         //!< GLONASST 2 UTC correction (todo) may be eliminated
+    double d_TOW;                           //!< GLONASST IN GPST seconds of week
+    double d_WN;                            //!< GLONASST IN GPST week number of the start of frame
+    double d_tod;                           //!< Time of Day since ephemeris where decoded
 
     template<class Archive>
 
@@ -137,14 +134,14 @@ public:
         archive & make_nvp("d_N_T", d_N_T);         //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
         archive & make_nvp("d_F_T", d_F_T);         //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
         archive & make_nvp("d_n", d_n);             //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
-        archive & make_nvp("d_Delta_tau_n", d_Delta_tau_n);//!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
+        archive & make_nvp("d_Delta_tau_n", d_Delta_tau_n); //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
         archive & make_nvp("d_E_n", d_E_n);         //!< Characterises "age" of a current information [days]
         archive & make_nvp("d_P_1", d_P_1);         //!< Flag of the immediate data updating.
         archive & make_nvp("d_P_2", d_P_2);         //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
         archive & make_nvp("d_P_3", d_P_3);         //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
         archive & make_nvp("d_P_4", d_P_4);         //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
-        archive & make_nvp("d_l3rd_n", d_l3rd_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-        archive & make_nvp("d_l5th_n", d_l5th_n);         //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+        archive & make_nvp("d_l3rd_n", d_l3rd_n);   //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+        archive & make_nvp("d_l5th_n", d_l5th_n);   //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
     }
 
     /*!
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index abc13409d..40301ea09 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -31,30 +31,25 @@
  */
 
 #include "glonass_gnav_navigation_message.h"
-#include <boost/crc.hpp>
-#include <boost/dynamic_bitset.hpp>
-#include <cmath>
-#include <iostream>
-#include <sstream>
 #include <gnss_satellite.h>
 #include <glog/logging.h>
 
 
 void Glonass_Gnav_Navigation_Message::reset()
 {
-    //!< Satellite Identification
+    // Satellite Identification
     i_satellite_PRN = 0;
     i_alm_satellite_slot_number = 0;    //!< SV Orbit Slot Number
     flag_update_slot_number = false;
 
-    //!< Ephmeris Flags
+    // Ephmeris Flags
     flag_all_ephemeris = false;
     flag_ephemeris_str_1 = false;
     flag_ephemeris_str_2 = false;
     flag_ephemeris_str_3 = false;
     flag_ephemeris_str_4 = false;
 
-    //!< Almanac Flags
+    // Almanac Flags
     flag_all_almanac = false;
     flag_almanac_str_6  = false;
     flag_almanac_str_7  = false;
@@ -67,12 +62,12 @@ void Glonass_Gnav_Navigation_Message::reset()
     flag_almanac_str_14 = false;
     flag_almanac_str_15 = false;
 
-    //!< UTC and System Clocks Flags
+    // UTC and System Clocks Flags
     flag_utc_model_valid  = false;      //!< If set, it indicates that the UTC model parameters are filled
     flag_utc_model_str_5 = false;      //!< Clock info send in string 5 of navigation data
     flag_utc_model_str_15 = false;     //!< Clock info send in string 15 of frame 5 of navigation data
 
-    //broadcast orbit 1
+    // broadcast orbit 1
     flag_TOW_set = false;
     flag_TOW_new = false;
 
@@ -89,7 +84,7 @@ void Glonass_Gnav_Navigation_Message::reset()
     // Data update information
     d_previous_tb = 0.0;
     for(unsigned int i = 0; i < GLONASS_L1_CA_NBR_SATS; i++)
-    d_previous_Na[i] = 0.0;
+        d_previous_Na[i] = 0.0;
 
     std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
 
@@ -97,9 +92,9 @@ void Glonass_Gnav_Navigation_Message::reset()
     std::string _system ("GLONASS");
     //TODO SHould number of channels be hardcoded?
     for(unsigned int i = 1; i < 14; i++)
-    {
-        satelliteBlock[i] = gnss_sat.what_block(_system, i);
-    }
+        {
+            satelliteBlock[i] = gnss_sat.what_block(_system, i);
+        }
 }
 
 
@@ -123,11 +118,11 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
     int C_Sigma = 0;
     std::vector<int> string_bits(GLONASS_GNAV_STRING_BITS);
 
-	//!< Populate data and hamming code vectors
-	for(int i = 0; i < static_cast<int>(GLONASS_GNAV_STRING_BITS); i++)
-		{
-			string_bits[i] = static_cast<int>(bits[i]);
-		}
+    //!< Populate data and hamming code vectors
+    for(int i = 0; i < static_cast<int>(GLONASS_GNAV_STRING_BITS); i++)
+        {
+            string_bits[i] = static_cast<int>(bits[i]);
+        }
 
     //!< Compute C1 term
     sum_bits = 0;
@@ -210,7 +205,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
             return true;
         }
     else
-    // All other conditions are assumed errors. TODO: Add correction for case B
+        // All other conditions are assumed errors. TODO: Add correction for case B
         {
             return false;
         }
@@ -258,14 +253,14 @@ signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bit
     signed long int sign = 0;
     int num_of_slices = parameter.size();
     // read the MSB and perform the sign extension
-	if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
-		{
-			sign = -1;
-		}
-	else
-		{
-			sign = 1;
-		}
+    if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+        {
+            sign = -1;
+        }
+    else
+        {
+            sign = 1;
+        }
     for (int i = 0; i < num_of_slices; i++)
         {
             for (int j = 1; j < parameter[i].second; j++)
@@ -331,327 +326,332 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
     // Decode all 15 string messages
     d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
-    switch (d_string_ID) {
-        case 1:
-            //--- It is string 1 -----------------------------------------------
-            gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1) * 15;
-            gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
-                                   static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
-                                   static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
-            gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * TWO_N20;
-            gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
-            gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
+    switch (d_string_ID)
+    {
+    case 1:
+        //--- It is string 1 -----------------------------------------------
+        gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1) * 15;
+        gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
+                static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
+                static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
+        gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * TWO_N20;
+        gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
+        gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
 
-            flag_ephemeris_str_1 = true;
+        flag_ephemeris_str_1 = true;
 
-            break;
+        break;
 
-        case 2:
-            //--- It is string 2 -----------------------------------------------
-            if (flag_ephemeris_str_1 == true)
-                {
-                    gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
-                    gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
-                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * 15 * 60;
-                    gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
-                    gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
-                    gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
+    case 2:
+        //--- It is string 2 -----------------------------------------------
+        if (flag_ephemeris_str_1 == true)
+            {
+                gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
+                gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
+                gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * 15 * 60;
+                gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
+                gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
+                gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
 
-                    gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
-                    flag_ephemeris_str_2 = true;
-                }
+                gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
+                flag_ephemeris_str_2 = true;
+            }
 
-            break;
+        break;
 
-        case 3:
-            // --- It is string 3 ----------------------------------------------
-            if (flag_ephemeris_str_2 == true)
-                {
-                    gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
-                    gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
-                    gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
-                    gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
-                    gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
-                    gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
-                    gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
+    case 3:
+        // --- It is string 3 ----------------------------------------------
+        if (flag_ephemeris_str_2 == true)
+            {
+                gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
+                gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
+                gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
+                gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
+                gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
+                gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
+                gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
 
-                    flag_ephemeris_str_3 = true;
-                }
+                flag_ephemeris_str_3 = true;
+            }
 
-            break;
+        break;
 
-        case 4:
-            // --- It is string 4 ----------------------------------------------
-            if (flag_ephemeris_str_3 == true)
-                {
-                    gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
-                    gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
-                    gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
-                    gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
-                    gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
-                    gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
-                    gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
-                    gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
+    case 4:
+        // --- It is string 4 ----------------------------------------------
+        if (flag_ephemeris_str_3 == true)
+            {
+                gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
+                gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
+                gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
+                gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
+                gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
+                gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
+                gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
+                gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
 
-                    // Fill in ephemeris deliverables in the code
-                    flag_update_slot_number = true;
-                    gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
-                    gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
+                // Fill in ephemeris deliverables in the code
+                flag_update_slot_number = true;
+                gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
+                gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
 
-                    flag_ephemeris_str_4 = true;
-                }
+                flag_ephemeris_str_4 = true;
+            }
 
-            break;
+        break;
 
-        case 5:
-            // --- It is string 5 ----------------------------------------------
-            if (flag_ephemeris_str_4 == true)
-                {
-                    gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
-                    gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
-                    gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
-                    gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
-                    gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+    case 5:
+        // --- It is string 5 ----------------------------------------------
+        if (flag_ephemeris_str_4 == true)
+            {
+                gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
+                gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
+                gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
+                gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
+                gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                    flag_utc_model_str_5 = true;
+                flag_utc_model_str_5 = true;
 
-                    // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
-                    // 1). Current year number J in the four-year interval is calculated
-                    if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
-                        {
-                            J = 1;
-                        }
-                    else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
-                        {
-                            J = 2;
-                        }
-                    else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
-                        {
-                            J = 3;
-                        }
-                    else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461)
-                        {
-                            J = 4;
-                        }
-                    // 2). Current year in common form is calculated by the following formula:
-                    gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
-                    gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
+                // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
+                // 1). Current year number J in the four-year interval is calculated
+                if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
+                    {
+                        J = 1;
+                    }
+                else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
+                    {
+                        J = 2;
+                    }
+                else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
+                    {
+                        J = 3;
+                    }
+                else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461)
+                    {
+                        J = 4;
+                    }
+                // 2). Current year in common form is calculated by the following formula:
+                gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
+                gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
 
-                    // 3). Set TOW once the year has been defined, it helps with leap second determination
-                    if (flag_ephemeris_str_1 == true)
-                        {
-                            gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
-                            flag_TOW_set = true;
-                            flag_TOW_new = true;
-                        }
+                // 3). Set TOW once the year has been defined, it helps with leap second determination
+                if (flag_ephemeris_str_1 == true)
+                    {
+                        gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
+                        flag_TOW_set = true;
+                        flag_TOW_new = true;
+                    }
 
-                    // 4) Set time of day (tod) when ephemeris data is complety decoded
-                    gnav_ephemeris.d_tod = gnav_ephemeris.d_t_k + 2*d_string_ID;
-                }
+                // 4) Set time of day (tod) when ephemeris data is complety decoded
+                gnav_ephemeris.d_tod = gnav_ephemeris.d_t_k + 2*d_string_ID;
+            }
 
-            break;
+        break;
 
-        case 6:
-            // --- It is string 6 ----------------------------------------------
-            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-            // Make sure a valid frame_ID or satellite slot number is returned
-            if(d_frame_ID == 0)
-                return 0;
+    case 6:
+        // --- It is string 6 ----------------------------------------------
+        i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+        d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+        // Make sure a valid frame_ID or satellite slot number is returned
+        if(d_frame_ID == 0)
+            return 0;
 
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
-            flag_almanac_str_6 = true;
+        flag_almanac_str_6 = true;
 
-            break;
+        break;
 
-        case 7:
-            // --- It is string 7 ----------------------------------------------
-            if (flag_almanac_str_6 == true)
-                {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+    case 7:
+        // --- It is string 7 ----------------------------------------------
+        if (flag_almanac_str_6 == true)
+            {
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                    // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
-                        {
-                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
-                        }
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                // Set satellite information for redundancy purposes
+                if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
-                    if (i_alm_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
-                        {
-                            gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel;
-                        }
-                    flag_almanac_str_7 = true;
-                }
+                if (i_alm_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
+                    {
+                        gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel;
+                    }
+                flag_almanac_str_7 = true;
+            }
 
+        break;
 
-            break;
-        case 8:
-            // --- It is string 8 ----------------------------------------------
-            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-            // Make sure a valid frame_ID or satellite slot number is returned
-            if(d_frame_ID == 0)
-                return 0;
+    case 8:
+        // --- It is string 8 ----------------------------------------------
+        i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+        d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+        // Make sure a valid frame_ID or satellite slot number is returned
+        if(d_frame_ID == 0)
+            return 0;
 
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
-            flag_almanac_str_8 = true;
+        flag_almanac_str_8 = true;
 
-            break;
-        case 9:
-            // --- It is string 9 ----------------------------------------------
-            if (flag_almanac_str_8 == true)
-                {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+        break;
 
-                    // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
-                        {
-                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
-                        }
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+    case 9:
+        // --- It is string 9 ----------------------------------------------
+        if (flag_almanac_str_8 == true)
+            {
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-                    flag_almanac_str_9 = true;
-                }
-            break;
-        case 10:
-            // --- It is string 10 ---------------------------------------------
-            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-            // Make sure a valid frame_ID or satellite slot number is returned
-            if(d_frame_ID == 0)
-                return 0;
+                // Set satellite information for redundancy purposes
+                if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+                flag_almanac_str_9 = true;
+            }
+        break;
 
-            flag_almanac_str_10 = true;
+    case 10:
+        // --- It is string 10 ---------------------------------------------
+        i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+        d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+        // Make sure a valid frame_ID or satellite slot number is returned
+        if(d_frame_ID == 0)
+            return 0;
 
-            break;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
-        case 11:
-            // --- It is string 11 ---------------------------------------------
-            if (flag_almanac_str_10 == true)
-                {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+        flag_almanac_str_10 = true;
 
-                    // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
-                        {
-                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
-                        }
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+        break;
 
-                    flag_almanac_str_11 = true;
-                }
-            break;
-        case 12:
-            // --- It is string 12 ---------------------------------------------
-            i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-            d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-            // Make sure a valid frame_ID or satellite slot number is returned
-            if(d_frame_ID == 0)
-                return 0;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
-            gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+    case 11:
+        // --- It is string 11 ---------------------------------------------
+        if (flag_almanac_str_10 == true)
+            {
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-            flag_almanac_str_12 = true;
+                // Set satellite information for redundancy purposes
+                if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
-            break;
+                flag_almanac_str_11 = true;
+            }
+        break;
 
-        case 13:
-            // --- It is string 13 ---------------------------------------------
-            if (flag_almanac_str_12 == true)
-                {
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
+    case 12:
+        // --- It is string 12 ---------------------------------------------
+        i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+        d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+        // Make sure a valid frame_ID or satellite slot number is returned
+        if(d_frame_ID == 0)
+            return 0;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
+        gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
 
-                    // Set satellite information for redundancy purposes
-                    if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
-                        {
-                            gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
-                        }
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+        flag_almanac_str_12 = true;
 
-                    flag_almanac_str_13 = true;
-                }
-            break;
-        case 14:
-            // --- It is string 14 ---------------------------------------------
-            if (d_frame_ID == 5)
-                {
-                    gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
-                    gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
-                }
-            else
-                {
-                    i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
-                    d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
-                    // Make sure a valid frame_ID or satellite slot number is returned
-                    if(d_frame_ID == 0)
-                        return 0;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+        break;
 
-                    flag_almanac_str_14 = true;
-                }
-            break;
+    case 13:
+        // --- It is string 13 ---------------------------------------------
+        if (flag_almanac_str_12 == true)
+            {
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
 
-        case 15:
-            // --- It is string 15 ----------------------------------------------
-            if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
+                // Set satellite information for redundancy purposes
+                if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
+                    {
+                        gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
+                    }
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+
+                flag_almanac_str_13 = true;
+            }
+        break;
+
+    case 14:
+        // --- It is string 14 ---------------------------------------------
+        if (d_frame_ID == 5)
+            {
+                gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
+                gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
+            }
+        else
+            {
+                i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
+                d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
+                // Make sure a valid frame_ID or satellite slot number is returned
+                if(d_frame_ID == 0)
+                    return 0;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI;
+                gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
+
+                flag_almanac_str_14 = true;
+            }
+        break;
+
+    case 15:
+        // --- It is string 15 ----------------------------------------------
+        if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
                 gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
@@ -668,14 +668,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                 flag_almanac_str_15 = true;
-            }
-            break;
-        default:
-            LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID
-                      << ", but acceptable range is from 1-15";
+        }
+        break;
+    default:
+        LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID
+                  << ", but acceptable range is from 1-15";
 
-            break;
-    } // switch string ID ...
+        break;
+    } // switch string ID
 
     return d_string_ID;
 }
@@ -704,8 +704,8 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
     bool new_eph = false;
     // We need to make sure we have received the ephemeris info plus the time info
     if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and
-        (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
-        (flag_utc_model_str_5 == true))
+            (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
+            (flag_utc_model_str_5 == true))
         {
             if(d_previous_tb != gnav_ephemeris.d_t_b)
                 {
@@ -729,7 +729,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a
 {
     if (flag_utc_model_str_5 == true)
         {
-    		flag_utc_model_str_5 = false; // clear the flag
+            flag_utc_model_str_5 = false; // clear the flag
             return true;
         }
     else
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h
index 159a212f2..6aef9ad51 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.h
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.h
@@ -36,10 +36,6 @@
 
 
 #include <bitset>
-#include <map>
-#include <string>
-#include <utility>
-#include <vector>
 #include "GLONASS_L1_CA.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_almanac.h"
@@ -70,16 +66,16 @@ public:
 
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
-    Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS];    //!< Almanac information for all 24 satellites
+    Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS];  //!< Almanac information for all 24 satellites
 
-    //!< Ephmeris Flags and control variables
+    // Ephemeris Flags and control variables
     bool flag_all_ephemeris;      //!< Flag indicating that all strings containing ephemeris have been received
     bool flag_ephemeris_str_1;    //!< Flag indicating that ephemeris 1/4 (string 1) have been received
     bool flag_ephemeris_str_2;    //!< Flag indicating that ephemeris 2/4 (string 2) have been received
     bool flag_ephemeris_str_3;    //!< Flag indicating that ephemeris 3/4 (string 3) have been received
     bool flag_ephemeris_str_4;    //!< Flag indicating that ephemeris 4/4 (string 4) have been received
 
-    //!< Almanac Flags
+    // Almanac Flags
     bool flag_all_almanac;        //!< Flag indicating that all almanac have been received
     bool flag_almanac_str_6;      //!< Flag indicating that almanac of string 6 have been received
     bool flag_almanac_str_7;      //!< Flag indicating that almanac of string 7 have been received
@@ -91,23 +87,22 @@ public:
     bool flag_almanac_str_13;     //!< Flag indicating that almanac of string 13 have been received
     bool flag_almanac_str_14;     //!< Flag indicating that almanac of string 14 have been received
     bool flag_almanac_str_15;     //!< Flag indicating that almanac of string 15 have been received
-    unsigned int i_alm_satellite_slot_number;     //!< SV Orbit Slot Number
+    unsigned int i_alm_satellite_slot_number; //!< SV Orbit Slot Number
 
-    //!< UTC and System Clocks Flags
-    bool flag_utc_model_valid;      //!< If set, it indicates that the UTC model parameters are filled
-    bool flag_utc_model_str_5;      //!< Clock info send in string 5 of navigation data
-    bool flag_utc_model_str_15;     //!< Clock info send in string 15 of frame 5 of navigation data
+    // UTC and System Clocks Flags
+    bool flag_utc_model_valid;    //!< If set, it indicates that the UTC model parameters are filled
+    bool flag_utc_model_str_5;    //!< Clock info send in string 5 of navigation data
+    bool flag_utc_model_str_15;   //!< Clock info send in string 15 of frame 5 of navigation data
 
     bool flag_TOW_set;      //!< Flag indicating when the TOW has been set
     bool flag_TOW_new;      //!< Flag indicating when a new TOW has been computed
 
-    double d_satClkCorr;     //!<  Satellite clock error
-    double d_dtr;            //!<  Relativistic clock correction term
-    double d_satClkDrift;    //!<  Satellite clock drift
-
-    double d_previous_tb;	//!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
-    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];	//!< Previous time for almanac of the Glonass_Gnav_Almanac object
+    double d_satClkCorr;    //!<  Satellite clock error
+    double d_dtr;           //!<  Relativistic clock correction term
+    double d_satClkDrift;   //!<  Satellite clock drift
 
+    double d_previous_tb; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
+    double d_previous_Na[GLONASS_L1_CA_NBR_SATS]; //!< Previous time for almanac of the Glonass_Gnav_Almanac object
 
     /*!
      * \brief Compute CRC for GLONASS GNAV strings
@@ -116,10 +111,10 @@ public:
     bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
 
     /*!
-	 * \brief Computes the frame number being decoded given the satellite slot number
-	 * \param satellite_slot_number [in] Satellite slot number identifier
-	 * \returns Frame number being decoded, 0 if operation was not successful.
-	 */
+     * \brief Computes the frame number being decoded given the satellite slot number
+     * \param satellite_slot_number [in] Satellite slot number identifier
+     * \returns Frame number being decoded, 0 if operation was not successful.
+     */
     unsigned int get_frame_number(unsigned int satellite_slot_number);
 
     /*!

From 2f8be49d0a47fca8a63098ff42c3194c703d8e14 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 12:49:04 +0100
Subject: [PATCH 359/379] Fix indentation

---
 src/core/receiver/gnss_block_factory.cc | 224 ++++++++++++------------
 1 file changed, 110 insertions(+), 114 deletions(-)

diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 6efb3ec0e..ac72a0549 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -53,7 +53,6 @@
 #include "two_bit_packed_file_signal_source.h"
 #include "labsat_signal_source.h"
 #include "channel.h"
-
 #include "signal_conditioner.h"
 #include "array_signal_conditioner.h"
 #include "byte_to_short.h"
@@ -236,7 +235,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetSignalConditioner(
 }
 
 
-
 std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared_ptr<ConfigurationInterface> configuration)
 {
     std::string default_implementation = "Hybrid_Observables";
@@ -252,7 +250,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
 }
 
 
-
 std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(std::shared_ptr<ConfigurationInterface> configuration)
 {
     std::string default_implementation = "RTKLIB_PVT";
@@ -336,13 +333,13 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
     return channel_;
 }
 
+
 //********* GPS L2C (M) CHANNEL *****************
 std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
         std::shared_ptr<ConfigurationInterface> configuration,
         std::string acq, std::string trk, std::string tlm, int channel,
         gr::msg_queue::sptr queue)
 {
-
     LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
               << acq << ", Tracking Implementation: " << trk  << ", Telemetry Decoder implementation: " << tlm;
     std::string aux = configuration->property("Acquisition_2S" + boost::lexical_cast<std::string>(channel) + ".implementation", std::string("W"));
@@ -401,6 +398,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
     return channel_;
 }
 
+
 //********* GALILEO E1 B CHANNEL *****************
 std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
         std::shared_ptr<ConfigurationInterface> configuration,
@@ -468,6 +466,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
     return channel_;
 }
 
+
 //********* GALILEO E5a  CHANNEL *****************
 std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
         std::shared_ptr<ConfigurationInterface> configuration,
@@ -535,6 +534,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
     return channel_;
 }
 
+
 //********* GLONASS L1 C/A CHANNEL *****************
 std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
         std::shared_ptr<ConfigurationInterface> configuration,
@@ -699,7 +699,6 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
 
     //**************** GPS L1 C/A  CHANNELS **********************
-
     LOG(INFO) << "Getting " << Channels_1C_count << " GPS L1 C/A channels";
     acquisition_implementation = configuration->property("Acquisition_1C.implementation", default_implementation);
     tracking_implementation  = configuration->property("Tracking_1C.implementation", default_implementation);
@@ -709,24 +708,24 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
         {
             //(i.e. Acquisition_1C0.implementation=xxxx)
             std::string acquisition_implementation_specific = configuration->property(
-                            "Acquisition_1C" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            acquisition_implementation);
+                    "Acquisition_1C" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    acquisition_implementation);
             //(i.e. Tracking_1C0.implementation=xxxx)
             std::string tracking_implementation_specific  = configuration->property(
-                            "Tracking_1C" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            tracking_implementation);
+                    "Tracking_1C" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    tracking_implementation);
             std::string  telemetry_decoder_implementation_specific = configuration->property(
-                            "TelemetryDecoder_1C" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            telemetry_decoder_implementation);
+                    "TelemetryDecoder_1C" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    telemetry_decoder_implementation);
 
             // Push back the channel to the vector of channels
-             channels->at(channel_absolute_id) = std::move(GetChannel_1C(configuration,
-                     acquisition_implementation_specific,
-                     tracking_implementation_specific,
-                     telemetry_decoder_implementation_specific,
-                     channel_absolute_id,
-                     queue));
-             channel_absolute_id++;
+            channels->at(channel_absolute_id) = std::move(GetChannel_1C(configuration,
+                    acquisition_implementation_specific,
+                    tracking_implementation_specific,
+                    telemetry_decoder_implementation_specific,
+                    channel_absolute_id,
+                    queue));
+            channel_absolute_id++;
         }
 
     //**************** GPS L2C (M)  CHANNELS **********************
@@ -738,25 +737,26 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
         {
             //(i.e. Acquisition_1C0.implementation=xxxx)
             std::string acquisition_implementation_specific = configuration->property(
-                            "Acquisition_2S" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            acquisition_implementation);
+                    "Acquisition_2S" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    acquisition_implementation);
             //(i.e. Tracking_1C0.implementation=xxxx)
             std::string tracking_implementation_specific  = configuration->property(
-                            "Tracking_2S" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            tracking_implementation);
+                    "Tracking_2S" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    tracking_implementation);
             std::string  telemetry_decoder_implementation_specific = configuration->property(
-                            "TelemetryDecoder_2S" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            telemetry_decoder_implementation);
+                    "TelemetryDecoder_2S" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    telemetry_decoder_implementation);
 
             // Push back the channel to the vector of channels
-             channels->at(channel_absolute_id) = std::move(GetChannel_2S(configuration,
-                     acquisition_implementation_specific,
-                     tracking_implementation_specific,
-                     telemetry_decoder_implementation_specific,
-                     channel_absolute_id,
-                     queue));
-             channel_absolute_id++;
+            channels->at(channel_absolute_id) = std::move(GetChannel_2S(configuration,
+                    acquisition_implementation_specific,
+                    tracking_implementation_specific,
+                    telemetry_decoder_implementation_specific,
+                    channel_absolute_id,
+                    queue));
+            channel_absolute_id++;
         }
+
     //**************** GPS L5  CHANNELS **********************
     LOG(INFO)<< "Getting " << Channels_L5_count << " GPS L5 channels";
     tracking_implementation  = configuration->property("Tracking_L5.implementation", default_implementation);
@@ -766,85 +766,83 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
         {
             //(i.e. Acquisition_1C0.implementation=xxxx)
             std::string acquisition_implementation_specific = configuration->property(
-                            "Acquisition_L5" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            acquisition_implementation);
+                    "Acquisition_L5" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    acquisition_implementation);
             //(i.e. Tracking_1C0.implementation=xxxx)
             std::string tracking_implementation_specific  = configuration->property(
-                            "Tracking_L5" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            tracking_implementation);
+                    "Tracking_L5" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    tracking_implementation);
             std::string  telemetry_decoder_implementation_specific = configuration->property(
-                            "TelemetryDecoder_L5" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            telemetry_decoder_implementation);
+                    "TelemetryDecoder_L5" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    telemetry_decoder_implementation);
 
             // Push back the channel to the vector of channels
-             channels->at(channel_absolute_id) = std::move(GetChannel_L5(configuration,
-                     acquisition_implementation_specific,
-                     tracking_implementation_specific,
-                     telemetry_decoder_implementation_specific,
-                     channel_absolute_id,
-                     queue));
-             channel_absolute_id++;
+            channels->at(channel_absolute_id) = std::move(GetChannel_L5(configuration,
+                    acquisition_implementation_specific,
+                    tracking_implementation_specific,
+                    telemetry_decoder_implementation_specific,
+                    channel_absolute_id,
+                    queue));
+            channel_absolute_id++;
         }
+
     //**************** GALILEO E1 B (I/NAV OS) CHANNELS **********************
-
     LOG(INFO) << "Getting " << Channels_1B_count << " GALILEO E1 B (I/NAV OS) channels";
-       tracking_implementation  = configuration->property("Tracking_1B.implementation", default_implementation);
-       telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1B.implementation", default_implementation);
-       acquisition_implementation = configuration->property("Acquisition_1B.implementation", default_implementation);
-       for (unsigned int i = 0; i < Channels_1B_count; i++)
-           {
-               //(i.e. Acquisition_1C0.implementation=xxxx)
-               std::string acquisition_implementation_specific = configuration->property(
-                               "Acquisition_1B" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                               acquisition_implementation);
-               //(i.e. Tracking_1C0.implementation=xxxx)
-               std::string tracking_implementation_specific  = configuration->property(
-                               "Tracking_1B" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                               tracking_implementation);
-               std::string  telemetry_decoder_implementation_specific = configuration->property(
-                               "TelemetryDecoder_1B" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                               telemetry_decoder_implementation);
-
-               // Push back the channel to the vector of channels
-                channels->at(channel_absolute_id) = std::move(GetChannel_1B(configuration,
-                        acquisition_implementation_specific,
-                        tracking_implementation_specific,
-                        telemetry_decoder_implementation_specific,
-                        channel_absolute_id,
-                        queue));
-                channel_absolute_id++;
-           }
+    tracking_implementation  = configuration->property("Tracking_1B.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1B.implementation", default_implementation);
+    acquisition_implementation = configuration->property("Acquisition_1B.implementation", default_implementation);
+    for (unsigned int i = 0; i < Channels_1B_count; i++)
+        {
+            //(i.e. Acquisition_1C0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                    "Acquisition_1B" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    acquisition_implementation);
+            //(i.e. Tracking_1C0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                    "Tracking_1B" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                    "TelemetryDecoder_1B" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    telemetry_decoder_implementation);
 
+            // Push back the channel to the vector of channels
+            channels->at(channel_absolute_id) = std::move(GetChannel_1B(configuration,
+                    acquisition_implementation_specific,
+                    tracking_implementation_specific,
+                    telemetry_decoder_implementation_specific,
+                    channel_absolute_id,
+                    queue));
+            channel_absolute_id++;
+        }
 
     //**************** GALILEO E5a I (F/NAV OS)  CHANNELS **********************
     LOG(INFO) << "Getting " << Channels_5X_count << " GALILEO E5a I (F/NAV OS) channels";
-       tracking_implementation  = configuration->property("Tracking_5X.implementation", default_implementation);
-       telemetry_decoder_implementation = configuration->property("TelemetryDecoder_5X.implementation", default_implementation);
-       acquisition_implementation = configuration->property("Acquisition_5X.implementation", default_implementation);
-       for (unsigned int i = 0; i < Channels_5X_count; i++)
-           {
-               //(i.e. Acquisition_1C0.implementation=xxxx)
-               std::string acquisition_implementation_specific = configuration->property(
-                               "Acquisition_5X" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                               acquisition_implementation);
-               //(i.e. Tracking_1C0.implementation=xxxx)
-               std::string tracking_implementation_specific  = configuration->property(
-                               "Tracking_5X" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                               tracking_implementation);
-               std::string  telemetry_decoder_implementation_specific = configuration->property(
-                               "TelemetryDecoder_5X" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                               telemetry_decoder_implementation);
-
-               // Push back the channel to the vector of channels
-                channels->at(channel_absolute_id) = std::move(GetChannel_5X(configuration,
-                        acquisition_implementation_specific,
-                        tracking_implementation_specific,
-                        telemetry_decoder_implementation_specific,
-                        channel_absolute_id,
-                        queue));
-                channel_absolute_id++;
-           }
+    tracking_implementation  = configuration->property("Tracking_5X.implementation", default_implementation);
+    telemetry_decoder_implementation = configuration->property("TelemetryDecoder_5X.implementation", default_implementation);
+    acquisition_implementation = configuration->property("Acquisition_5X.implementation", default_implementation);
+    for (unsigned int i = 0; i < Channels_5X_count; i++)
+        {
+            //(i.e. Acquisition_1C0.implementation=xxxx)
+            std::string acquisition_implementation_specific = configuration->property(
+                    "Acquisition_5X" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    acquisition_implementation);
+            //(i.e. Tracking_1C0.implementation=xxxx)
+            std::string tracking_implementation_specific  = configuration->property(
+                    "Tracking_5X" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    tracking_implementation);
+            std::string  telemetry_decoder_implementation_specific = configuration->property(
+                    "TelemetryDecoder_5X" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    telemetry_decoder_implementation);
 
+            // Push back the channel to the vector of channels
+            channels->at(channel_absolute_id) = std::move(GetChannel_5X(configuration,
+                    acquisition_implementation_specific,
+                    tracking_implementation_specific,
+                    telemetry_decoder_implementation_specific,
+                    channel_absolute_id,
+                    queue));
+            channel_absolute_id++;
+        }
 
     //**************** GLONASS L1 C/A  CHANNELS **********************
     LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
@@ -856,29 +854,30 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
         {
             //(i.e. Acquisition_1G0.implementation=xxxx)
             std::string acquisition_implementation_specific = configuration->property(
-                            "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            acquisition_implementation);
+                    "Acquisition_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    acquisition_implementation);
             //(i.e. Tracking_1G0.implementation=xxxx)
             std::string tracking_implementation_specific  = configuration->property(
-                            "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            tracking_implementation);
+                    "Tracking_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    tracking_implementation);
             std::string  telemetry_decoder_implementation_specific = configuration->property(
-                            "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
-                            telemetry_decoder_implementation);
+                    "TelemetryDecoder_1G" + boost::lexical_cast<std::string>(channel_absolute_id) + ".implementation",
+                    telemetry_decoder_implementation);
 
             // Push back the channel to the vector of channels
-             channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
-                     acquisition_implementation_specific,
-                     tracking_implementation_specific,
-                     telemetry_decoder_implementation_specific,
-                     channel_absolute_id,
-                     queue));
-             channel_absolute_id++;
+            channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration,
+                    acquisition_implementation_specific,
+                    tracking_implementation_specific,
+                    telemetry_decoder_implementation_specific,
+                    channel_absolute_id,
+                    queue));
+            channel_absolute_id++;
         }
 
     return channels;
 }
 
+
 /*
  * Returns the block with the required configuration and implementation
  *
@@ -1163,7 +1162,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
             block = std::move(block_);
         }
 
-
     // RESAMPLER -------------------------------------------------------------------
     else if (implementation.compare("Direct_Resampler") == 0)
         {
@@ -1277,9 +1275,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
             block = std::move(block_);
         }
 
-
-
-
     // TRACKING BLOCKS -------------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
         {
@@ -1410,6 +1405,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+
     // PVT -------------------------------------------------------------------------
     else if ((implementation.compare("RTKLIB_PVT") == 0) || (implementation.compare("GPS_L1_CA_PVT") == 0) || (implementation.compare("Galileo_E1_PVT") == 0) || (implementation.compare("Hybrid_PVT") == 0))
         {

From a6e292d532aac0e344e1e55db07ea4a91a3855a6 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 13:02:23 +0100
Subject: [PATCH 360/379] Remove unrequired includes

---
 .../gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc   | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 22aa23538..230493060 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -32,15 +32,9 @@
 
 
 #include "glonass_l1_ca_telemetry_decoder_cc.h"
-#include <cstdio>
-#include <cstdlib>
-#include <iostream>
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
-#include "control_message_factory.h"
-#include "gnss_synchro.h"
-#include "convolutional.h"
 
 
 #define CRC_ERROR_LIMIT 6

From d12aa2858903499c5b55009c70bd7bbd5da26d12 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 13:15:56 +0100
Subject: [PATCH 361/379] Replace C-style casts by C++ style

---
 .../glonass_l1_ca_telemetry_decoder_cc.cc     | 22 +++++++++----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index 230493060..e3404a458 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -72,10 +72,10 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     // Since preamble rate is different than navigation data rate we use a constant
     d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
 
-    memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GLONASS_GNAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
+    memcpy(static_cast<unsigned short int*>(this->d_preambles_bits), static_cast<unsigned short int*>(preambles_bits), GLONASS_GNAV_PREAMBLE_LENGTH_BITS * sizeof(unsigned short int));
 
     // preamble bits to sampled symbols
-    d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
+    d_preambles_symbols = static_cast<signed int*>(malloc(sizeof(signed int) * d_symbols_per_preamble));
     int n = 0;
     for (int i = 0; i < GLONASS_GNAV_PREAMBLE_LENGTH_BITS; i++)
         {
@@ -229,8 +229,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     int corr_value = 0;
     int preamble_diff = 0;
 
-    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
-    const Gnss_Synchro **in = (const Gnss_Synchro **)  &input_items[0]; //Get the input samples pointer
+    Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);           // Get the output buffer pointer
+    const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
 
     Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
     //1. Copy the current tracking output
@@ -240,7 +240,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     consume_each(1);
 
     d_flag_preamble = false;
-    unsigned int required_symbols=GLONASS_GNAV_STRING_SYMBOLS;
+    unsigned int required_symbols = GLONASS_GNAV_STRING_SYMBOLS;
 
     if (d_symbol_history.size()>required_symbols)
         {
@@ -334,7 +334,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                                 {
                                     d_flag_frame_sync = true;
                                     DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
-                                            << d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
+                                               << d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
                                 }
                         }
                     else
@@ -383,7 +383,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 
     current_symbol.PRN = this->d_satellite.get_PRN();
     current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
-    current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
+    current_symbol.TOW_at_current_symbol_s -= delta_t; // Galileo to GPS TOW
 
     if(d_dump == true)
         {
@@ -393,11 +393,11 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
                     double tmp_double;
                     unsigned long int tmp_ulong_int;
                     tmp_double = d_TOW_at_current_symbol;
-                    d_dump_file.write((char*)&tmp_double, sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
                     tmp_ulong_int = current_symbol.Tracking_sample_counter;
-                    d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_ulong_int), sizeof(unsigned long int));
                     tmp_double = 0;
-                    d_dump_file.write((char*)&tmp_double, sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
             }
             catch (const std::ifstream::failure & e)
             {
@@ -445,7 +445,7 @@ void glonass_l1_ca_telemetry_decoder_cc::set_channel(int channel)
                     }
                     catch (const std::ifstream::failure& e)
                     {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
+                            LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what();
                     }
                 }
         }

From 2a20976b0c7019f6c14ea26cc52d7e98901bf74d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 13:40:52 +0100
Subject: [PATCH 362/379] Remove big sample file and move
 GlonassL1CaPcpsAcquisitionTest to extra unit tests

---
 src/tests/CMakeLists.txt                      |   9 +++++++--
 .../Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat       | Bin 1994068 -> 0 bytes
 src/tests/test_main.cc                        |   3 ++-
 3 files changed, 9 insertions(+), 3 deletions(-)
 delete mode 100644 src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 0c86b84a5..3394d8a2e 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -260,8 +260,15 @@ if(ENABLE_UNIT_TESTING_EXTRA)
            SHOW_PROGRESS
            EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9 )
    endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat)
+   if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat)
+      message(STATUS "Downloading some data files for testing...")
+      file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
+           SHOW_PROGRESS
+           EXPECTED_HASH MD5=ffb72fc63c116be58d5e5ccb1daaed3a )
+   endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat)
    if(ENABLE_INSTALL_TESTS)
       install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat DESTINATION share/gnss-sdr/signal_samples)
+      install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    endif(ENABLE_INSTALL_TESTS)
 endif(ENABLE_UNIT_TESTING_EXTRA)
 
@@ -269,14 +276,12 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
-   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
-   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
diff --git a/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat b/src/tests/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
deleted file mode 100644
index 8d7b27c2543daf5f94bb45fc6bee9707d85deded..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index ee86e63da..fbc9c3a10 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -110,7 +110,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
-#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
+
 #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc"
 
 #if OPENCL_BLOCKS_TEST
@@ -139,6 +139,7 @@ DECLARE_string(log_dir);
 
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
+#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"

From 36ae812e17487fb4de8c3a9dfb84864ca35a6b98 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 14:09:33 +0100
Subject: [PATCH 363/379] Remove blank line

---
 src/tests/test_main.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index fbc9c3a10..dff856808 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -110,7 +110,6 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
-
 #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc"
 
 #if OPENCL_BLOCKS_TEST

From 77ab00698c598de0b603962abcfd28b542160a33 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 14:21:24 +0100
Subject: [PATCH 364/379] Add copyright header

---
 ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 33 ++++++++++++++++++
 .../glonass_l1_ca_pcps_acquisition_test.cc    | 34 ++++++++++++++++++-
 2 files changed, 66 insertions(+), 1 deletion(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index ec77c5951..47e56df36 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -1,3 +1,36 @@
+/*!
+ * \file glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+ * \brief  Tests a PCPS acquisition block for Glonass L1 C/A signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
 #include <chrono>
 #include <iostream>
 #include <gnuradio/top_block.h>
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 592350300..7cee76a52 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -1,3 +1,35 @@
+/*!
+ * \file glonass_l1_ca_pcps_acquisition_test.cc
+ * \brief  Tests a PCPS acquisition block for Glonass L1 C/A signals
+ * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
+ * \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
 #include <chrono>
 #include <cstdlib>
 #include <iostream>
@@ -181,7 +213,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
-        acquisition->set_threshold(0.0005);
+        acquisition->set_threshold(0.005);
     }) << "Failure setting threshold.";
 
     ASSERT_NO_THROW( {

From 386514390939b0839632a34bf795ae69d25c7e01 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 14:48:44 +0100
Subject: [PATCH 365/379] Replace <ctime> library by <chrono>

---
 ...onass_l1_ca_dll_pll_c_aid_tracking_test.cc | 27 +++++++++----------
 .../glonass_l1_ca_dll_pll_tracking_test.cc    | 26 +++++++++---------
 2 files changed, 25 insertions(+), 28 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
index 9876b63f3..e845b0d22 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -31,7 +31,7 @@
  */
 
 
-#include <ctime>
+#include <chrono>
 #include <iostream>
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
@@ -149,11 +149,11 @@ void GlonassL1CaDllPllCAidTrackingTest::init()
     config->set_property("Tracking_1G.dll_bw_hz", "0.5");
 }
 
+
 TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
 {
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    std::chrono::time_point<std::chrono::system_clock> start, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     int fs_in = 6625000;
     int nsamples = fs_in*4e-3*2;
 
@@ -170,15 +170,15 @@ TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
 
     ASSERT_NO_THROW( {
         tracking->set_channel(gnss_synchro.Channel_ID);
-    }) << "Failure setting channel." << std::endl;
+    }) << "Failure setting channel.";
 
     ASSERT_NO_THROW( {
         tracking->set_gnss_synchro(&gnss_synchro);
-    }) << "Failure setting gnss_synchro." << std::endl;
+    }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
         tracking->connect(top_block);
-    }) << "Failure connecting tracking to the top_block." << std::endl;
+    }) << "Failure connecting tracking to the top_block.";
 
     ASSERT_NO_THROW( {
         gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
@@ -192,18 +192,17 @@ TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
         top_block->connect(valve, 0, tracking->get_left_block(), 0);
         top_block->connect(tracking->get_right_block(), 0, sink, 0);
         top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
-    }) << "Failure connecting the blocks of tracking test." << std::endl;
+    }) << "Failure connecting the blocks of tracking test.";
 
     tracking->start_tracking();
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        start = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec *1000000 + tv.tv_usec;
-    }) << "Failure running the top_block." << std::endl;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - start;
+    }) << "Failure running the top_block.";
 
     // TODO: Verify tracking results
-    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Tracked " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 1158f368c..6625fda4f 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -31,7 +31,7 @@
  */
 
 
-#include <ctime>
+#include <chrono>
 #include <iostream>
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
@@ -151,9 +151,8 @@ void GlonassL1CaDllPllTrackingTest::init()
 
 TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
 {
-    struct timeval tv;
-    long long int begin = 0;
-    long long int end = 0;
+    std::chrono::time_point<std::chrono::system_clock> start, end;
+    std::chrono::duration<double> elapsed_seconds(0);
     int fs_in = 6625000;
     int nsamples = fs_in*4e-3*2;
 
@@ -170,15 +169,15 @@ TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
 
     ASSERT_NO_THROW( {
         tracking->set_channel(gnss_synchro.Channel_ID);
-    }) << "Failure setting channel." << std::endl;
+    }) << "Failure setting channel.";
 
     ASSERT_NO_THROW( {
         tracking->set_gnss_synchro(&gnss_synchro);
-    }) << "Failure setting gnss_synchro." << std::endl;
+    }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
         tracking->connect(top_block);
-    }) << "Failure connecting tracking to the top_block." << std::endl;
+    }) << "Failure connecting tracking to the top_block.";
 
     ASSERT_NO_THROW( {
         gr::analog::sig_source_c::sptr sin_source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
@@ -192,18 +191,17 @@ TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
         top_block->connect(valve, 0, tracking->get_left_block(), 0);
         top_block->connect(tracking->get_right_block(), 0, sink, 0);
         top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
-    }) << "Failure connecting the blocks of tracking test." << std::endl;
+    }) << "Failure connecting the blocks of tracking test.";
 
     tracking->start_tracking();
 
     EXPECT_NO_THROW( {
-        gettimeofday(&tv, NULL);
-        begin = tv.tv_sec *1000000 + tv.tv_usec;
+        start = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
-        gettimeofday(&tv, NULL);
-        end = tv.tv_sec *1000000 + tv.tv_usec;
-    }) << "Failure running the top_block." << std::endl;
+        end = std::chrono::system_clock::now();
+        elapsed_seconds = end - start;
+    }) << "Failure running the top_block.";
 
     // TODO: Verify tracking results
-    std::cout <<  "Tracked " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
+    std::cout <<  "Tracked " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }

From 1b65cd9f8a76da9b87ef32b2cdd43bc4957b20fa Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 14:52:57 +0100
Subject: [PATCH 366/379] Fix header

---
 .../glonass_gnav_ephemeris_test.cc            | 43 +++++++++----------
 1 file changed, 21 insertions(+), 22 deletions(-)

diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 7026903e2..9ef819052 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -1,5 +1,5 @@
 /*!
- * \file code_generation_test.cc
+ * \file glonass_gnav_ephemeris_test.cc.cc
  * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ * Copyright (C) 2010-2017  (see AUTHORS file for a list of contributors)
  *
  * GNSS-SDR is a software defined Global Navigation
  *          Satellite Systems receiver
@@ -32,7 +32,6 @@
 
 
 #include <complex>
-#include <ctime>
 #include <iostream>
 #include "gnss_signal_processing.h"
 #include "glonass_gnav_ephemeris.h"
@@ -49,19 +48,19 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
     d = d + d2;
 
     boost::gregorian::date expected_gdate;
-	boost::posix_time::time_duration expected_gtime;
+    boost::posix_time::time_duration expected_gtime;
 
-	boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
-	expected_gdate = gtime.date();
-	expected_gtime = gtime.time_of_day();
+    boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
+    expected_gdate = gtime.date();
+    expected_gtime = gtime.time_of_day();
 
     // Perform assertions of decoded fields
-	ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON );
-	ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON );
-	ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON );
-	ASSERT_TRUE(expected_gtime.hours() -  t.hours() < FLT_EPSILON );
-	ASSERT_TRUE(expected_gtime.minutes() -  t.minutes() < FLT_EPSILON );
-	ASSERT_TRUE(expected_gtime.seconds() -  t.seconds() < FLT_EPSILON );
+    ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON );
+    ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON );
+    ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON );
+    ASSERT_TRUE(expected_gtime.hours() -  t.hours() < FLT_EPSILON );
+    ASSERT_TRUE(expected_gtime.minutes() -  t.minutes() < FLT_EPSILON );
+    ASSERT_TRUE(expected_gtime.seconds() -  t.seconds() < FLT_EPSILON );
 }
 
 /*!
@@ -82,11 +81,11 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
     double true_week = 1307;
     double true_tow = 480600+true_leap_sec;
 
-	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
+    gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
-	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
+    ASSERT_TRUE(week - true_week < FLT_EPSILON );
+    ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -107,11 +106,11 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
     double true_week = 1915;
     double true_tow = 518400+true_leap_sec+tod;
 
-	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
+    gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
-	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
+    ASSERT_TRUE(week - true_week < FLT_EPSILON );
+    ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
 /*!
@@ -132,9 +131,9 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
     double true_week = 1886;
     double true_tow = 259200+true_leap_sec+tod;
 
-	gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
+    gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
 
     // Perform assertions of decoded fields
-	ASSERT_TRUE(week - true_week < FLT_EPSILON );
-	ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
+    ASSERT_TRUE(week - true_week < FLT_EPSILON );
+    ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }

From 301a35b2e2fa1b329ee136b1c487365d7600c56b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 15:07:53 +0100
Subject: [PATCH 367/379] Move Glonass Tracking tests from extra to regular
 unit tests

---
 src/tests/test_main.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index dff856808..4f5fb78c1 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -118,6 +118,8 @@ DECLARE_string(log_dir);
 
 #include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc"
@@ -140,8 +142,6 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
-#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
-#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"
 #if MODERN_ARMADILLO
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"

From 749771ac3b17ad3c518f20178f0a348bd1b91670 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 15:12:55 +0100
Subject: [PATCH 368/379] Remove unrequired includes

---
 .../system-parameters/glonass_gnav_ephemeris_test.cc  |  5 +++--
 .../glonass_gnav_nav_message_test.cc                  | 11 ++++++-----
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
index 9ef819052..10f0cc28d 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
@@ -31,8 +31,6 @@
  */
 
 
-#include <complex>
-#include <iostream>
 #include "gnss_signal_processing.h"
 #include "glonass_gnav_ephemeris.h"
 
@@ -63,6 +61,7 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
     ASSERT_TRUE(expected_gtime.seconds() -  t.seconds() < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing conversion from GLONASST to GPST
  * \test Tests scenario for N_T when greater than 365 days. Possible values here from 1 to 365*4
@@ -88,6 +87,7 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
     ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing conversion from GLONASST to GPST
  * \test This version tests the conversion for offsets greater than 30 in a leap year
@@ -113,6 +113,7 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
     ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing conversion from GLONASST to GPST
  * \test This version tests the conversion around the vicinity of February 29 days when in leap year
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index 595b1fa2f..e613af58a 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -31,11 +31,6 @@
  * -------------------------------------------------------------------------
  */
 
-
-#include <complex>
-#include <ctime>
-#include <complex>
-#include <ctime>
 #include "gnss_signal_processing.h"
 #include "glonass_gnav_navigation_message.h"
 
@@ -59,6 +54,7 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestSuccess)
     ASSERT_TRUE(test_result);
 }
 
+
 /*!
  * \brief Testing CRC computation for GLONASS GNAV data bits of a string
  * \test The provided string was generated with a version of MATLAB GNSS-SDR that
@@ -80,6 +76,7 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
     ASSERT_FALSE(test_result);
 }
 
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of
@@ -112,6 +109,7 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
     ASSERT_TRUE(gnav_ephemeris.d_Xn -  gnav_nav_message.gnav_ephemeris.d_Xn < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of
@@ -148,6 +146,7 @@ TEST(GlonassGnavNavigationMessageTest, String2Decoder)
     ASSERT_TRUE(gnav_ephemeris.d_Yn -  gnav_nav_message.gnav_ephemeris.d_Yn < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of
@@ -185,6 +184,7 @@ TEST(GlonassGnavNavigationMessageTest, String3Decoder)
     ASSERT_TRUE(gnav_ephemeris.d_Zn -  gnav_nav_message.gnav_ephemeris.d_Zn < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of
@@ -224,6 +224,7 @@ TEST(GlonassGnavNavigationMessageTest, String4Decoder)
     ASSERT_TRUE(gnav_ephemeris.d_M -  gnav_nav_message.gnav_ephemeris.d_M < FLT_EPSILON );
 }
 
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of

From 1d608b2f405b806c704d3cca88c0848216686905 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 26 Jan 2018 23:09:29 +0100
Subject: [PATCH 369/379] Set dumps to false

---
 ...nss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf |  7 ++----
 .../gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf | 11 +++-------
 conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf        | 16 +++++---------
 .../gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf | 22 ++++++++-----------
 4 files changed, 20 insertions(+), 36 deletions(-)

diff --git a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
index ffabae821..aa37222fd 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
@@ -3,7 +3,6 @@
 ;######### GLOBAL OPTIONS ##################
 GNSS-SDR.internal_fs_sps=6625000
 Receiver.sources_count=2
-SignalSource.repeat=false
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource0.implementation=File_Signal_Source
@@ -54,9 +53,7 @@ SignalConditioner1.implementation=Signal_Conditioner
 DataTypeAdapter1.implementation=Ibyte_To_Complex
 InputFilter1.implementation=Pass_Through
 InputFilter1.item_type=gr_complex
-Resampler1.implementation=Direct_Resampler
-Resampler1.sample_freq_in=6625000
-Resampler1.sample_freq_out=6625000
+Resampler1.implementation=Pass_Through
 Resampler1.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
@@ -116,7 +113,7 @@ Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=25.0;
 Tracking_1G.dll_bw_hz=3.0;
-Tracking_1G.dump=true;
+Tracking_1G.dump=false;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
diff --git a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf
index b36bb6e31..cc9ba010f 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf
@@ -3,7 +3,6 @@
 ;######### GLOBAL OPTIONS ##################
 GNSS-SDR.internal_fs_sps=6625000
 Receiver.sources_count=2
-SignalSource.repeat=false
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource0.implementation=File_Signal_Source
@@ -45,18 +44,14 @@ InputFilter0.filter_type=bandpass
 InputFilter0.grid_density=16
 InputFilter0.sampling_frequency=6625000
 InputFilter0.IF=60000
-Resampler0.implementation=Direct_Resampler
-Resampler0.sample_freq_in=6625000
-Resampler0.sample_freq_out=6625000
+Resampler0.implementation=Pass_Through
 Resampler0.item_type=gr_complex
 
 SignalConditioner1.implementation=Signal_Conditioner
 DataTypeAdapter1.implementation=Ibyte_To_Complex
 InputFilter1.implementation=Pass_Through
 InputFilter1.item_type=gr_complex
-Resampler1.implementation=Direct_Resampler
-Resampler1.sample_freq_in=6625000
-Resampler1.sample_freq_out=6625000
+Resampler1.implementation=Pass_Through
 Resampler1.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
@@ -119,7 +114,7 @@ Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=25.0;
 Tracking_1G.dll_bw_hz=3.0;
-Tracking_1G.dump=true;
+Tracking_1G.dump=false;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
index 4d51b83a1..a256bd370 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
@@ -8,8 +8,6 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
-;SignalSource.freq=0
-;SignalSource.samples=66250000
 SignalSource.samples=0
 SignalSource.dump=false;
 SignalSource.dump_filename=/archive/signal_glonass.bin
@@ -19,9 +17,7 @@ SignalConditioner.implementation=Signal_Conditioner
 DataTypeAdapter.implementation=Ibyte_To_Complex
 InputFilter.implementation=Pass_Through
 InputFilter.item_type=gr_complex
-Resampler.implementation=Direct_Resampler
-Resampler.sample_freq_in=6625000
-Resampler.sample_freq_out=6625000
+Resampler.implementation=Pass_Through
 Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
@@ -29,11 +25,11 @@ Channel.signal=1G
 Channels.in_acquisition=1
 Channels_1G.count=5
 
-Channel0.satellite=24   ; k=
-Channel1.satellite=1    ; k=1
-Channel2.satellite=2    ; k=-4
-Channel3.satellite=20   ; k=-5
-Channel4.satellite=21   ; k=4
+;Channel0.satellite=24   ; k=
+;Channel1.satellite=1    ; k=1
+;Channel2.satellite=2    ; k=-4
+;Channel3.satellite=20   ; k=-5
+;Channel4.satellite=21   ; k=4
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
index 7e9a9d279..0bdbe7739 100644
--- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
+++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
@@ -8,8 +8,6 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
-;SignalSource.freq=0
-;SignalSource.samples=66250000
 SignalSource.samples=0
 SignalSource.dump=false;
 SignalSource.dump_filename=/archive/signal_glonass.bin
@@ -19,9 +17,7 @@ SignalConditioner.implementation=Signal_Conditioner
 DataTypeAdapter.implementation=Ibyte_To_Complex
 InputFilter.implementation=Pass_Through
 InputFilter.item_type=gr_complex
-Resampler.implementation=Direct_Resampler
-Resampler.sample_freq_in=6625000
-Resampler.sample_freq_out=6625000
+Resampler.implementation=Pass_Through
 Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
@@ -29,11 +25,11 @@ Channel.signal=1G
 Channels.in_acquisition=2
 Channels_1G.count=8
 
-Channel0.satellite=24   ; k=2
-Channel1.satellite=1    ; k=1
-Channel2.satellite=2    ; k=-4
-Channel3.satellite=20   ; k=-5
-Channel4.satellite=21   ; k=4
+;Channel0.satellite=24   ; k=2
+;Channel1.satellite=1    ; k=1
+;Channel2.satellite=2    ; k=-4
+;Channel3.satellite=20   ; k=-5
+;Channel4.satellite=21   ; k=4
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
@@ -43,7 +39,7 @@ Acquisition_1G.pfa=0.0001
 Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
-Acquisition_1G.dump=true;
+Acquisition_1G.dump=false;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 ;Acquisition_1G.coherent_integration_time_ms=1
 ;Acquisition_1G.max_dwells = 5
@@ -58,7 +54,7 @@ Tracking_1G.dll_bw_hz=3.0;
 Tracking_1G.pll_bw_narrow_hz = 25.0;
 Tracking_1G.dll_bw_narrow_hz = 2.0;
 Tracking_1G.extend_correlation_ms = 1;
-Tracking_1G.dump=true;
+Tracking_1G.dump=false;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 
@@ -67,7 +63,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
-Observables.dump=true;
+Observables.dump=false
 Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############

From 0d3ed98791a0ab47f196eb321d91e29f69fd4490 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 27 Jan 2018 12:09:27 +0100
Subject: [PATCH 370/379] Add intro

---
 README.md | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 554a9428a..5b90900a7 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,21 @@
 
 **Welcome to GNSS-SDR!**
 
-Visit [http://gnss-sdr.org](http://gnss-sdr.org "GNSS-SDR website") for more information about this open source GNSS software defined receiver.
+This program is a software-defined receiver which is able to process (that is, to perform detection, synchronization, demodulation and decoding of the navigation message, computation of observables and, finally, computation of position fixes) the following Global Navigation Satellite System's signals:
+
+In the L1 band (centered at 1575.42 MHz):
+ - &#128752; GPS L1 C/A :white_check_mark:
+ - &#128752; Galileo E1b/c :white_check_mark:
+ - &#128752; GLONASS L1 C/A :white_check_mark:
+
+In the L2 band (centered at 1227.60 MHz):
+ - &#128752; GPS L2C :white_check_mark:
+
+In the L5 band (centered at 1176.45 MHz):
+ - &#128752; GPS L5 :white_check_mark:
+ - &#128752; Galileo E5a :white_check_mark:
+
+GNSS-SDR provides interfaces for a wide range of radio frequency front-ends, generates processing outputs in standard formats, allows for the full inspection of the whole signal processing chain, and offers a framework for the development of new features. Please visit [http://gnss-sdr.org](http://gnss-sdr.org "GNSS-SDR website") for more information about this open source software-defined GNSS receiver.
 
 
 

From d9e47b2a09d18606a019238c5089d111f824bb60 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 27 Jan 2018 12:25:35 +0100
Subject: [PATCH 371/379] Add reference to Docker

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 5b90900a7..15223c2d4 100644
--- a/README.md
+++ b/README.md
@@ -607,6 +607,7 @@ The CMake script will create Makefiles that download, build and link Armadillo,
 
 Other builds
 ---------
+* **Docker container**: A technolofy providing operating-system-level virtualization to build, ship, and run distributed applications, whether on laptops, data center VMs, or the cloud. Visit [https://github.com/carlesfernandez/docker-gnsssdr](https://github.com/carlesfernandez/docker-gnsssdr) or [https://github.com/carlesfernandez/docker-pybombs-gnsssdr](https://github.com/carlesfernandez/docker-pybombs-gnsssdr) for instructions.
 
 * **Snap packages**: [Snaps](http://snapcraft.io) are universal Linux packages aimed to work on any distribution or device, from IoT devices to servers, desktops to mobile devices. Visit [https://github.com/carlesfernandez/snapcraft-sandbox](https://github.com/carlesfernandez/snapcraft-sandbox) for instructions.
 

From e812d22149870ca05c9eeac33d5ea5279391a15e Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 27 Jan 2018 12:38:05 +0100
Subject: [PATCH 372/379] Fix typos

---
 README.md | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 15223c2d4..0a87b4918 100644
--- a/README.md
+++ b/README.md
@@ -607,7 +607,7 @@ The CMake script will create Makefiles that download, build and link Armadillo,
 
 Other builds
 ---------
-* **Docker container**: A technolofy providing operating-system-level virtualization to build, ship, and run distributed applications, whether on laptops, data center VMs, or the cloud. Visit [https://github.com/carlesfernandez/docker-gnsssdr](https://github.com/carlesfernandez/docker-gnsssdr) or [https://github.com/carlesfernandez/docker-pybombs-gnsssdr](https://github.com/carlesfernandez/docker-pybombs-gnsssdr) for instructions.
+* **Docker container**: A technology providing operating-system-level virtualization to build, ship, and run distributed applications, whether on laptops, data center VMs, or the cloud. Visit [https://github.com/carlesfernandez/docker-gnsssdr](https://github.com/carlesfernandez/docker-gnsssdr) or [https://github.com/carlesfernandez/docker-pybombs-gnsssdr](https://github.com/carlesfernandez/docker-pybombs-gnsssdr) for instructions.
 
 * **Snap packages**: [Snaps](http://snapcraft.io) are universal Linux packages aimed to work on any distribution or device, from IoT devices to servers, desktops to mobile devices. Visit [https://github.com/carlesfernandez/snapcraft-sandbox](https://github.com/carlesfernandez/snapcraft-sandbox) for instructions.
 
@@ -783,13 +783,12 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/home/user/gnss-sdr/data/my_capture.dat
 SignalSource.item_type=gr_complex
 SignalSource.sampling_frequency=4000000 ; Sampling frequency in [Hz]
-SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
 ~~~~~~  
 
 Type ```gr_complex``` refers to a GNU Radio typedef equivalent to ```std::complex<float>```. In order to save some storage space, you might wanted to store your signal in a more efficient format such as an I/Q interleaved ```short`` integer sample stream. In that case, change the corresponding line to:
 
 ~~~~~~
-SignalSource.item_type=short
+SignalSource.item_type=ishort
 ~~~~~~
 
 In this latter case, you will need to convert the interleaved I/Q samples to a complex stream via Data Type Adapter block (see below).
@@ -889,7 +888,7 @@ SignalSource.freq=1575420000
 SignalSource.rf_gain=40
 SignalSource.if_gain=30
 SignalSource.enable_throttle_control=false
-SignalSource.osmosdr_args=rtl_tcp,offset_tune=1
+SignalSource.osmosdr_args=hackrf,bias=1
 ~~~~~~
 
 In case of using a Zarlink's RTL2832 based DVB-T receiver, you can even use the ```rtl_tcp``` I/Q server in order to use the USB dongle remotely. In a terminal, type:

From b5de0c5842b1026b917f1fef9a37593ed829a902 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 27 Jan 2018 12:41:08 +0100
Subject: [PATCH 373/379] Fix wrong units

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 0a87b4918..f52363ebd 100644
--- a/README.md
+++ b/README.md
@@ -782,7 +782,7 @@ The user can configure the receiver for reading from a file, setting in the conf
 SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/home/user/gnss-sdr/data/my_capture.dat
 SignalSource.item_type=gr_complex
-SignalSource.sampling_frequency=4000000 ; Sampling frequency in [Hz]
+SignalSource.sampling_frequency=4000000 ; Sampling frequency in samples per second (Sps)
 ~~~~~~  
 
 Type ```gr_complex``` refers to a GNU Radio typedef equivalent to ```std::complex<float>```. In order to save some storage space, you might wanted to store your signal in a more efficient format such as an I/Q interleaved ```short`` integer sample stream. In that case, change the corresponding line to:

From 6744321a99aafb1fbe66d4e2198aab3c6f5f82fb Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 27 Jan 2018 14:18:32 +0100
Subject: [PATCH 374/379] Update list of authors

---
 AUTHORS | 26 ++++++++++++++------------
 1 file changed, 14 insertions(+), 12 deletions(-)

diff --git a/AUTHORS b/AUTHORS
index 451c4a971..17aa5fa4b 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -34,23 +34,25 @@ Contact Information
 List of authors
 ------------------------------------------------------------------------------
 Carles Fernandez-Prades carles.fernandez@cttc.cat       Project manager
-Javier Arribas          javier.arribas@cttc.cat         Developer
+Javier Arribas          javier.arribas@cttc.es          Developer
 Luis Esteve Elfau       luis@epsilon-formacion.com      Developer
-Pau Closas              pau.closas@cttc.cat             Consultant
-Carlos Aviles           carlos.avilesr@googlemail.com   Developer     
-David Pubill            david.pubill@cttc.cat           Developer
-Mara Branzanti          mara.branzanti@gmail.com        Developer
-Marc Molina             marc.molina.pena@gmail.com      Developer
-Daniel Fehr             daniel.co@bluewin.ch            Developer
-Marc Sales              marcsales92@gmail.com           Developer
-Damian Miralles         dmiralles2009@gmail.com         Developer
-Andres Cecilia Luque    a.cecilia.luque@gmail.com       Developer
+Antonio Ramos           antonio.ramos@cttc.es           Developer
+Marc Majoral            marc.majoral@cttc.cat           Developer
+Pau Closas              pau.closas@northeastern.edu     Consultant
+Jordi Vila-Valls        jordi.vila@cttc.cat             Consultant
+Carlos Aviles           carlos.avilesr@googlemail.com   Contributor     
+David Pubill            david.pubill@cttc.cat           Contributor
+Mara Branzanti          mara.branzanti@gmail.com        Contributor
+Marc Molina             marc.molina.pena@gmail.com      Contributor
+Daniel Fehr             daniel.co@bluewin.ch            Contributor
+Marc Sales              marcsales92@gmail.com           Contributor
+Damian Miralles         dmiralles2009@gmail.com         Contributor
+Andres Cecilia Luque    a.cecilia.luque@gmail.com       Contributor
 Leonardo Tonetto        tonetto.dev@gmail.com           Contributor
 Anthony Arnold          anthony.arnold@uqconnect.edu.au Contributor
 Fran Fabra              fabra@ice.csic.es               Contributor
 Cillian O'Driscoll      cillian.odriscoll@gmail.com     Contributor
-Ignacio Paniego         ignacio.paniego@gmail.com       Web design
-Eva Puchol              eva.puchol@gmail.com            Web developer
+Gabriel Araujo          gabriel.araujo.5000@gmail.com   Contributor
 Carlos Paniego          carpanie@hotmail.com            Artwork
 
 

From 6554c846b1586244bd4e5b81571d3bd4cb777c13 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 28 Jan 2018 11:46:35 +0100
Subject: [PATCH 375/379] Mereg branch dmiralles2009-glonass_dec

---
 src/algorithms/PVT/libs/rinex_printer.cc      | 2295 ++++++++---------
 .../glonass_l1_ca_telemetry_decoder_cc.cc     |    2 +-
 src/core/system_parameters/gnss_satellite.h   |    6 +-
 3 files changed, 1151 insertions(+), 1152 deletions(-)

diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 0eabf724f..d3ca165ac 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -465,52 +465,52 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
 
     // -------- Line system time correction
     if (version == 3)
-		{
-			line.clear();
-			line += std::string("GLUT");
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
-			line += std::string(10, ' ');
-			line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+        {
+            line.clear();
+            line += std::string("GLUT");
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+            line += std::string(10, ' ');
+            line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// -------- Line system time correction 2
-			line.clear();
-			line += std::string("GLGP");
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
-			line += std::string(10, ' ');
-			line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+            // -------- Line system time correction 2
+            line.clear();
+            line += std::string("GLGP");
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
+            line += std::string(10, ' ');
+            line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
     if (version == 2)
-		{
-    		// Set reference time and its clock corrections
-    		boost::posix_time::ptime p_utc_ref_time = glonass_gnav_eph.glot_to_utc(glonass_gnav_eph.d_t_b, 0.0);
-			std::string timestring = boost::posix_time::to_iso_string(p_utc_ref_time);
-			std::string year (timestring, 0, 4);
-			std::string month (timestring, 4, 2);
-			std::string day (timestring, 6, 2);
+        {
+            // Set reference time and its clock corrections
+            boost::posix_time::ptime p_utc_ref_time = glonass_gnav_eph.glot_to_utc(glonass_gnav_eph.d_t_b, 0.0);
+            std::string timestring = boost::posix_time::to_iso_string(p_utc_ref_time);
+            std::string year (timestring, 0, 4);
+            std::string month (timestring, 4, 2);
+            std::string day (timestring, 6, 2);
 
-			line.clear();
-			line += Rinex_Printer::rightJustify(year, 6);
-			line += Rinex_Printer::rightJustify(month, 6);
-			line += Rinex_Printer::rightJustify(day, 6);
-			line += std::string(3, ' ');
-			line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 19, 2), 19);
-			line += std::string(20, ' ');
-			line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+            line.clear();
+            line += Rinex_Printer::rightJustify(year, 6);
+            line += Rinex_Printer::rightJustify(month, 6);
+            line += Rinex_Printer::rightJustify(day, 6);
+            line += std::string(3, ' ');
+            line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 19, 2), 19);
+            line += std::string(20, ' ');
+            line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- End of Header
     line.clear();
@@ -767,7 +767,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
 void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
 {
     if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
-     //Avoid compiler warning, there is not time system correction between Galileo and GLONASS
+    //Avoid compiler warning, there is not time system correction between Galileo and GLONASS
     if(galileo_almanac.A_0G_10){}
     std::string line;
 
@@ -2991,8 +2991,8 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
             E1B_DVS = "0"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
 
             std::string SVhealth_str = E5B_HS + boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E5b_DVS_5)
-                    + "11" + "1" + E1B_DVS +  E1B_HS
-                    + boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E1B_DVS_5);
+                            + "11" + "1" + E1B_DVS +  E1B_HS
+                            + boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E1B_DVS_5);
             SVhealth_str = "000000000"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
             int SVhealth = Rinex_Printer::toInt(SVhealth_str, 9);
             line += Rinex_Printer::doub2for(static_cast<double>(SVhealth), 18, 2);
@@ -3084,23 +3084,23 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
                             line += minutes;
                         }
                     line += std::string(1, ' ');
-					if(boost::lexical_cast<int>(seconds) < 10)
-						{
-							line += std::string(1, ' ');
-							line += std::string(seconds, 1, 1);
-						}
-					else
-						{
-							line += seconds;
-						}
-					line += std::string(1, '.');
-					std::string decimal = std::string("0");
-					if (timestring.size() > 16)
-						{
-							std::string decimal (timestring, 16, 1);
-						}
-					line += decimal;
-					line += std::string(1, ' ');
+                    if(boost::lexical_cast<int>(seconds) < 10)
+                        {
+                            line += std::string(1, ' ');
+                            line += std::string(seconds, 1, 1);
+                        }
+                    else
+                        {
+                            line += seconds;
+                        }
+                    line += std::string(1, '.');
+                    std::string decimal = std::string("0");
+                    if (timestring.size() > 16)
+                        {
+                            std::string decimal (timestring, 16, 1);
+                        }
+                    line += decimal;
+                    line += std::string(1, ' ');
                     line += Rinex_Printer::doub2for(-glonass_gnav_ephemeris_iter->second.d_tau_c, 18, 2);
                     line += std::string(1, ' ');
                     line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
@@ -3320,23 +3320,23 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
 
     // -------- Line MARKER TYPE
     if (version == 2)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
-	if (version == 3)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+    if (version == 3)
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- Line OBSERVER / AGENCY
     line.clear();
@@ -3524,48 +3524,48 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
     // -------- GLONASS SLOT / FRQ # (On;y version 3)
     if (version == 3)
         {
-			// -------- GLONASS SLOT / FRQ #
-    		// TODO Need to provide system with list of all satellites and update this accordingly
-			line.clear();
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
-			line += std::string(1, ' ');
-			line += satelliteSystem["GLONASS"];
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-			line += std::string(1, ' ');
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+            // -------- GLONASS SLOT / FRQ #
+            // TODO Need to provide system with list of all satellites and update this accordingly
+            line.clear();
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+            line += std::string(1, ' ');
+            line += satelliteSystem["GLONASS"];
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+            line += std::string(1, ' ');
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// -------- GLONASS CODE/PHS/BIS
-			// No GLONASS Phase bias correction used to align code and phase observations.
-			line.clear();
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_P"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_P"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+            // -------- GLONASS CODE/PHS/BIS
+            // No GLONASS Phase bias correction used to align code and phase observations.
+            line.clear();
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_P"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_P"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
         }
 
     // -------- END OF HEADER
@@ -3631,32 +3631,33 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    // -------- Line MARKER NAME
-	line.clear();
-	line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-	line += Rinex_Printer::leftJustify("MARKER NAME", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
-
-    // -------- Line MARKER NUMBER / TYPE
+    // -------- Line MARKER NAME / TYPE
     if (version == 2)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
-	if (version == 3)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+    if (version == 3)
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+
+    // -------- Line MARKER TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- Line OBSERVER / AGENCY
     line.clear();
@@ -3727,90 +3728,90 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 
     // -------- SYS / OBS TYPES
     if(version == 3)
-		{
-			// one line per available system
-			line.clear();
-			line += satelliteSystem["GPS"];
-			line += std::string(2, ' ');
-			std::stringstream strm;
-			numberTypesObservations = 4;
-			strm << numberTypesObservations;
-			line += Rinex_Printer::rightJustify(strm.str(), 3);
-			// per type of observation
-			// GPS L1 PSEUDORANGE
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GPS_L1_CA"];
-			// GPS L1 PHASE
-			line += std::string(1, ' ');
-			line += observationType["CARRIER_PHASE"];
-			line += observationCode["GPS_L1_CA"];
-			// GPS DOPPLER L1
-			line += std::string(1, ' ');
-			line += observationType["DOPPLER"];
-			line += observationCode["GPS_L1_CA"];
-			// GPS L1 CA SIGNAL STRENGTH
-			line += std::string(1, ' ');
-			line += observationType["SIGNAL_STRENGTH"];
-			line += observationCode["GPS_L1_CA"];
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+        {
+            // one line per available system
+            line.clear();
+            line += satelliteSystem["GPS"];
+            line += std::string(2, ' ');
+            std::stringstream strm;
+            numberTypesObservations = 4;
+            strm << numberTypesObservations;
+            line += Rinex_Printer::rightJustify(strm.str(), 3);
+            // per type of observation
+            // GPS L1 PSEUDORANGE
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GPS_L1_CA"];
+            // GPS L1 PHASE
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GPS_L1_CA"];
+            // GPS DOPPLER L1
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GPS_L1_CA"];
+            // GPS L1 CA SIGNAL STRENGTH
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GPS_L1_CA"];
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// Find GLONASS Signal in Mixed file
-			unsigned int number_of_observations_glo = 0;
-			std::string signal_("1G");
-			std::size_t found_1G = glonass_bands.find(signal_);
-			if(found_1G != std::string::npos)
-				{
-					number_of_observations_glo = number_of_observations_glo + 4;
-				}
-			signal_ = "2G";
-			std::size_t found_2G = glonass_bands.find(signal_);
-			if(found_2G != std::string::npos)
-				{
-					number_of_observations_glo = number_of_observations_glo + 4;
-				}
-			line.clear();
-			line += satelliteSystem["GLONASS"];
-			line += std::string(2, ' ');
-			line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
-			if(found_1G != std::string::npos)
-				{
-					line += std::string(1, ' ');
-					line += observationType["PSEUDORANGE"];
-					line += observationCode["GLONASS_G1_CA"];
-					line += std::string(1, ' ');
-					line += observationType["CARRIER_PHASE"];
-					line += observationCode["GLONASS_G1_CA"];
-					line += std::string(1, ' ');
-					line += observationType["DOPPLER"];
-					line += observationCode["GLONASS_G1_CA"];
-					line += std::string(1, ' ');
-					line += observationType["SIGNAL_STRENGTH"];
-					line += observationCode["GLONASS_G1_CA"];
-				}
-			if(found_2G != std::string::npos)
-				{
-					line += std::string(1, ' ');
-					line += observationType["PSEUDORANGE"];
-					line += observationCode["GLONASS_G2_CA"];
-					line += std::string(1, ' ');
-					line += observationType["CARRIER_PHASE"];
-					line += observationCode["GLONASS_G2_CA"];
-					line += std::string(1, ' ');
-					line += observationType["DOPPLER"];
-					line += observationCode["GLONASS_G2_CA"];
-					line += std::string(1, ' ');
-					line += observationType["SIGNAL_STRENGTH"];
-					line += observationCode["GLONASS_G2_CA"];
-				}
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+            // Find GLONASS Signal in Mixed file
+            unsigned int number_of_observations_glo = 0;
+            std::string signal_("1G");
+            std::size_t found_1G = glonass_bands.find(signal_);
+            if(found_1G != std::string::npos)
+                {
+                    number_of_observations_glo = number_of_observations_glo + 4;
+                }
+            signal_ = "2G";
+            std::size_t found_2G = glonass_bands.find(signal_);
+            if(found_2G != std::string::npos)
+                {
+                    number_of_observations_glo = number_of_observations_glo + 4;
+                }
+            line.clear();
+            line += satelliteSystem["GLONASS"];
+            line += std::string(2, ' ');
+            line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+            if(found_1G != std::string::npos)
+                {
+                    line += std::string(1, ' ');
+                    line += observationType["PSEUDORANGE"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["CARRIER_PHASE"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["DOPPLER"];
+                    line += observationCode["GLONASS_G1_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["SIGNAL_STRENGTH"];
+                    line += observationCode["GLONASS_G1_CA"];
+                }
+            if(found_2G != std::string::npos)
+                {
+                    line += std::string(1, ' ');
+                    line += observationType["PSEUDORANGE"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["CARRIER_PHASE"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["DOPPLER"];
+                    line += observationCode["GLONASS_G2_CA"];
+                    line += std::string(1, ' ');
+                    line += observationType["SIGNAL_STRENGTH"];
+                    line += observationCode["GLONASS_G2_CA"];
+                }
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
     if(version == 2)
         {
             // -------- SYS / OBS TYPES
@@ -3839,14 +3840,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 
     // -------- Signal Strength units (only version 3)
     if(version == 3)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("DBHZ", 20);
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("DBHZ", 20);
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
 
     // -------- TIME OF FIRST OBS
     line.clear();
@@ -3874,48 +3875,48 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
     // -------- GLONASS SLOT / FRQ # (On;y version 3)
     if (version == 3)
         {
-			// -------- GLONASS SLOT / FRQ #
-    		// TODO Need to provide system with list of all satellites and update this accordingly
-			line.clear();
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
-			line += std::string(1, ' ');
-			line += satelliteSystem["GLONASS"];
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-			line += std::string(1, ' ');
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+            // -------- GLONASS SLOT / FRQ #
+            // TODO Need to provide system with list of all satellites and update this accordingly
+            line.clear();
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+            line += std::string(1, ' ');
+            line += satelliteSystem["GLONASS"];
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+            line += std::string(1, ' ');
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
 
-			// -------- GLONASS CODE/PHS/BIS
-			// No GLONASS Phase bias correction used to align code and phase observations.
-			line.clear();
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_P"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_P"];
-			line += std::string(1, ' ');
-			line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-			line += std::string(60-line.size(), ' ');
-			line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
+            // -------- GLONASS CODE/PHS/BIS
+            // No GLONASS Phase bias correction used to align code and phase observations.
+            line.clear();
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_P"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_P"];
+            line += std::string(1, ' ');
+            line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+            line += std::string(60-line.size(), ' ');
+            line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
         }
 
     // -------- end of header
@@ -3982,31 +3983,32 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- Line MARKER NAME
-	line.clear();
-	line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-	line += Rinex_Printer::leftJustify("MARKER NAME", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
-
-    // -------- Line MARKER NUMBER / TYPE
     if (version == 2)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
-	if (version == 3)
-		{
-			line.clear();
-			line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
-			line += std::string(40, ' ');
-			line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-			Rinex_Printer::lengthCheck(line);
-			out << line << std::endl;
-		}
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+    if (version == 3)
+        {
+            line.clear();
+            line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
+            line += std::string(40, ' ');
+            line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+            Rinex_Printer::lengthCheck(line);
+            out << line << std::endl;
+        }
+
+    // -------- Line MARKER TYPE
+    line.clear();
+    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- Line OBSERVER / AGENCY
     line.clear();
@@ -4077,96 +4079,95 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
 
     // -------- SYS / OBS TYPES
     // one line per available system
-	line.clear();
-	line += satelliteSystem["GPS"];
-	line += std::string(2, ' ');
-	std::stringstream strm;
-	numberTypesObservations = 4;
-	strm << numberTypesObservations;
-	line += Rinex_Printer::rightJustify(strm.str(), 3);
-	// per type of observation
-	// GPS L1 PSEUDORANGE
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GPS_L2_L2CM"];
-	// GPS L1 PHASE
-	line += std::string(1, ' ');
-	line += observationType["CARRIER_PHASE"];
-	line += observationCode["GPS_L2_L2CM"];
-	// GPS DOPPLER L1
-	line += std::string(1, ' ');
-	line += observationType["DOPPLER"];
-	line += observationCode["GPS_L2_L2CM"];
-	// GPS L1 CA SIGNAL STRENGTH
-	line += std::string(1, ' ');
-	line += observationType["SIGNAL_STRENGTH"];
-	line += observationCode["GPS_L2_L2CM"];
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    line.clear();
+    line += satelliteSystem["GPS"];
+    line += std::string(2, ' ');
+    std::stringstream strm;
+    numberTypesObservations = 4;
+    strm << numberTypesObservations;
+    line += Rinex_Printer::rightJustify(strm.str(), 3);
+    // per type of observation
+    // GPS L1 PSEUDORANGE
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GPS_L2_L2CM"];
+    // GPS L1 PHASE
+    line += std::string(1, ' ');
+    line += observationType["CARRIER_PHASE"];
+    line += observationCode["GPS_L2_L2CM"];
+    // GPS DOPPLER L1
+    line += std::string(1, ' ');
+    line += observationType["DOPPLER"];
+    line += observationCode["GPS_L2_L2CM"];
+    // GPS L1 CA SIGNAL STRENGTH
+    line += std::string(1, ' ');
+    line += observationType["SIGNAL_STRENGTH"];
+    line += observationCode["GPS_L2_L2CM"];
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
-	// Find GLONASS Signal in Mixed file
-	unsigned int number_of_observations_glo = 0;
-	std::string signal_("1G");
-	std::size_t found_1G = glonass_bands.find(signal_);
-	if(found_1G != std::string::npos)
-		{
-			number_of_observations_glo = number_of_observations_glo + 4;
-		}
-	signal_ = "2G";
-	std::size_t found_2G = glonass_bands.find(signal_);
-	if(found_2G != std::string::npos)
-		{
-			number_of_observations_glo = number_of_observations_glo + 4;
-		}
-	line.clear();
-	line += satelliteSystem["GLONASS"];
-	line += std::string(2, ' ');
-	line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
-	if(found_1G != std::string::npos)
-		{
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += observationType["CARRIER_PHASE"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += observationType["DOPPLER"];
-			line += observationCode["GLONASS_G1_CA"];
-			line += std::string(1, ' ');
-			line += observationType["SIGNAL_STRENGTH"];
-			line += observationCode["GLONASS_G1_CA"];
-		}
-	if(found_2G != std::string::npos)
-		{
-			line += std::string(1, ' ');
-			line += observationType["PSEUDORANGE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += observationType["CARRIER_PHASE"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += observationType["DOPPLER"];
-			line += observationCode["GLONASS_G2_CA"];
-			line += std::string(1, ' ');
-			line += observationType["SIGNAL_STRENGTH"];
-			line += observationCode["GLONASS_G2_CA"];
-		}
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    // Find GLONASS Signal in Mixed file
+    unsigned int number_of_observations_glo = 0;
+    std::string signal_("1G");
+    std::size_t found_1G = glonass_bands.find(signal_);
+    if(found_1G != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+    signal_ = "2G";
+    std::size_t found_2G = glonass_bands.find(signal_);
+    if(found_2G != std::string::npos)
+        {
+            number_of_observations_glo = number_of_observations_glo + 4;
+        }
+    line.clear();
+    line += satelliteSystem["GLONASS"];
+    line += std::string(2, ' ');
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_glo), 3);
+    if(found_1G != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G1_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G1_CA"];
+        }
+    if(found_2G != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GLONASS_G2_CA"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GLONASS_G2_CA"];
+        }
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- Signal Strength units (only version 3)
     line.clear();
-	line += Rinex_Printer::leftJustify("DBHZ", 20);
-	line += std::string(40, ' ');
-	line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
-
+    line += Rinex_Printer::leftJustify("DBHZ", 20);
+    line += std::string(40, ' ');
+    line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- TIME OF FIRST OBS
     line.clear();
@@ -4192,48 +4193,47 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- GLONASS SLOT / FRQ #
-	// TODO Need to provide system with list of all satellites and update this accordingly
-	line.clear();
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
-	line += std::string(1, ' ');
-	line += satelliteSystem["GLONASS"];
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
-	line += std::string(1, ' ');
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
-
-	// -------- GLONASS CODE/PHS/BIS
-	// No GLONASS Phase bias correction used to align code and phase observations.
-	line.clear();
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G1_CA"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G1_P"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G2_CA"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(1, ' ');
-	line += observationType["PSEUDORANGE"];
-	line += observationCode["GLONASS_G2_P"];
-	line += std::string(1, ' ');
-	line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
-	line += std::string(60-line.size(), ' ');
-	line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    // TODO Need to provide system with list of all satellites and update this accordingly
+    line.clear();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
+    line += std::string(1, ' ');
+    line += satelliteSystem["GLONASS"];
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
+    line += std::string(1, ' ');
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
+    // -------- GLONASS CODE/PHS/BIS
+    // No GLONASS Phase bias correction used to align code and phase observations.
+    line.clear();
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G1_CA"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G1_P"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G2_CA"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(1, ' ');
+    line += observationType["PSEUDORANGE"];
+    line += observationCode["GLONASS_G2_P"];
+    line += std::string(1, ' ');
+    line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
+    line += std::string(60-line.size(), ' ');
+    line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
     // -------- end of header
     line.clear();
@@ -4243,6 +4243,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 }
 
+
 void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands, const std::string glonass_bands)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@@ -4301,7 +4302,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     // -------- Line MARKER NAME
     line.clear();
     line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
@@ -5803,12 +5804,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
 }
 
 
-
-void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
+void Rinex_Printer::update_obs_header(std::fstream& out __attribute__((unused)), const Glonass_Gnav_Utc_Model& utc_model)
 {
     if(utc_model.d_N_4)
         {
-
+            // do nothing
         }
 }
 
@@ -6115,10 +6115,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -6129,10 +6129,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     // GLONASS L1 CA DOPPLER
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
@@ -6140,10 +6140,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     //GLONASS L1 SIGNAL STRENGTH
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
@@ -6171,9 +6171,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             double seconds = fmod(glonass_t, 60);
             // Add extra 0 if seconds are < 10
             if (seconds < 10)
-            {
-                line += std::string(1, '0');
-            }
+                {
+                    line += std::string(1, '0');
+                }
             line += Rinex_Printer::asString(seconds, 7);
             line += std::string(2, ' ');
             // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
@@ -6215,10 +6215,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -6230,10 +6230,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GLONASS L1 CA DOPPLER
@@ -6242,10 +6242,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
@@ -6318,261 +6318,260 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
             line += std::string(1, '0');
         }
     if (version == 3)
-    	{
-			std::string year (timestring, 0, 4);
-			line += std::string(1, '>');
-			line += std::string(1, ' ');
-			line += year;
-			line += std::string(1, ' ');
-			line += month;
-			line += std::string(1, ' ');
-			line += day;
-			line += std::string(1, ' ');
-			line += hour;
-			line += std::string(1, ' ');
-			line += minutes;
+        {
+            std::string year (timestring, 0, 4);
+            line += std::string(1, '>');
+            line += std::string(1, ' ');
+            line += year;
+            line += std::string(1, ' ');
+            line += month;
+            line += std::string(1, ' ');
+            line += day;
+            line += std::string(1, ' ');
+            line += hour;
+            line += std::string(1, ' ');
+            line += minutes;
 
-			line += std::string(1, ' ');
-			double seconds = fmod(gps_t, 60);
-			// Add extra 0 if seconds are < 10
-			if (seconds < 10)
-				{
-					line +=std::string(1, '0');
-				}
-			line += Rinex_Printer::asString(seconds, 7);
-			line += std::string(2, ' ');
-			// Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
-			line += std::string(1, '0');
+            line += std::string(1, ' ');
+            double seconds = fmod(gps_t, 60);
+            // Add extra 0 if seconds are < 10
+            if (seconds < 10)
+                {
+                    line +=std::string(1, '0');
+                }
+            line += Rinex_Printer::asString(seconds, 7);
+            line += std::string(2, ' ');
+            // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+            line += std::string(1, '0');
+        }
 
-    	}
-	//Number of satellites observed in current epoch
-	//Get maps with observations
-	std::map<int, Gnss_Synchro> observablesG1C;
-	std::map<int, Gnss_Synchro> observablesR1C;
-	std::map<int, Gnss_Synchro> observablesR2C;
-	std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    //Number of satellites observed in current epoch
+    //Get maps with observations
+    std::map<int, Gnss_Synchro> observablesG1C;
+    std::map<int, Gnss_Synchro> observablesR1C;
+    std::map<int, Gnss_Synchro> observablesR2C;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
 
-	for(observables_iter = observables.begin();
-			observables_iter != observables.end();
-			observables_iter++)
-		{
-			std::string system_(&observables_iter->second.System, 1);
-			std::string sig_(observables_iter->second.Signal);
-			if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
-				{
-					observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
-				{
-					observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
-				{
-					observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-		}
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
+                {
+                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
+                {
+                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
+                {
+                    observablesG1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
 
-	std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
-	std::set<unsigned int> available_glo_prns;
-	std::set<unsigned int>::iterator it;
-	for(observables_iter = observablesR1C.begin();
-			observables_iter != observablesR1C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+    std::set<unsigned int> available_glo_prns;
+    std::set<unsigned int>::iterator it;
+    for(observables_iter = observablesR1C.begin();
+            observables_iter != observablesR1C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	for(observables_iter = observablesR2C.begin();
-			observables_iter != observablesR2C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    for(observables_iter = observablesR2C.begin();
+            observables_iter != observablesR2C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	int numGloSatellitesObserved = available_glo_prns.size();
-	int numGpsSatellitesObserved = observablesG1C.size();
-	int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
-	if(version == 2)
-	{
-		// Add list of GPS satellites
-		for(observables_iter = observablesG1C.begin();
-							observables_iter != observablesG1C.end();
-							observables_iter++)
-			{
-				line += satelliteSystem["GPS"];
-				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
-				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-			}
-		// Add list of GLONASS L1 satellites
-		for(observables_iter = observablesR1C.begin();
-							observables_iter != observablesR1C.end();
-							observables_iter++)
-			{
-				line += satelliteSystem["GLONASS"];
-				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
-				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-			}
-		// Add list of GLONASS L2 satellites
-		for(observables_iter = observablesR2C.begin();
-							observables_iter != observablesR2C.end();
-							observables_iter++)
-			{
-				line += satelliteSystem["GLONASS"];
-				if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
-				line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-			}
-	}
-	line += std::string(80 - line.size(), ' ');
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    int numGloSatellitesObserved = available_glo_prns.size();
+    int numGpsSatellitesObserved = observablesG1C.size();
+    int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+    if(version == 2)
+        {
+            // Add list of GPS satellites
+            for(observables_iter = observablesG1C.begin();
+                    observables_iter != observablesG1C.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GPS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+            // Add list of GLONASS L1 satellites
+            for(observables_iter = observablesR1C.begin();
+                    observables_iter != observablesR1C.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+            // Add list of GLONASS L2 satellites
+            for(observables_iter = observablesR2C.begin();
+                    observables_iter != observablesR2C.end();
+                    observables_iter++)
+                {
+                    line += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) line += std::string(1, '0');
+                    line += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
+        }
+    line += std::string(80 - line.size(), ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
-	// -------- OBSERVATION record
-	std::string s;
-	std::string lineObs;
-	for(observables_iter = observablesG1C.begin();
-			observables_iter != observablesG1C.end();
-			observables_iter++)
-		{
-			lineObs.clear();
+    // -------- OBSERVATION record
+    std::string s;
+    std::string lineObs;
+    for(observables_iter = observablesG1C.begin();
+            observables_iter != observablesG1C.end();
+            observables_iter++)
+        {
+            lineObs.clear();
 
-			s.assign(1, observables_iter->second.System);
-			if(version == 3)
-				{
-					// Specify system only if in version 3
-					if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
-					if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
-					if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
-					lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
-				}
+            s.assign(1, observables_iter->second.System);
+            if(version == 3)
+                {
+                    // Specify system only if in version 3
+                    if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+                    if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+                    if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+                    lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+                }
 
-			// Pseudorange Measurements
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+            // Pseudorange Measurements
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
 
-			//Loss of lock indicator (LLI)
-			int lli = 0; // Include in the observation!!
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
+            //Loss of lock indicator (LLI)
+            int lli = 0; // Include in the observation!!
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
-			// Signal Strength Indicator (SSI)
-			int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // Signal Strength Indicator (SSI)
+            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// PHASE
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // PHASE
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// DOPPLER
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // DOPPLER
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// SIGNAL STRENGTH
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+            // SIGNAL STRENGTH
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
 
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 
-	std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
-	for(it = available_glo_prns.begin();
-			it != available_glo_prns.end();
-			it++)
-		{
-			lineObs.clear();
-			if(version == 3)
-				{
-					lineObs += satelliteSystem["GLONASS"];
-					if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
-					lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
-				}
-			ret = total_glo_map.equal_range(*it);
-			for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
-				{
-					/// \todo Need to account for pseudorange correction for glonass
-					double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+    for(it = available_glo_prns.begin();
+            it != available_glo_prns.end();
+            it++)
+        {
+            lineObs.clear();
+            if(version == 3)
+                {
+                    lineObs += satelliteSystem["GLONASS"];
+                    if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+                    lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+                }
+            ret = total_glo_map.equal_range(*it);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    /// \todo Need to account for pseudorange correction for glonass
+                    //double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
-					//Loss of lock indicator (LLI)
-					int lli = 0; // Include in the observation!!
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
-					// Signal Strength Indicator (SSI)
-					int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS CARRIER PHASE
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GLONASS CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS  DOPPLER
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GLONASS  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS SIGNAL STRENGTH
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
-				}
-
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+                    // GLONASS SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+                }
 
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 }
 
 
@@ -6594,228 +6593,226 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
     std::string minutes (timestring, 11, 2);
 
     std::string year (timestring, 0, 4);
-	line += std::string(1, '>');
-	line += std::string(1, ' ');
-	line += year;
-	line += std::string(1, ' ');
-	line += month;
-	line += std::string(1, ' ');
-	line += day;
-	line += std::string(1, ' ');
-	line += hour;
-	line += std::string(1, ' ');
-	line += minutes;
+    line += std::string(1, '>');
+    line += std::string(1, ' ');
+    line += year;
+    line += std::string(1, ' ');
+    line += month;
+    line += std::string(1, ' ');
+    line += day;
+    line += std::string(1, ' ');
+    line += hour;
+    line += std::string(1, ' ');
+    line += minutes;
 
-	line += std::string(1, ' ');
-	double seconds = fmod(gps_t, 60);
-	// Add extra 0 if seconds are < 10
-	if (seconds < 10)
-		{
-			line +=std::string(1, '0');
-		}
-	line += Rinex_Printer::asString(seconds, 7);
-	line += std::string(2, ' ');
-	// Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
-	line += std::string(1, '0');
+    line += std::string(1, ' ');
+    double seconds = fmod(gps_t, 60);
+    // Add extra 0 if seconds are < 10
+    if (seconds < 10)
+        {
+            line +=std::string(1, '0');
+        }
+    line += Rinex_Printer::asString(seconds, 7);
+    line += std::string(2, ' ');
+    // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
+    line += std::string(1, '0');
 
+    //Number of satellites observed in current epoch
+    //Get maps with observations
+    std::map<int, Gnss_Synchro> observablesG2S;
+    std::map<int, Gnss_Synchro> observablesR1C;
+    std::map<int, Gnss_Synchro> observablesR2C;
+    std::map<int, Gnss_Synchro>::const_iterator observables_iter;
 
-	//Number of satellites observed in current epoch
-	//Get maps with observations
-	std::map<int, Gnss_Synchro> observablesG2S;
-	std::map<int, Gnss_Synchro> observablesR1C;
-	std::map<int, Gnss_Synchro> observablesR2C;
-	std::map<int, Gnss_Synchro>::const_iterator observables_iter;
+    for(observables_iter = observables.begin();
+            observables_iter != observables.end();
+            observables_iter++)
+        {
+            std::string system_(&observables_iter->second.System, 1);
+            std::string sig_(observables_iter->second.Signal);
+            if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
+                {
+                    observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
+                {
+                    observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+            if((system_.compare("G") == 0) && (sig_.compare("2S") == 0))
+                {
+                    observablesG2S.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+                }
+        }
 
-	for(observables_iter = observables.begin();
-			observables_iter != observables.end();
-			observables_iter++)
-		{
-			std::string system_(&observables_iter->second.System, 1);
-			std::string sig_(observables_iter->second.Signal);
-			if((system_.compare("R") == 0) && (sig_.compare("1G") == 0))
-				{
-					observablesR1C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("R") == 0) && (sig_.compare("2G") == 0))
-				{
-					observablesR2C.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-			if((system_.compare("G") == 0) && (sig_.compare("2S") == 0))
-				{
-					observablesG2S.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
-				}
-		}
+    std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
+    std::set<unsigned int> available_glo_prns;
+    std::set<unsigned int>::iterator it;
+    for(observables_iter = observablesR1C.begin();
+            observables_iter != observablesR1C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	std::multimap<unsigned int, Gnss_Synchro> total_glo_map;
-	std::set<unsigned int> available_glo_prns;
-	std::set<unsigned int>::iterator it;
-	for(observables_iter = observablesR1C.begin();
-			observables_iter != observablesR1C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    for(observables_iter = observablesR2C.begin();
+            observables_iter != observablesR2C.end();
+            observables_iter++)
+        {
+            unsigned int prn_ = observables_iter->second.PRN;
+            total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+            it = available_glo_prns.find(prn_);
+            if(it == available_glo_prns.end())
+                {
+                    available_glo_prns.insert(prn_);
+                }
+        }
 
-	for(observables_iter = observablesR2C.begin();
-			observables_iter != observablesR2C.end();
-			observables_iter++)
-		{
-			unsigned int prn_ = observables_iter->second.PRN;
-			total_glo_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-			it = available_glo_prns.find(prn_);
-			if(it == available_glo_prns.end())
-				{
-					available_glo_prns.insert(prn_);
-				}
-		}
+    int numGloSatellitesObserved = available_glo_prns.size();
+    int numGpsSatellitesObserved = observablesG2S.size();
+    int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
 
-	int numGloSatellitesObserved = available_glo_prns.size();
-	int numGpsSatellitesObserved = observablesG2S.size();
-	int numSatellitesObserved = numGloSatellitesObserved + numGpsSatellitesObserved;
-	line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
+    line += std::string(80 - line.size(), ' ');
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
 
-	line += std::string(80 - line.size(), ' ');
-	Rinex_Printer::lengthCheck(line);
-	out << line << std::endl;
+    // -------- OBSERVATION record
+    std::string s;
+    std::string lineObs;
+    for(observables_iter = observablesG2S.begin();
+            observables_iter != observablesG2S.end();
+            observables_iter++)
+        {
+            lineObs.clear();
 
-	// -------- OBSERVATION record
-	std::string s;
-	std::string lineObs;
-	for(observables_iter = observablesG2S.begin();
-			observables_iter != observablesG2S.end();
-			observables_iter++)
-		{
-			lineObs.clear();
+            s.assign(1, observables_iter->second.System);
+            // Specify system only if in version 3
+            if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
+            if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
+            if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
 
-			s.assign(1, observables_iter->second.System);
-			// Specify system only if in version 3
-			if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
-			if(s.compare("R") == 0) lineObs += satelliteSystem["GLONASS"]; // should not happen
-			if (static_cast<int>(observables_iter->second.PRN) < 10) lineObs += std::string(1, '0');
-			lineObs += boost::lexical_cast<std::string>(static_cast<int>(observables_iter->second.PRN));
+            // Pseudorange Measurements
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
 
+            //Loss of lock indicator (LLI)
+            int lli = 0; // Include in the observation!!
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
-			// Pseudorange Measurements
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
+            // Signal Strength Indicator (SSI)
+            int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			//Loss of lock indicator (LLI)
-			int lli = 0; // Include in the observation!!
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
+            // PHASE
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// Signal Strength Indicator (SSI)
-			int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // DOPPLER
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
+            if (lli == 0)
+                {
+                    lineObs += std::string(1, ' ');
+                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
+            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-			// PHASE
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            // SIGNAL STRENGTH
+            lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
 
-			// DOPPLER
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
-			if (lli == 0)
-				{
-					lineObs += std::string(1, ' ');
-				}
-			else
-				{
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-				}
-			lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 
-			// SIGNAL STRENGTH
-			lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
+    for(it = available_glo_prns.begin();
+            it != available_glo_prns.end();
+            it++)
+        {
+            lineObs.clear();
+            lineObs += satelliteSystem["GLONASS"];
+            if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
 
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+            ret = total_glo_map.equal_range(*it);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    /// \todo Need to account for pseudorange correction for glonass
+                    //double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
-	std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
-	for(it = available_glo_prns.begin();
-			it != available_glo_prns.end();
-			it++)
-		{
-			lineObs.clear();
-			lineObs += satelliteSystem["GLONASS"];
-			if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
-			lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
+                    //Loss of lock indicator (LLI)
+                    int lli = 0; // Include in the observation!!
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
-			ret = total_glo_map.equal_range(*it);
-			for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
-				{
-					/// \todo Need to account for pseudorange correction for glonass
-					double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					//Loss of lock indicator (LLI)
-					int lli = 0; // Include in the observation!!
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
+                    // GLONASS CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// Signal Strength Indicator (SSI)
-					int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+                    // GLONASS  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
-					// GLONASS CARRIER PHASE
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GLONASS_TWO_PI), 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-					// GLONASS  DOPPLER
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
-					if (lli == 0)
-						{
-							lineObs += std::string(1, ' ');
-						}
-					else
-						{
-							lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-						}
-					lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-					// GLONASS SIGNAL STRENGTH
-					lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
-				}
-
-			if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
-			out << lineObs << std::endl;
-		}
+                    // GLONASS SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
+                }
 
+            if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
+            out << lineObs << std::endl;
+        }
 }
 
+
 void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int,Gnss_Synchro>& observables)
 {
     if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@@ -6946,10 +6943,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
             // Signal Strength Indicator (SSI)
             int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -6961,10 +6958,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // DOPPLER
@@ -6973,10 +6970,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // SIGNAL STRENGTH
@@ -7006,10 +7003,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -7021,10 +7018,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GLONASS  DOPPLER
@@ -7033,10 +7030,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GLONASS SIGNAL STRENGTH
@@ -7146,10 +7143,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -7160,10 +7157,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    // else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     // GPS L1 CA DOPPLER
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
@@ -7171,10 +7168,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
                     //GPS L1 SIGNAL STRENGTH
                     lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
@@ -7202,9 +7199,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
             double seconds = fmod(gps_t, 60);
             // Add extra 0 if seconds are < 10
             if (seconds < 10)
-            {
-                line += std::string(1, '0');
-            }
+                {
+                    line += std::string(1, '0');
+                }
             line += Rinex_Printer::asString(seconds, 7);
             line += std::string(2, ' ');
             // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
@@ -7221,7 +7218,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                 }
             line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
 
-
             // Receiver clock offset (optional)
             //line += rightJustify(asString(clockOffset, 12), 15);
 
@@ -7247,10 +7243,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -7262,10 +7258,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GPS L1 CA DOPPLER
@@ -7274,10 +7270,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
@@ -7369,10 +7365,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris &
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //   }
 
             // Signal Strength Indicator (SSI)
             int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -7384,10 +7380,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris &
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // GPS L2 DOPPLER
@@ -7396,10 +7392,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris &
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //   }
 
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
@@ -7561,10 +7557,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    // else
+                    //   {
+                    //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -7576,10 +7572,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GPS  DOPPLER
@@ -7588,10 +7584,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // GPS SIGNAL STRENGTH
@@ -7681,97 +7677,97 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
     std::set<unsigned int> available_prns;
     std::set<unsigned int>::iterator it;
     if(found_1B != std::string::npos)
-    {
-        for(observables_iter = observablesE1B.begin();
-                observables_iter != observablesE1B.end();
-                observables_iter++)
-            {
-                unsigned int prn_ = observables_iter->second.PRN;
-                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-                it = available_prns.find(prn_);
-                if(it == available_prns.end())
-                    {
-                        available_prns.insert(prn_);
-                    }
-            }
-    }
-    if(found_E5a != std::string::npos)
-    {
-        for(observables_iter = observablesE5A.cbegin();
-                observables_iter != observablesE5A.cend();
-                observables_iter++)
-            {
-                unsigned int prn_ = observables_iter->second.PRN;
-                it = available_prns.find(prn_);
-                if(it == available_prns.end())
-                    {
-                        available_prns.insert(prn_);
-                        if(found_1B != std::string::npos)
+        {
+            for(observables_iter = observablesE1B.begin();
+                    observables_iter != observablesE1B.end();
+                    observables_iter++)
+                {
+                    unsigned int prn_ = observables_iter->second.PRN;
+                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+                    it = available_prns.find(prn_);
+                    if(it == available_prns.end())
                         {
-                            Gnss_Synchro gs = Gnss_Synchro();
-                            std::string sys = "E";
-                            gs.System = *sys.c_str();
-                            std::string sig = "1B";
-                            std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                            gs.PRN = prn_;
-                            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                            available_prns.insert(prn_);
                         }
-                    }
-                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-            }
-    }
+                }
+        }
+    if(found_E5a != std::string::npos)
+        {
+            for(observables_iter = observablesE5A.cbegin();
+                    observables_iter != observablesE5A.cend();
+                    observables_iter++)
+                {
+                    unsigned int prn_ = observables_iter->second.PRN;
+                    it = available_prns.find(prn_);
+                    if(it == available_prns.end())
+                        {
+                            available_prns.insert(prn_);
+                            if(found_1B != std::string::npos)
+                                {
+                                    Gnss_Synchro gs = Gnss_Synchro();
+                                    std::string sys = "E";
+                                    gs.System = *sys.c_str();
+                                    std::string sig = "1B";
+                                    std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                    gs.PRN = prn_;
+                                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                }
+                        }
+                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+                }
+        }
     if(found_E5b != std::string::npos)
-    {
-        for(observables_iter = observablesE5B.cbegin();
-                observables_iter != observablesE5B.cend();
-                observables_iter++)
-            {
-                unsigned int prn_ = observables_iter->second.PRN;
-                it = available_prns.find(prn_);
-                if(it == available_prns.end())
-                    {
-                        available_prns.insert(prn_);
-                        if(found_1B != std::string::npos)
-                            {
-                                Gnss_Synchro gs = Gnss_Synchro();
-                                std::string sys = "E";
-                                gs.System = *sys.c_str();
-                                std::string sig = "1B";
-                                std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                                gs.PRN = prn_;
-                                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
-                            }
-                        if(found_E5a != std::string::npos)
-                            {
-                                Gnss_Synchro gs = Gnss_Synchro();
-                                std::string sys = "E";
-                                gs.System = *sys.c_str();
-                                std::string sig = "5X";
-                                std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                                gs.PRN = prn_;
-                                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
-                            }
-                    }
-                else
-                    {
-                        // if 5X is listed but empty
-                        if(found_E5a != std::string::npos)
-                            {
-                                if( (total_map.count(prn_)) == 1)
-                                    {
-                                        Gnss_Synchro gs = Gnss_Synchro();
-                                        std::string sys = "E";
-                                        gs.System = *sys.c_str();
-                                        std::string sig = "5X";
-                                        std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
-                                        gs.PRN = prn_;
-                                        total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
-                                    }
-                            }
-                    }
-                total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
-            }
-    }
+        {
+            for(observables_iter = observablesE5B.cbegin();
+                    observables_iter != observablesE5B.cend();
+                    observables_iter++)
+                {
+                    unsigned int prn_ = observables_iter->second.PRN;
+                    it = available_prns.find(prn_);
+                    if(it == available_prns.end())
+                        {
+                            available_prns.insert(prn_);
+                            if(found_1B != std::string::npos)
+                                {
+                                    Gnss_Synchro gs = Gnss_Synchro();
+                                    std::string sys = "E";
+                                    gs.System = *sys.c_str();
+                                    std::string sig = "1B";
+                                    std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                    gs.PRN = prn_;
+                                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                }
+                            if(found_E5a != std::string::npos)
+                                {
+                                    Gnss_Synchro gs = Gnss_Synchro();
+                                    std::string sys = "E";
+                                    gs.System = *sys.c_str();
+                                    std::string sig = "5X";
+                                    std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                    gs.PRN = prn_;
+                                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                }
+                        }
+                    else
+                        {
+                            // if 5X is listed but empty
+                            if(found_E5a != std::string::npos)
+                                {
+                                    if( (total_map.count(prn_)) == 1)
+                                        {
+                                            Gnss_Synchro gs = Gnss_Synchro();
+                                            std::string sys = "E";
+                                            gs.System = *sys.c_str();
+                                            std::string sig = "5X";
+                                            std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
+                                            gs.PRN = prn_;
+                                            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
+                                        }
+                                }
+                        }
+                    total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, observables_iter->second));
+                }
+        }
     int numSatellitesObserved = available_prns.size();
     line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
     // Receiver clock offset (optional)
@@ -7801,10 +7797,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //   }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -7816,10 +7812,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo  DOPPLER
@@ -7828,10 +7824,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo SIGNAL STRENGTH
@@ -7993,10 +7989,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //       lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
 
             // Signal Strength Indicator (SSI)
             int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
@@ -8008,10 +8004,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //   }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // DOPPLER
@@ -8020,10 +8016,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 {
                     lineObs += std::string(1, ' ');
                 }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
+            //else
+            //    {
+            //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+            //    }
             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
             // SIGNAL STRENGTH
@@ -8053,10 +8049,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
 
                     // Signal Strength Indicator (SSI)
                     int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
@@ -8068,10 +8064,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo  DOPPLER
@@ -8080,10 +8076,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                         {
                             lineObs += std::string(1, ' ');
                         }
-                    else
-                        {
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                        }
+                    //else
+                    //    {
+                    //        lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                    //    }
                     lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
 
                     // Galileo SIGNAL STRENGTH
@@ -8310,83 +8306,86 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
 boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
 {
     double tod = 0.0;
-	double glot2utc = 3*3600;
-	double obs_time_utc = 0.0, obs_time_glot = 0.0;
-	int i = 0;
+    double glot2utc = 3*3600;
+    double obs_time_glot = 0.0;
+    int i = 0;
 
-	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
-	obs_time_glot = obs_time + glot2utc;
+    // Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
+    obs_time_glot = obs_time + glot2utc;
 
-	// Get seconds of day in glonass time
-	tod = fmod (obs_time_glot, 86400);
+    // Get seconds of day in glonass time
+    tod = fmod (obs_time_glot, 86400);
 
-	// Form date and time duration types
-	boost::posix_time::time_duration t1(0, 0, tod);
-	boost::gregorian::date d1(eph.d_yr, 1, 1);
-	boost::gregorian::days d2(eph.d_N_T-1);
-	boost::posix_time::ptime glo_time(d1 + d2, t1);
+    // Form date and time duration types
+    boost::posix_time::time_duration t1(0, 0, tod);
+    boost::gregorian::date d1(eph.d_yr, 1, 1);
+    boost::gregorian::days d2(eph.d_N_T-1);
+    boost::posix_time::ptime glo_time(d1 + d2, t1);
 
-	// Convert to utc
-	boost::posix_time::time_duration t2(0, 0, glot2utc);
-	boost::posix_time::ptime utc_time = glo_time - t2;
+    // Convert to utc
+    boost::posix_time::time_duration t2(0, 0, glot2utc);
+    boost::posix_time::ptime utc_time = glo_time - t2;
 
-	// Adjust for leap second correction
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-		{
-			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
-			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
-			boost::posix_time::ptime ls_time(d3, t3);
-			if (utc_time >= ls_time)
-			{
-				// We subtract the leap second when going from gpst to utc
-				utc_time = utc_time - boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
-				break;
-			}
-		}
+    // Adjust for leap second correction
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+        {
+            boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+            boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+            boost::posix_time::ptime ls_time(d3, t3);
+            if (utc_time >= ls_time)
+                {
+                    // We subtract the leap second when going from gpst to utc
+                    utc_time = utc_time - boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
+                    break;
+                }
+        }
 
-	return utc_time;
+    return utc_time;
 }
 
+
 double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time)
 {
     double tod = 0.0;
-	double glot2utc = 3*3600;
-	double obs_time_utc = 0.0, obs_time_glot = 0.0;
-	int i = 0;
-	double leap_second = 0;
+    double glot2utc = 3*3600;
+    double obs_time_glot = 0.0;
+    int i = 0;
+    double leap_second = 0;
 
-	// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
-	obs_time_glot = gps_obs_time + glot2utc;
+    // Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
+    obs_time_glot = gps_obs_time + glot2utc;
 
-	// Get seconds of day in glonass time
-	tod = fmod (obs_time_glot, 86400);
+    // Get seconds of day in glonass time
+    tod = fmod (obs_time_glot, 86400);
 
-	// Form date and time duration types
-	boost::posix_time::time_duration t1(0, 0, tod);
-	boost::gregorian::date d1(eph.d_yr, 1, 1);
-	boost::gregorian::days d2(eph.d_N_T-1);
-	boost::posix_time::ptime glo_time(d1 + d2, t1);
+    // Form date and time duration types
+    boost::posix_time::time_duration t1(0, 0, tod);
+    boost::gregorian::date d1(eph.d_yr, 1, 1);
+    boost::gregorian::days d2(eph.d_N_T-1);
+    boost::posix_time::ptime glo_time(d1 + d2, t1);
 
-	// Convert to utc
-	boost::posix_time::time_duration t2(0, 0, glot2utc);
-	boost::posix_time::ptime utc_time = glo_time - t2;
+    // Convert to utc
+    boost::posix_time::time_duration t2(0, 0, glot2utc);
+    boost::posix_time::ptime utc_time = glo_time - t2;
 
-	// Adjust for leap second correction
-	for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-		{
-			boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
-			boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
-			boost::posix_time::ptime ls_time(d3, t3);
-			if (utc_time >= ls_time)
-			{
-				// We subtract the leap second when going from gpst to utc
-				leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]);
-				break;
-			}
-		}
+    // Adjust for leap second correction
+    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+        {
+            boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
+            boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
+            boost::posix_time::ptime ls_time(d3, t3);
+            if (utc_time >= ls_time)
+                {
+                    // We subtract the leap second when going from gpst to utc
+                    leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]);
+                    break;
+                }
+        }
 
-	return leap_second;
+    return leap_second;
 }
+
+
 /*
 
 enum RINEX_enumMarkerType {
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
index a2a7b70ad..c5a69489a 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@@ -194,7 +194,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     if (d_nav.have_new_ephemeris() == true)
         {
             // get object for this SV (mandatory)
-    	 	d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
+            d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
             std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
             LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;
diff --git a/src/core/system_parameters/gnss_satellite.h b/src/core/system_parameters/gnss_satellite.h
index 0b7690da2..75ea70ac1 100644
--- a/src/core/system_parameters/gnss_satellite.h
+++ b/src/core/system_parameters/gnss_satellite.h
@@ -50,13 +50,13 @@ public:
     Gnss_Satellite();                          //!< Default Constructor.
     Gnss_Satellite(const std::string& system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor.
     ~Gnss_Satellite();                         //!< Default Destructor.
-    void update_PRN(unsigned int PRN);       	 //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
+    void update_PRN(unsigned int PRN);         //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
     unsigned int get_PRN() const;              //!< Gets satellite's PRN
-    signed int get_rf_link() const;				//!< Gets the satellite's rf link
+    signed int get_rf_link() const;            //!< Gets the satellite's rf link
     std::string get_system() const;            //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
     std::string get_system_short() const;      //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}
     std::string get_block() const;             //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"}
-    std::string what_block(const std::string& system_, unsigned int PRN_); //!< Gets the block of a given satellite
+    std::string what_block(const std::string& system_, unsigned int PRN_);    //!< Gets the block of a given satellite
     friend bool operator== (const Gnss_Satellite &, const Gnss_Satellite &);  //!< operator== for comparison
     friend std::ostream& operator<<(std::ostream &, const Gnss_Satellite &);  //!< operator<< for pretty printing
     //Gnss_Satellite& operator=(const Gnss_Satellite &);

From 8dc9ee1b928136e8722ea401544574294d339523 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 29 Jan 2018 18:56:02 +0100
Subject: [PATCH 376/379] Remove unneded parameters and misleading comments

---
 conf/gnss-sdr.conf                             |  7 ++-----
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf             |  2 +-
 conf/gnss-sdr_GPS_L1_GN3S_realtime.conf        |  2 +-
 conf/gnss-sdr_GPS_L1_SPIR.conf                 |  2 +-
 conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf   |  4 ++--
 conf/gnss-sdr_GPS_L1_USRP_realtime.conf        |  4 ++--
 conf/gnss-sdr_GPS_L1_acq_QuickSync.conf        |  5 +----
 conf/gnss-sdr_GPS_L1_gr_complex.conf           |  1 -
 conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf       |  1 -
 conf/gnss-sdr_GPS_L1_ishort.conf               |  1 -
 conf/gnss-sdr_GPS_L1_nsr.conf                  |  1 -
 conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf    |  1 -
 ...s-sdr_GPS_L1_pulse_blanking_gr_complex.conf |  7 ++-----
 conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf     |  2 +-
 conf/gnss-sdr_GPS_L1_two_bits_cpx.conf         |  1 -
 conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf    |  5 +----
 conf/gnss-sdr_Galileo_E1_ishort.conf           |  2 +-
 conf/gnss-sdr_Galileo_E1_nsr.conf              |  1 -
 conf/gnss-sdr_Galileo_E5a.conf                 |  7 ++-----
 conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf       |  1 -
 conf/gnss-sdr_Hybrid_byte.conf                 |  7 ++-----
 conf/gnss-sdr_Hybrid_byte_sim.conf             |  7 ++-----
 conf/gnss-sdr_Hybrid_gr_complex.conf           |  7 ++-----
 conf/gnss-sdr_Hybrid_ishort.conf               |  7 ++-----
 conf/gnss-sdr_Hybrid_nsr.conf                  |  7 ++-----
 ...dr_galileo_E1_extended_correlator_byte.conf | 11 +++--------
 ..._galileo_E1_extended_correlator_labsat.conf |  9 +++------
 ...annel_GPS_L1_Flexiband_realtime_III_1a.conf |  2 +-
 ...annel_GPS_L1_Flexiband_realtime_III_1b.conf |  2 +-
 ...hannel_GPS_L1_Flexiband_realtime_II_3b.conf |  2 +-
 ...channel_GPS_L1_Flexiband_realtime_I_1b.conf |  2 +-
 ...el_GPS_L1_L2_Flexiband_realtime_III_1b.conf |  2 +-
 ..._Galileo_E1B_Flexiband_bin_file_III_1b.conf |  2 +-
 ...multichannel_GPS_L1_USRP_X300_realtime.conf |  2 +-
 ...nel_GPS_L2_M_Flexiband_bin_file_III_1b.conf |  2 +-
 ...PS_L2_M_Flexiband_bin_file_III_1b_real.conf |  2 +-
 ...l_all_in_one_Flexiband_bin_file_III_1b.conf |  2 +-
 conf/gnss-sdr_multisource_Hybrid_ishort.conf   |  8 ++------
 conf/gnss-sdr_multisource_Hybrid_nsr.conf      | 18 +++---------------
 39 files changed, 48 insertions(+), 110 deletions(-)

diff --git a/conf/gnss-sdr.conf b/conf/gnss-sdr.conf
index 6ffffd631..bb409adfe 100644
--- a/conf/gnss-sdr.conf
+++ b/conf/gnss-sdr.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -34,12 +34,9 @@ SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SP
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
index d2d501308..970730bc6 100644
--- a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -1,7 +1,7 @@
 [GNSS-SDR]
 
 ;######### GLOBAL OPTIONS ##################
-GNSS-SDR.internal_fs_hz=6625000
+GNSS-SDR.internal_fs_sps=6625000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=File_Signal_Source
diff --git a/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
index e2c156cec..869eb560e 100644
--- a/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
@@ -10,7 +10,7 @@ GNSS-SDR.internal_fs_sps=2727933.33  ;  8183800/3
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation:
 ;#Notes for GN3S source:
 ; - The front-end sampling frequency is fixed to 8.1838 MSPS (8183800 Hz).
 ; - The baseband signal is shifted to an IF of 38400 Hz. It should be corrected with the signal conditioner block
diff --git a/conf/gnss-sdr_GPS_L1_SPIR.conf b/conf/gnss-sdr_GPS_L1_SPIR.conf
index 0799f82c5..119ac2326 100644
--- a/conf/gnss-sdr_GPS_L1_SPIR.conf
+++ b/conf/gnss-sdr_GPS_L1_SPIR.conf
@@ -11,7 +11,7 @@ GNSS-SDR.internal_fs_sps=4000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Spir_File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
diff --git a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
index 094d1f1d8..8daff7717 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
@@ -26,7 +26,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-; # implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+; # implementation:
 SignalSource.implementation=UHD_Signal_Source
 
 ; # When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
@@ -36,7 +36,7 @@ SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HE
 ;SignalSource.item_type=gr_complex
 SignalSource.item_type=cshort
 
-; # sampling_frequency: Original Signal sampling frequency in [Hz]
+; # sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
 ; # freq: RF front-end center frequency in [Hz]
diff --git a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
index 64db841fa..7ebe15dbf 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=UHD_Signal_Source
 
 ;#When left empty, the device discovery routines will search all available transports on the system (ethernet, usb...)
@@ -34,7 +34,7 @@ SignalSource.implementation=UHD_Signal_Source
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=2000000
 
 ;#freq: RF front-end center frequency in [Hz]
diff --git a/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf b/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
index 02fa2ff35..25efa3289 100644
--- a/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
+++ b/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
@@ -23,12 +23,9 @@ SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SP
 
 SignalSource.item_type=ishort
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_GPS_L1_gr_complex.conf b/conf/gnss-sdr_GPS_L1_gr_complex.conf
index 3cf123514..c1ce3231f 100644
--- a/conf/gnss-sdr_GPS_L1_gr_complex.conf
+++ b/conf/gnss-sdr_GPS_L1_gr_complex.conf
@@ -14,7 +14,6 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/home/javier/gnss/gnss-simulator/build/signal_out.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=byte
 SignalSource.sampling_frequency=2600000
-SignalSource.freq=1575420000
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf b/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
index e7e8f4e62..cd64d56e7 100644
--- a/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
+++ b/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
@@ -14,7 +14,6 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat  ; <- PUT YOUR FILE HERE
 SignalSource.item_type=gr_complex
 SignalSource.sampling_frequency=4000000
-SignalSource.freq=1575420000
 SignalSource.samples=250000000
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_ishort.conf b/conf/gnss-sdr_GPS_L1_ishort.conf
index f496c9eff..fb920bb57 100644
--- a/conf/gnss-sdr_GPS_L1_ishort.conf
+++ b/conf/gnss-sdr_GPS_L1_ishort.conf
@@ -16,7 +16,6 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ishort
 SignalSource.sampling_frequency=4000000
-SignalSource.freq=1575420000
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_nsr.conf b/conf/gnss-sdr_GPS_L1_nsr.conf
index 078f8e690..56c865f4b 100644
--- a/conf/gnss-sdr_GPS_L1_nsr.conf
+++ b/conf/gnss-sdr_GPS_L1_nsr.conf
@@ -31,7 +31,6 @@ SignalSource.implementation=Nsr_File_Signal_Source
 SignalSource.filename=/home/javier/Descargas/RoofTop_FE0_Band1.stream   ; <- PUT YOUR FILE HERE
 SignalSource.item_type=byte
 SignalSource.sampling_frequency=20480000
-SignalSource.freq=1575420000
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf b/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
index f3bac7589..36c28c69a 100644
--- a/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
+++ b/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
@@ -46,7 +46,6 @@ SignalSource.big_endian_bytes=false
 ; This setting specifies which of the three cases holds for this data file
 SignalSource.sample_type=real
 SignalSource.sampling_frequency=20480000
-SignalSource.freq=1575420000
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
index 2ce06d573..50becf691 100644
--- a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
+++ b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
@@ -37,12 +37,9 @@ SignalSource.filename=/home/javier/signals/signal_source_int.dat
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=2000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#gain: Front-end Gain in [dB]
 SignalSource.gain=40
 
diff --git a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
index 468c44de7..08a75a83e 100644
--- a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
@@ -27,7 +27,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] [Osmosdr_Signal_Source]
+;#implementation
 SignalSource.implementation=RtlTcp_Signal_Source
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
diff --git a/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf b/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
index a720b859b..e3a32c42e 100644
--- a/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
+++ b/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
@@ -28,7 +28,6 @@ SignalSource.implementation=Two_Bit_Cpx_File_Signal_Source
 SignalSource.filename=/datalogger/captures/ajith/test1_two_cpx_live.dat     ; <- PUT YOUR FILE HERE
 SignalSource.item_type=byte
 SignalSource.sampling_frequency=19200000
-SignalSource.freq=1575420000
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf b/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
index 52df58dc9..fa8d8bb61 100644
--- a/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
+++ b/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
@@ -21,12 +21,9 @@ SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SP
 ;#If ishort is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
 SignalSource.item_type=ishort
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_Galileo_E1_ishort.conf b/conf/gnss-sdr_Galileo_E1_ishort.conf
index 208571be0..08e31a9e9 100644
--- a/conf/gnss-sdr_Galileo_E1_ishort.conf
+++ b/conf/gnss-sdr_Galileo_E1_ishort.conf
@@ -19,7 +19,7 @@ SignalSource.filename=/Users/carlesfernandez/Documents/workspace/code2/trunk/dat
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
 ;#freq: RF front-end center frequency in [Hz]
diff --git a/conf/gnss-sdr_Galileo_E1_nsr.conf b/conf/gnss-sdr_Galileo_E1_nsr.conf
index 4cf3f213c..9c183a233 100644
--- a/conf/gnss-sdr_Galileo_E1_nsr.conf
+++ b/conf/gnss-sdr_Galileo_E1_nsr.conf
@@ -17,7 +17,6 @@ SignalSource.implementation=Nsr_File_Signal_Source
 SignalSource.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream  ; <- PUT YOUR FILE HERE
 SignalSource.item_type=byte
 SignalSource.sampling_frequency=20480000
-SignalSource.freq=1575420000
 SignalSource.samples=0 ; 0 means the entire file
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_Galileo_E5a.conf b/conf/gnss-sdr_Galileo_E5a.conf
index 0845e1dff..515b41fc6 100644
--- a/conf/gnss-sdr_Galileo_E5a.conf
+++ b/conf/gnss-sdr_Galileo_E5a.conf
@@ -25,7 +25,7 @@ GNSS-SDR.internal_fs_sps=32000000
 ;GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -34,12 +34,9 @@ SignalSource.filename=/datalogger/signals/ifen/32MS_complex.dat  ; <- PUT YOUR F
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=32000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1176450000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf b/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
index 8d4e1bc0b..bba38b048 100644
--- a/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
+++ b/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
@@ -28,7 +28,6 @@ SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/datalogger/signals/ifen/Galileo_E5ab_IFEN_CTTC_run1.dat   ; <- PUT YOUR FILE HERE
 SignalSource.item_type=gr_complex
 SignalSource.sampling_frequency=50000000
-SignalSource.freq=1176450000
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
diff --git a/conf/gnss-sdr_Hybrid_byte.conf b/conf/gnss-sdr_Hybrid_byte.conf
index 44aa298f6..92d7511ae 100644
--- a/conf/gnss-sdr_Hybrid_byte.conf
+++ b/conf/gnss-sdr_Hybrid_byte.conf
@@ -11,7 +11,7 @@ GNSS-SDR.internal_fs_sps=20000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -20,12 +20,9 @@ SignalSource.filename=/datalogger/signals/Fraunhofer/L125_III1b_210s_L1.bin
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=byte
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=20000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_Hybrid_byte_sim.conf b/conf/gnss-sdr_Hybrid_byte_sim.conf
index 5de0b699f..420810fb2 100644
--- a/conf/gnss-sdr_Hybrid_byte_sim.conf
+++ b/conf/gnss-sdr_Hybrid_byte_sim.conf
@@ -12,7 +12,7 @@ GNSS-SDR.internal_fs_sps=2600000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -22,12 +22,9 @@ SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=byte
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf
index 684c24af7..68b0f984f 100644
--- a/conf/gnss-sdr_Hybrid_gr_complex.conf
+++ b/conf/gnss-sdr_Hybrid_gr_complex.conf
@@ -10,7 +10,7 @@
 GNSS-SDR.internal_fs_sps=4092000
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -19,12 +19,9 @@ SignalSource.filename=/datalogger/signals/sim/GPS_sim1.dat      ; <- PUT YOUR FI
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4092000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_Hybrid_ishort.conf b/conf/gnss-sdr_Hybrid_ishort.conf
index 8e4989aeb..26c27e2ce 100644
--- a/conf/gnss-sdr_Hybrid_ishort.conf
+++ b/conf/gnss-sdr_Hybrid_ishort.conf
@@ -26,7 +26,7 @@ GNSS-SDR.SUPL_CI=0x31b0
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -35,12 +35,9 @@ SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SP
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf
index a65244110..aa3d970d8 100644
--- a/conf/gnss-sdr_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_Hybrid_nsr.conf
@@ -13,7 +13,7 @@ GNSS-SDR.internal_fs_sps=2560000
 ;GNSS-SDR.internal_fs_sps=5120000
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Nsr_File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -22,12 +22,9 @@ SignalSource.filename=/media/javier/SISTEMA/signals/ifen/E1L1_FE0_Band0.stream
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=byte
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=20480000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
index fb6a08fc0..d6f7aa3b6 100644
--- a/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
+++ b/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
@@ -11,23 +11,18 @@ GNSS-SDR.internal_fs_sps=20000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
-;SignalSource.filename=/home/javier/signals/L125_III1b_210s_L1_2msps.bin     ; <- PUT YOUR FILE HERE
-
-SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin
+SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=byte
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=20000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
index 094f15ebe..7b3c059fb 100644
--- a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
+++ b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
@@ -10,13 +10,13 @@
 GNSS-SDR.internal_fs_hz=5456000
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Labsat_Signal_Source
 
 SignalSource.selected_channel=1
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
-;# Labsat sile source automatically increments the file name when the signal is splitted in several files
+;# Labsat sile source automatically increments the file name when the signal is split in several files
 ;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
 ;# in this example, the first file complete path will be ../signals/GPS_025_0000.LS3
 
@@ -25,12 +25,9 @@ SignalSource.filename=../signals/GPS_025    ; <- PUT YOUR FILE HERE
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=16368000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
index ef35f1207..c7824e242 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
index 859c41ba2..06aabba4f 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
index f95cdba22..14367f2d8 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
index 4860367dc..89d81f8ff 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
index 37a7f89be..4d075265e 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
index e3c724fad..2a8e629c7 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 SignalSource.flag_read_file=true
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
index 541ef7b8b..eaa8b494c 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=UHD_Signal_Source
 
 ;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
index 50cd9d1cb..29f2720dd 100644
--- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 SignalSource.flag_read_file=true
diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
index ce8f87a9f..66d6b6a12 100644
--- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 SignalSource.flag_read_file=true
diff --git a/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
index e03a01dbe..9ab64a11a 100644
--- a/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
@@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
 
 SignalSource.flag_read_file=true
diff --git a/conf/gnss-sdr_multisource_Hybrid_ishort.conf b/conf/gnss-sdr_multisource_Hybrid_ishort.conf
index 71571955e..d80bc3050 100644
--- a/conf/gnss-sdr_multisource_Hybrid_ishort.conf
+++ b/conf/gnss-sdr_multisource_Hybrid_ishort.conf
@@ -20,8 +20,7 @@ SignalSource.repeat=false
 
 
 ;######### SIGNAL_SOURCE 0 CONFIG ############
-
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource0.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -30,12 +29,9 @@ SignalSource0.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_S
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource0.item_type=ishort
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource0.sampling_frequency=4000000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource0.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource0.samples=0
 
diff --git a/conf/gnss-sdr_multisource_Hybrid_nsr.conf b/conf/gnss-sdr_multisource_Hybrid_nsr.conf
index deee952af..cc151286e 100644
--- a/conf/gnss-sdr_multisource_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_multisource_Hybrid_nsr.conf
@@ -23,7 +23,7 @@ SignalSource.repeat=false
 
 
 ;######### SIGNAL_SOURCE 0 CONFIG ############
-;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource0.implementation=Nsr_File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -32,15 +32,9 @@ SignalSource0.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream  ; <- PUT
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource0.item_type=byte
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource0.sampling_frequency=20480000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource0.freq=1575420000
-
-;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
-SignalSource0.subdevice=B:0
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource0.samples=0
 
@@ -59,15 +53,9 @@ SignalSource1.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource1.item_type=byte
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource1.sampling_frequency=20480000
 
-;#freq: RF front-end center frequency in [Hz]
-SignalSource1.freq=1575420000
-
-;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
-SignalSource1.subdevice=B:0
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource1.samples=0
 

From 088826883ba45a0950f3144c55477a8f3341b08b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 29 Jan 2018 18:56:42 +0100
Subject: [PATCH 377/379] Remove unneded parameters and misleading comments

---
 conf/front-end-cal.conf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/conf/front-end-cal.conf b/conf/front-end-cal.conf
index 8b09a2065..4c48d5732 100644
--- a/conf/front-end-cal.conf
+++ b/conf/front-end-cal.conf
@@ -49,7 +49,7 @@ SignalSource.freq=1575420000
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
 
-;#sampling_frequency: Original Signal sampling frequency in [Hz] 
+;#sampling_frequency: Original Signal sampling frequency in samples per second 
 SignalSource.sampling_frequency=2000000
 
 ;#gain: Front-end Gain in [dB] 

From dfe8dbbea47cf9ab10c6f50c687c82e58cffb16d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 29 Jan 2018 19:22:49 +0100
Subject: [PATCH 378/379] Remove unrequired include and other minor fixes

---
 .../adapters/glonass_l1_ca_pcps_acquisition.cc        |  2 --
 .../adapters/glonass_l1_ca_pcps_acquisition.h         |  2 --
 src/tests/common-files/gnuplot_i.h                    | 11 +++++------
 3 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
index 9bbc9475f..e68379712 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
@@ -150,7 +150,6 @@ void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
 
     DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
 
-
     if (item_type_.compare("cshort") == 0)
         {
             acquisition_sc_->set_threshold(threshold_);
@@ -237,7 +236,6 @@ void GlonassL1CaPcpsAcquisition::init()
 
 void GlonassL1CaPcpsAcquisition::set_local_code()
 {
-
     std::complex<float>* code = new std::complex<float>[code_length_];
 
     glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0);
diff --git a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
index f338a1504..e45e35cb0 100644
--- a/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
@@ -42,8 +42,6 @@
 #include "pcps_acquisition_cc.h"
 #include "pcps_acquisition_sc.h"
 #include "complex_byte_to_float_x2.h"
-#include <volk_gnsssdr/volk_gnsssdr.h>
-
 
 
 class ConfigurationInterface;
diff --git a/src/tests/common-files/gnuplot_i.h b/src/tests/common-files/gnuplot_i.h
index 0996924d2..73e5f8251 100644
--- a/src/tests/common-files/gnuplot_i.h
+++ b/src/tests/common-files/gnuplot_i.h
@@ -941,7 +941,7 @@ bool Gnuplot::set_GNUPlotPath(const std::string &path)
 void Gnuplot::set_terminal_std(const std::string &type)
 {
 #if defined(unix) || defined(__unix) || defined(__unix__) || defined(__APPLE__)
-    if (type.find("x11") != std::string::npos && getenv("DISPLAY") == NULL)
+    if (type.find("x11") != std::string::npos && std::getenv("DISPLAY") == NULL)
         {
             throw GnuplotException("Can't find DISPLAY variable");
         }
@@ -1808,7 +1808,7 @@ void Gnuplot::init()
     // whose name is specified as argument.  If the requested variable is not
     // part of the environment list, the function returns a NULL pointer.
 #if ( defined(unix) || defined(__unix) || defined(__unix__) ) && !defined(__APPLE__)
-    if (getenv("DISPLAY") == NULL)
+    if (std::getenv("DISPLAY") == NULL)
         {
             valid = false;
             throw GnuplotException("Can't find DISPLAY variable");
@@ -1885,7 +1885,7 @@ bool Gnuplot::get_program_path()
     //
     char *path;
     // Retrieves a C string containing the value of environment variable PATH
-    path = getenv("PATH");
+    path = std::getenv("PATH");
 
     if (path == NULL)
         {
@@ -1894,7 +1894,7 @@ bool Gnuplot::get_program_path()
     else
         {
             std::list<std::string> ls;
-            std::string path_str = path;
+            std::string path_str(path);
 
             //split path (one long string) into list ls of strings
 #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__)
@@ -2007,10 +2007,9 @@ std::string Gnuplot::create_tmpfile(std::ofstream &tmp)
         {
             std::ostringstream except;
             except << "Maximum number of temporary files reached ("
-                    << GP_MAX_TMP_FILES << "): cannot open more files" << std::endl;
+                   << GP_MAX_TMP_FILES << "): cannot open more files" << std::endl;
 
             throw GnuplotException( except.str() );
-            return "";
         }
 
     // int mkstemp(char *name);

From b6326f5b13ba481fb4b13474771c9a14964dc20d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 29 Jan 2018 23:30:50 +0100
Subject: [PATCH 379/379] Clean configuration files

---
 conf/front-end-cal.conf                       |  35 ++---
 conf/gnss-sdr.conf                            | 119 +++++----------
 conf/gnss-sdr_GPS_L1_CA_ibyte.conf            |   2 -
 conf/gnss-sdr_GPS_L1_GN3S_realtime.conf       |  10 +-
 conf/gnss-sdr_GPS_L1_SPIR.conf                | 124 +++++----------
 conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf  | 116 +++++---------
 conf/gnss-sdr_GPS_L1_USRP_realtime.conf       | 116 +++++---------
 conf/gnss-sdr_GPS_L1_acq_QuickSync.conf       | 112 +++++---------
 conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf   |   8 +-
 conf/gnss-sdr_GPS_L1_gr_complex.conf          |  24 ++-
 conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf      |  10 +-
 conf/gnss-sdr_GPS_L1_ishort.conf              |  10 +-
 conf/gnss-sdr_GPS_L1_nsr.conf                 |  26 ++--
 conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf   |  13 +-
 ...-sdr_GPS_L1_pulse_blanking_gr_complex.conf |  47 ++----
 conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf    |  80 +++-------
 conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf     |   9 +-
 conf/gnss-sdr_GPS_L1_two_bits_cpx.conf        |  19 +--
 conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf     |  36 +++--
 conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf |  23 +--
 ...nss-sdr_Galileo_E1_USRP_X300_realtime.conf |  21 ++-
 conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf   |  66 +++-----
 conf/gnss-sdr_Galileo_E1_ishort.conf          | 143 ++++++------------
 conf/gnss-sdr_Galileo_E1_nsr.conf             |  18 ++-
 conf/gnss-sdr_Galileo_E5a.conf                | 108 +++++--------
 conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf      |  22 +--
 conf/gnss-sdr_Hybrid_byte.conf                | 135 ++++++-----------
 conf/gnss-sdr_Hybrid_byte_sim.conf            | 105 ++++---------
 conf/gnss-sdr_Hybrid_gr_complex.conf          | 123 +++++----------
 conf/gnss-sdr_Hybrid_ishort.conf              | 131 ++++++----------
 conf/gnss-sdr_Hybrid_nsr.conf                 | 127 ++++++----------
 ...r_galileo_E1_extended_correlator_byte.conf | 109 ++++---------
 ...galileo_E1_extended_correlator_labsat.conf | 120 +++++----------
 ...nnel_GPS_L1_Flexiband_bin_file_III_1a.conf |  83 +++-------
 ...nnel_GPS_L1_Flexiband_realtime_III_1a.conf |  84 ++++------
 ...nnel_GPS_L1_Flexiband_realtime_III_1b.conf |  93 ++++--------
 ...annel_GPS_L1_Flexiband_realtime_II_3b.conf |  96 ++++--------
 ...hannel_GPS_L1_Flexiband_realtime_I_1b.conf |  91 ++++-------
 ...l_GPS_L1_L2_Flexiband_realtime_III_1b.conf |  91 ++++-------
 ...Galileo_E1B_Flexiband_bin_file_III_1b.conf | 112 +++++---------
 ...ultichannel_GPS_L1_USRP_X300_realtime.conf |  99 ++++--------
 ...el_GPS_L2_M_Flexiband_bin_file_III_1b.conf | 123 ++++++---------
 ...S_L2_M_Flexiband_bin_file_III_1b_real.conf |  77 ++++------
 ..._all_in_one_Flexiband_bin_file_III_1b.conf | 114 ++++++--------
 conf/gnss-sdr_multisource_Hybrid_ishort.conf  | 128 +++++-----------
 conf/gnss-sdr_multisource_Hybrid_nsr.conf     | 128 +++++-----------
 46 files changed, 1193 insertions(+), 2293 deletions(-)

diff --git a/conf/front-end-cal.conf b/conf/front-end-cal.conf
index 4c48d5732..72c9be845 100644
--- a/conf/front-end-cal.conf
+++ b/conf/front-end-cal.conf
@@ -42,16 +42,12 @@ GNSS-SDR.SUPL_CI=40184
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=Osmosdr_Signal_Source
-
 ;#freq: RF front-end center frequency in [Hz] 
 SignalSource.freq=1575420000
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second 
 SignalSource.sampling_frequency=2000000
-
 ;#gain: Front-end Gain in [dB] 
 SignalSource.gain=40 
 SignalSource.rf_gain=40
@@ -91,7 +87,7 @@ SignalSource.dump_filename=../data/signal_source.dat
 SignalConditioner.implementation=Pass_Through
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: Use [Ishort_To_Complex] or [Pass_Through]
 DataTypeAdapter.implementation=Pass_Through
 ;#dump: Dump the filtered data to a file.
@@ -109,20 +105,15 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
 
 InputFilter.implementation=Freq_Xlating_Fir_Filter
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. 
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -172,6 +163,12 @@ InputFilter.IF=0
 
 InputFilter.decimation_factor=1
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
+
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
@@ -179,11 +176,7 @@ InputFilter.decimation_factor=1
 Resampler.implementation=Pass_Through
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false] 
-Acquisition.dump=false
-;#filename: Log path and filename
-Acquisition.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 Acquisition.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz] 
@@ -200,4 +193,8 @@ Acquisition.doppler_min=-100000
 Acquisition.doppler_step=500
 ;#maximum dwells
 Acquisition.max_dwells=15
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false] 
+Acquisition.dump=false
+;#filename: Log path and filename
+Acquisition.dump_filename=./acq_dump.dat
 
diff --git a/conf/gnss-sdr.conf b/conf/gnss-sdr.conf
index bb409adfe..0c456f075 100644
--- a/conf/gnss-sdr.conf
+++ b/conf/gnss-sdr.conf
@@ -27,27 +27,16 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
 ;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -79,15 +68,10 @@ DataTypeAdapter.implementation=Ishort_To_Complex
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of GNU Radio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
 ;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
@@ -139,31 +123,31 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=4000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=2000000
 ;#dump: Dump the resampled data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=4000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=2000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS L1 C/A satellite channels.
@@ -191,19 +175,13 @@ Channel.signal=1C
 ;Channel1.satellite=18
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.005
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -216,46 +194,41 @@ Acquisition_1C.doppler_min=-10000
 Acquisition_1C.doppler_step=500
 ;#maximum dwells
 Acquisition_1C.max_dwells=5
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm:
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=45.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=3.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=45.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=3.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -263,42 +236,30 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
 PVT.AR_GPS=PPP-AR ; options: OFF, Continuous, Instantaneous, Fix-and-Hold, PPP-AR
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=10
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms <= display_rate_ms.
 PVT.display_rate_ms=500
-
 PVT.positioning_mode=PPP_Static
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
+;#nmea_dump_filename: NMEA log path and filename
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
+;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_nmea_tty_port=true
+;#nmea_dump_devname: serial device descriptor for NMEA logging
+PVT.nmea_dump_devname=/dev/pts/4
+;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
+PVT.flag_rtcm_server=true
+;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_rtcm_tty_port=false
+;#rtcm_dump_devname: serial device descriptor for RTCM logging
+PVT.rtcm_dump_devname=/dev/pts/1
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
 PVT.dump_filename=./PVT
 
-;#nmea_dump_filename: NMEA log path and filename
-PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
-
-;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
-PVT.flag_nmea_tty_port=true
-
-;#nmea_dump_devname: serial device descriptor for NMEA logging
-PVT.nmea_dump_devname=/dev/pts/4
-
-;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
-PVT.flag_rtcm_server=true
-
-;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
-PVT.flag_rtcm_tty_port=false
-
-;#rtcm_dump_devname: serial device descriptor for RTCM logging
-PVT.rtcm_dump_devname=/dev/pts/1
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
index 970730bc6..8bef7d1c0 100644
--- a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
+++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf
@@ -7,8 +7,6 @@ GNSS-SDR.internal_fs_sps=6625000
 SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
-SignalSource.sampling_frequency=6625000
-;SignalSource.freq=0
 ;SignalSource.samples=66250000
 SignalSource.samples=0
 SignalSource.dump=false;
diff --git a/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
index 869eb560e..082a1b3f4 100644
--- a/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
@@ -66,25 +66,25 @@ Channels.in_acquisition=1
 Channel.signal=1C
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.008
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_step=500
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=45.0;
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
diff --git a/conf/gnss-sdr_GPS_L1_SPIR.conf b/conf/gnss-sdr_GPS_L1_SPIR.conf
index 119ac2326..4df77678f 100644
--- a/conf/gnss-sdr_GPS_L1_SPIR.conf
+++ b/conf/gnss-sdr_GPS_L1_SPIR.conf
@@ -13,28 +13,16 @@ GNSS-SDR.internal_fs_sps=4000000
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Spir_File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/dtalogger/signals/spir/data/20Secs/20Secs_L1.dat    ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=int
-
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=80000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -49,7 +37,7 @@ SignalSource.enable_throttle_control=false
 SignalConditioner.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter.implementation=Pass_Through
 DataTypeAdapter.item_type=float
@@ -74,12 +62,13 @@ InputFilter.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=float
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -131,27 +120,22 @@ InputFilter.decimation_factor=20
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=80000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=80000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
@@ -189,19 +173,13 @@ Channel.signal=1C
 ;Channel3.satellite=19
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-_1C
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.005
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -214,95 +192,65 @@ Acquisition_1C.doppler_min=-10000
 Acquisition_1C.doppler_step=500
 ;#maximum dwells
 Acquisition_1C.max_dwells=5
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
-;######### ACQUISITION CHANNELS CONFIG ######
-
-;######### ACQUISITION CH 0 CONFIG ############
-
-;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
-;Acquisition0.repeat_satellite = true
-;Acquisition1.repeat_satellite = true
-;Acquisition2.repeat_satellite = true
-;Acquisition3.repeat_satellite = true
-
-;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
-;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
-Acquisition0.cboc=false
-
-
-;######### ACQUISITION CH 1 CONFIG ############
-Acquisition1.cboc=false
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=20.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=20.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
+;#implementation: Position Velocity and Time (PVT) implementation algorithm
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
-;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
+;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1 ms) [ms]
 PVT.output_rate_ms=500
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# RINEX, KML, and NMEA output configuration
-
+;#nmea_dump_filename: NMEA log path and filename
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
+;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
+PVT.flag_nmea_tty_port=true;
+;#nmea_dump_devname: serial device descriptor for NMEA logging
+PVT.nmea_dump_devname=/dev/pts/4
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
 
-;#nmea_dump_filename: NMEA log path and filename
-PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 
-;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
-PVT.flag_nmea_tty_port=true;
-
-;#nmea_dump_devname: serial device descriptor for NMEA logging
-PVT.nmea_dump_devname=/dev/pts/4
-
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
index 8daff7717..aaef910d3 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
@@ -28,37 +28,26 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ; # implementation:
 SignalSource.implementation=UHD_Signal_Source
-
 ; # When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
 SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE
-
-; # item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+; # item_type: Type and resolution for each of the signal samples.
 ;SignalSource.item_type=gr_complex
 SignalSource.item_type=cshort
-
 ; # sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
-
 ; # freq: RF front-end center frequency in [Hz]
 SignalSource.freq=1575420000
-
 ; # gain: Front-end Gain in [dB]
 SignalSource.gain=40
-
 ; # subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
 SignalSource.subdevice=A:0
-
 ; # samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-; # repeat: Repeat the processing file. Disable this option in this version
+; # repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-; # dump: Dump the Signal source data to a file. Disable this option in this version
+; # dump: Dump the Signal source data to a file.
 SignalSource.dump=false
 SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -74,7 +63,7 @@ SignalConditioner.implementation=Signal_Conditioner
 ;SignalConditioner.implementation=Pass_Through
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter.implementation=Pass_Through
 DataTypeAdapter.item_type=cshort
@@ -92,20 +81,15 @@ InputFilter.implementation=Fir_Filter
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 ;InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=cshort
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -152,31 +136,31 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=4000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
 ;#dump: Dump the resampled data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=4000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
@@ -223,19 +207,13 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.01
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -249,54 +227,42 @@ maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisiti
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=30.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=30.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
-;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -304,34 +270,24 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
index 7ebe15dbf..72fa42adf 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
@@ -27,37 +27,25 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=UHD_Signal_Source
-
 ;#When left empty, the device discovery routines will search all available transports on the system (ethernet, usb...)
 ;SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=gr_complex
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=2000000
-
 ;#freq: RF front-end center frequency in [Hz]
 SignalSource.freq=1575420000
-
 ;#gain: Front-end Gain in [dB]
 SignalSource.gain=60
-
 ;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
 SignalSource.subdevice=A:0
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
+;#dump: Dump the Signal source data to a file.
 SignalSource.dump=false
-
 SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -89,20 +77,15 @@ DataTypeAdapter.implementation=Pass_Through
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -149,31 +132,31 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=2000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=8000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=2000000
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=8000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=2000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
@@ -186,9 +169,11 @@ Channels.in_acquisition=1
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
 Channel.signal=1C
@@ -212,18 +197,13 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.01
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -237,54 +217,43 @@ maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisiti
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=30.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=30.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -292,35 +261,24 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf b/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
index 25efa3289..1cd08b216 100644
--- a/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
+++ b/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
@@ -11,33 +11,16 @@ GNSS-SDR.internal_fs_sps=4000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source]
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
-
-;#item_type: Type and resolution for each of the signal samples.
-;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer.
-;#If short is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
-
 SignalSource.item_type=ishort
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -72,20 +55,15 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -133,6 +111,11 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
@@ -143,21 +126,17 @@ InputFilter.IF=0
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=4000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=4000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available satellite channels.
@@ -192,22 +171,20 @@ Channel4.satellite=32
 Channel4.repeat_satellite=false
 
 ;######### ACQUISITION GLOBAL CONFIG ############_1C
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=true
-;#filename: Log path and filename
-;Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent-integration_time_ms=4
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=true
+;#filename: Log path and filename
+;Acquisition_1C.dump_filename=./acq_dump.dat
 
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
 
 ;######### ACQUISITION CHANNELS CONFIG ######
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
 Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.4
@@ -219,45 +196,36 @@ Acquisition_1C.doppler_step=250
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=50.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=50.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -265,26 +233,20 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
-;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
+;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1 ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
 PVT.flag_nmea_tty_port=true
 PVT.nmea_dump_devname=/dev/pts/4
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf b/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf
index 6c8d8d85c..67fe037f8 100644
--- a/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf
@@ -86,18 +86,18 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 Acquisition_1C.threshold=0.015
 ;Acquisition_1C.pfa=0.0001
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_min=-10000
 Acquisition_1C.doppler_step=500
 Acquisition_1C.max_dwells=15
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
@@ -111,11 +111,13 @@ Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
 
+
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 TelemetryDecoder_1C.decimation_factor=1;
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_gr_complex.conf b/conf/gnss-sdr_GPS_L1_gr_complex.conf
index c1ce3231f..99118a0c4 100644
--- a/conf/gnss-sdr_GPS_L1_gr_complex.conf
+++ b/conf/gnss-sdr_GPS_L1_gr_complex.conf
@@ -16,8 +16,6 @@ SignalSource.item_type=byte
 SignalSource.sampling_frequency=2600000
 SignalSource.samples=0
 SignalSource.repeat=false
-SignalSource.dump=false
-SignalSource.dump_filename=../data/signal_source.dat
 SignalSource.enable_throttle_control=false
 
 
@@ -25,13 +23,21 @@ SignalSource.enable_throttle_control=false
 SignalConditioner.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter.implementation=Ibyte_To_Complex
 DataTypeAdapter.dump=false
 ;#dump_filename: Log path and filename.
 DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat
 
+InputFilter.implementation=Pass_Through
+InputFilter.input_item_type=gr_complex
+InputFilter.output_item_type=gr_complex
+
+Resampler.implementation=Pass_Through
+Resampler.item_type=gr_complex
+
+
 ;######### CHANNELS GLOBAL CONFIG ############
 Channels_1C.count=5
 Channels.in_acquisition=1
@@ -39,32 +45,34 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.05
 ;Acquisition_1C.pfa=0.01
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=25.0;
 Tracking_1C.dll_bw_hz=1.0;
 Tracking_1C.order=3;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_c
+
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf b/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
index cd64d56e7..0111fc5e9 100644
--- a/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
+++ b/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
@@ -13,7 +13,6 @@ GNSS-SDR.internal_fs_sps=4000000
 SignalSource.implementation=File_Signal_Source
 SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat  ; <- PUT YOUR FILE HERE
 SignalSource.item_type=gr_complex
-SignalSource.sampling_frequency=4000000
 SignalSource.samples=250000000
 SignalSource.repeat=false
 SignalSource.dump=false
@@ -32,16 +31,17 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.005
 ;Acquisition_1C.pfa=0.01
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_step=500
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking_GPU
@@ -53,10 +53,12 @@ Tracking_1C.pll_bw_hz=45.0;
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
 
+
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_ishort.conf b/conf/gnss-sdr_GPS_L1_ishort.conf
index fb920bb57..e3395c982 100644
--- a/conf/gnss-sdr_GPS_L1_ishort.conf
+++ b/conf/gnss-sdr_GPS_L1_ishort.conf
@@ -44,16 +44,13 @@ Resampler.item_type=cshort
 Channels_1C.count=8
 Channels.in_acquisition=1
 Channel.signal=1C
-;Channel.item_type=cshort
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=cshort
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.008
 ;Acquisition_1C.pfa=0.000001
 Acquisition_1C.doppler_max=10000
@@ -61,6 +58,9 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.tong_init_val=2
 Acquisition_1C.tong_max_val=10
 Acquisition_1C.tong_max_dwells=20
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
@@ -72,11 +72,13 @@ Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.dll_bw_hz=4.0;
 Tracking_1C.order=3;
 
+
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 TelemetryDecoder_1C.decimation_factor=1;
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
diff --git a/conf/gnss-sdr_GPS_L1_nsr.conf b/conf/gnss-sdr_GPS_L1_nsr.conf
index 56c865f4b..ec085add3 100644
--- a/conf/gnss-sdr_GPS_L1_nsr.conf
+++ b/conf/gnss-sdr_GPS_L1_nsr.conf
@@ -88,71 +88,69 @@ Channels.in_acquisition=1
 
 
 ;######### GPS ACQUISITION CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.0075
 ;Acquisition_1C.pfa=0.01
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_step=500
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
 Acquisition_2S.coherent_integration_time_ms=20
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.00045
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_step=100
 Acquisition_2S.bit_transition_flag=false
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GPS CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=45.0;
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 ;######### GPS L2C GENERIC TRACKING CONFIG ############
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=true
-Tracking_2S.dump_filename=../data/epl_tracking_ch_
 Tracking_2S.pll_bw_hz=1.5;
 Tracking_2S.dll_bw_hz=0.4;
 Tracking_2S.order=2;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=true
+Tracking_2S.dump_filename=../data/epl_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-TelemetryDecoder_1C.decimation_factor=1;
 
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 TelemetryDecoder_2S.dump=false
-TelemetryDecoder_2S.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
+
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
diff --git a/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf b/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
index 36c28c69a..db5e6d23a 100644
--- a/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
+++ b/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
@@ -101,37 +101,40 @@ Channel.signal=1C
 
 
 ;######### GPS ACQUISITION CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.0075
 ;Acquisition_1C.pfa=0.01
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_step=500
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GPS CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=45.0;
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
 Observables.dump_filename=./observables.dat
 
+
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
diff --git a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
index 50becf691..8cd02bd32 100644
--- a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
+++ b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
@@ -27,37 +27,19 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
-;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
-SignalSource.device_address=192.168.50.2
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/home/javier/signals/signal_source_int.dat
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=2000000
-
-;#gain: Front-end Gain in [dB]
-SignalSource.gain=40
-
-;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
-SignalSource.subdevice=A:0
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
 ;#repeat: Repeat the processing file. Disable this option in this version
 SignalSource.repeat=false
-
 ;#dump: Dump the Signal source data to a file. Disable this option in this version
 SignalSource.dump=false
-
 SignalSource.dump_filename=dump.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -97,12 +79,10 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms
 ;#notice that this affects the Acquisition threshold range!
 Acquisition_1C.use_CFAR_algorithm=false;
@@ -111,50 +91,41 @@ Acquisition_1C.threshold=20
 ;Acquisition_1C.pfa=0.01
 Acquisition_1C.doppler_max=5000
 Acquisition_1C.doppler_step=250
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
-
 ;# Extended correlation after telemetry bit synchronization
 ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
 ;# Longer integration period require more stable front-end LO
-
 Tracking_1C.extend_correlation_ms=10
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=35;
 Tracking_1C.pll_bw_narrow_hz=30;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1C.dll_bw_hz=2.0;
-
 Tracking_1C.dll_bw_narrow_hz=1.5;
-
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_1C.fll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1C.order=3;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=true
diff --git a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
index 08a75a83e..944a1ba36 100644
--- a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
@@ -29,42 +29,29 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=RtlTcp_Signal_Source
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
+;#sampling_frequency: Original Signal sampling frequency in samples per second
 ;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
 ; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
 SignalSource.sampling_frequency=1200000
-
 ;#freq: RF front-end center frequency in [Hz]
 SignalSource.freq=1575420000
-
 ;#gain: Front-end overall gain Gain in [dB]
 SignalSource.gain=40
-
 ;#rf_gain: Front-end RF stage gain in [dB]
 SignalSource.rf_gain=40
-
 ;#rf_gain: Front-end IF stage gain in [dB]
 SignalSource.if_gain=30
-
 ;#AGC_enabled: Front-end AGC enabled or disabled
 SignalSource.AGC_enabled = false
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
 ;#repeat: Repeat the processing file. Disable this option in this version
 SignalSource.repeat=false
-
 ;#dump: Dump the Signal source data to a file. Disable this option in this version
 SignalSource.dump=false
-
 SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -78,6 +65,7 @@ SignalSource.port=1234
 ;# Set to true if I/Q samples come swapped
 SignalSource.swap_iq=false
 
+
 ;######### SIGNAL_CONDITIONER CONFIG ############
 ;## It holds blocks to change data type, filter and resample input data.
 
@@ -87,7 +75,7 @@ SignalSource.swap_iq=false
 SignalConditioner.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter.implementation=Pass_Through
 
@@ -109,12 +97,13 @@ InputFilter.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -163,6 +152,7 @@ InputFilter.sampling_frequency=1200000
 ;# IF deviation due to front-end LO inaccuracies [HZ]
 InputFilter.IF=80558
 
+
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
 ;# DISABLED IN THE RTL-SDR REALTIME
@@ -170,6 +160,7 @@ InputFilter.IF=80558
 ;#[Pass_Through] disables this block
 Resampler.implementation=Pass_Through
 
+
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
 Channels_1C.count=4
@@ -180,19 +171,14 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.015
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -205,50 +191,42 @@ Acquisition_1C.doppler_min=-10000
 Acquisition_1C.doppler_step=500
 ;#maximum dwells
 Acquisition_1C.max_dwells=15
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] [GPS_L1_CA_DLL_PLL_Optim_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=2.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -259,31 +237,21 @@ PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=true
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
index 2c10ea684..b4e025f6f 100644
--- a/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
@@ -101,18 +101,18 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 Acquisition_1C.threshold=0.015
 ;Acquisition_1C.pfa=0.0001
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_min=-10000
 Acquisition_1C.doppler_step=500
 Acquisition_1C.max_dwells=15
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
@@ -126,10 +126,11 @@ Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
 
+
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
diff --git a/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf b/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
index e3a32c42e..f6e2ec730 100644
--- a/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
+++ b/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
@@ -44,8 +44,6 @@ DataTypeAdapter.item_type=gr_complex
 
 ;######### INPUT_FILTER CONFIG ############
 InputFilter.implementation=Freq_Xlating_Fir_Filter
-InputFilter.dump=false
-InputFilter.dump_filename=../data/input_filter.dat
 InputFilter.input_item_type=gr_complex
 InputFilter.output_item_type=gr_complex
 InputFilter.taps_item_type=float
@@ -66,6 +64,9 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=19200000
 InputFilter.IF=4024000
 InputFilter.decimation_factor=6
+InputFilter.dump=false
+InputFilter.dump_filename=../data/input_filter.dat
+
 
 ;######### RESAMPLER CONFIG ############
 Resampler.implementation=Pass_Through
@@ -81,35 +82,35 @@ Channel.signal=1C
 
 
 ;######### GPS ACQUISITION CONFIG ############
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.sampled_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
 Acquisition_1C.threshold=0.007
 ;Acquisition_1C.pfa=0.0001
 Acquisition_1C.doppler_max=10000
 Acquisition_1C.doppler_min=-10000
 Acquisition_1C.doppler_step=500
 Acquisition_1C.max_dwells=15
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GPS CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
-Tracking_1C.if=0
-Tracking_1C.dump=true
-Tracking_1C.dump_filename=./tracking_ch_
+Tracking_1C.if=0_
 Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.dll_bw_hz=1.5;
 Tracking_1C.order=3;
+Tracking_1C.dump=true
+Tracking_1C.dump_filename=./tracking_ch
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
diff --git a/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf b/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
index 5c800efad..97710c4f0 100644
--- a/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
+++ b/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
@@ -55,21 +55,18 @@ DataTypeAdapter.item_type=gr_complex
 
 InputFilter.implementation=Freq_Xlating_Fir_Filter
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
 InputFilter.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -120,6 +117,12 @@ InputFilter.IF=-1600000
 ;# Decimation factor after the frequency tranaslating block
 InputFilter.decimation_factor=1
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+
+
 ;######### RESAMPLER CONFIG ############
 Resampler.implementation=Pass_Through
 Resampler.dump=false
@@ -151,41 +154,44 @@ Channel7.signal=2S
 ;Channel11.signal=2S
 
 
-
 ;######### ACQUISITION GLOBAL CONFIG ############
-
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.0013
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=10000
 Acquisition_2S.doppler_min=-10000
 Acquisition_2S.doppler_step=100
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
 
+
+;######### TRACKING GLOBAL CONFIG ############
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=true
-Tracking_2S.dump_filename=./tracking_ch_
 Tracking_2S.pll_bw_hz=1.5;
 Tracking_2S.dll_bw_hz=0.3;
 Tracking_2S.order=3;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=true
+Tracking_2S.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 TelemetryDecoder_2S.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############.
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
 Observables.dump_filename=./observables.dat
 
+
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
diff --git a/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
index 263f7cce2..caaf4536c 100644
--- a/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
@@ -50,8 +50,6 @@ DataTypeAdapter.item_type=cshort
 
 ;######### INPUT_FILTER CONFIG ############
 InputFilter.implementation=Fir_Filter
-InputFilter.dump=false
-InputFilter.dump_filename=../data/input_filter.dat
 InputFilter.input_item_type=cshort
 InputFilter.output_item_type=gr_complex
 InputFilter.taps_item_type=float
@@ -76,6 +74,9 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
 
+InputFilter.dump=false
+InputFilter.dump_filename=../data/input_filter.dat
+
 ;######### RESAMPLER CONFIG ############
 Resampler.implementation=Pass_Through
 Resampler.dump=false
@@ -106,42 +107,44 @@ Channel7.signal=2S
 ;Channel10.signal=2S
 ;Channel11.signal=2S
 
-
-
 ;######### ACQUISITION GLOBAL CONFIG ############
 
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.0015
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_min=-5000
 Acquisition_2S.doppler_step=60
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
+
 
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=true
-Tracking_2S.dump_filename=./tracking_ch_
 Tracking_2S.pll_bw_hz=2.0;
 Tracking_2S.dll_bw_hz=0.25;
 Tracking_2S.order=2;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=true
+Tracking_2S.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 TelemetryDecoder_2S.dump=true
 
+
 ;######### OBSERVABLES CONFIG ############.
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
 Observables.dump_filename=./observables.dat
 
+
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
@@ -149,7 +152,6 @@ PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
-PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
 PVT.flag_nmea_tty_port=false;
 PVT.nmea_dump_devname=/dev/pts/4
@@ -157,3 +159,4 @@ PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=false
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf b/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf
index 6d82ad1e9..54e092708 100644
--- a/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf
@@ -24,48 +24,55 @@ SignalSource.dump=false
 SignalSource.dump_filename=../data/signal_source.dat
 SignalSource.enable_throttle_control=false
 
+
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner.implementation=Pass_Through
 
+
 ;######### CHANNELS GLOBAL CONFIG ######
 Channels_1B.count=4
 Channels.in_acquisition=1
 Channel.signal=1B
 
+
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1B.dump=false
-Acquisition_1B.dump_filename=./acq_dump.dat
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 Acquisition_1B.item_type=gr_complex
 Acquisition_1B.if=0
 Acquisition_1B.sampled_ms=4
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;Acquisition_1B.threshold=1
 Acquisition_1B.pfa=0.000008
 Acquisition_1B.doppler_max=6000
 Acquisition_1B.doppler_step=250
 Acquisition_1B.cboc=false
+Acquisition_1B.dump=false
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 Tracking_1B.item_type=gr_complex
 Tracking_1B.if=0
-Tracking_1B.dump=false
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
 Tracking_1B.pll_bw_hz=20.0;
 Tracking_1B.dll_bw_hz=2.0;
 Tracking_1B.order=3;
 Tracking_1B.early_late_space_chips=0.15;
 Tracking_1B.very_early_late_space_chips=0.6;
+Tracking_1B.dump=false
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
 
 ;######### TELEMETRY DECODER CONFIG ############
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
 Observables.dump_filename=./observables.dat
 
+
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
@@ -73,11 +80,11 @@ PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
 PVT.output_rate_ms=100;
 PVT.display_rate_ms=500;
-PVT.dump=false
-PVT.dump_filename=./PVT
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
 PVT.flag_nmea_tty_port=true
 PVT.nmea_dump_devname=/dev/pts/4
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
+PVT.dump=false
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf b/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
index fa8d8bb61..ab6802559 100644
--- a/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
+++ b/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
@@ -10,7 +10,7 @@ GNSS-SDR.internal_fs_sps=4000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source]
+;#implementation:
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
@@ -27,13 +27,9 @@ SignalSource.sampling_frequency=4000000
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
 
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
 
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -68,20 +64,15 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -113,7 +104,6 @@ InputFilter.band2_end=1.0
 
 ;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
 ;#The number of ampl_begin and ampl_end elements must match the number of bands
-
 InputFilter.ampl1_begin=1.0
 InputFilter.ampl1_end=1.0
 InputFilter.ampl2_begin=0.0
@@ -133,10 +123,14 @@ InputFilter.grid_density=16
 
 ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
 ;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
-
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
@@ -153,7 +147,7 @@ Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Resampler.item_type=gr_complex
 
 ;#sample_freq_in: the sample frequency of the input signal
@@ -172,19 +166,13 @@ Channel.signal=1B
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.coherent_integration_time_ms=4
-
-Acquisition_1B.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
-
 ;#threshold: Acquisition threshold
 Acquisition_1B.threshold=0.05
 ;#doppler_max: Maximum expected Doppler shift [Hz]
@@ -193,39 +181,33 @@ Acquisition_1B.doppler_max=15000
 Acquisition_1B.doppler_step=125
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms];
 Acquisition_1B.coherent_integration_time_ms=8
-
 Acquisition_1B.cboc=false
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm [Galileo_E1_DLL_PLL_VEML_Tracking]
+;#implementation:
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=20.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 ;######### TELEMETRY DECODER CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
diff --git a/conf/gnss-sdr_Galileo_E1_ishort.conf b/conf/gnss-sdr_Galileo_E1_ishort.conf
index 08e31a9e9..2f051700a 100644
--- a/conf/gnss-sdr_Galileo_E1_ishort.conf
+++ b/conf/gnss-sdr_Galileo_E1_ishort.conf
@@ -10,32 +10,17 @@ GNSS-SDR.internal_fs_sps=4000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
-SignalSource.filename=/Users/carlesfernandez/Documents/workspace/code2/trunk/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
-
+SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
-
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -57,24 +42,18 @@ DataTypeAdapter.implementation=Ishort_To_Complex
 ;######### INPUT_FILTER CONFIG ############
 ;## Filter the input data. Can be combined with frequency translation for IF signals
 
-;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
+;#implementation:
 ;#[Pass_Through] disables this block
 ;#[Fir_Filter] enables a FIR Filter
 ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
-
 ;InputFilter.implementation=Fir_Filter
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of GNU Radio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
 ;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
@@ -125,7 +104,10 @@ InputFilter.grid_density=16
 
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
-
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
@@ -136,21 +118,17 @@ InputFilter.IF=0
 ;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=4000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
 ;#dump: Dump the resampled data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=4000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available Galileo satellite channels.
@@ -159,20 +137,15 @@ Channels_1B.count=8
 Channels.in_acquisition=1
 Channel.signal=1B
 
-;######### ACQUISITION GLOBAL CONFIG ############
 
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -181,70 +154,59 @@ Acquisition_1B.pfa=0.000002
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
+;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
+Acquisition_1B.cboc=false
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### ACQUISITION CHANNELS CONFIG ######
 
 ;######### ACQUISITION CH 0 CONFIG ############
-
 ;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
 ;Acquisition_1B0.repeat_satellite = true
 ;Acquisition_1B1.repeat_satellite = true
 ;Acquisition_1B2.repeat_satellite = true
 ;Acquisition_1B3.repeat_satellite = true
 
-;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
-;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
-Acquisition_1B.cboc=false
-
-
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1B.pll_bw_hz=15.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1B.dll_bw_hz=2.0;
+;#fll_bw_hz: FLL loop filter bandwidth [Hz]
+Tracking_1B.fll_bw_hz=10.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1B.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
+Tracking_1B.early_late_space_chips=0.15;
+;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
+Tracking_1B.very_early_late_space_chips=0.6;
+Tracking_1B.track_pilot=true
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1B.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1B.pll_bw_hz=15.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1B.dll_bw_hz=2.0;
-
-;#fll_bw_hz: FLL loop filter bandwidth [Hz]
-Tracking_1B.fll_bw_hz=10.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1B.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
-Tracking_1B.early_late_space_chips=0.15;
-
-;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
-Tracking_1B.very_early_late_space_chips=0.6;
-
 
 ;######### TELEMETRY DECODER CONFIG ############
-;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
-;######### OBSERVABLES CONFIG ############
-;#implementation:
-Observables.implementation=Hybrid_Observables
 
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -255,38 +217,27 @@ PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
-PVT.flag_nmea_tty_port=true;
-
+PVT.flag_nmea_tty_port=true
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 ;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
 PVT.flag_rtcm_server=true;
 PVT.rtcm_tcp_port=2101
 PVT.rtcm_MT1045_rate_ms=5000
 PVT.rtcm_MSM_rate_ms=1000
-
 ;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_rtcm_tty_port=false;
-
 ;#rtcm_dump_devname: serial device descriptor for RTCM logging
 PVT.rtcm_dump_devname=/dev/pts/1
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
+PVT.dump_filename=./PVT
\ No newline at end of file
diff --git a/conf/gnss-sdr_Galileo_E1_nsr.conf b/conf/gnss-sdr_Galileo_E1_nsr.conf
index 9c183a233..f7ca01480 100644
--- a/conf/gnss-sdr_Galileo_E1_nsr.conf
+++ b/conf/gnss-sdr_Galileo_E1_nsr.conf
@@ -30,7 +30,6 @@ SignalSource.enable_throttle_control=false
 
 ;######### SIGNAL_CONDITIONER CONFIG ############
 ;## It holds blocks to change data type, filter and resample input data.
-
 SignalConditioner.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
@@ -39,8 +38,6 @@ DataTypeAdapter.item_type=float
 
 ;######### INPUT_FILTER CONFIG ############
 InputFilter.implementation=Freq_Xlating_Fir_Filter
-InputFilter.dump=false
-InputFilter.dump_filename=../data/input_filter.dat
 InputFilter.input_item_type=float
 InputFilter.output_item_type=gr_complex
 InputFilter.taps_item_type=float
@@ -64,6 +61,8 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=20480000
 InputFilter.IF=5499998.47412109
 InputFilter.decimation_factor=8
+InputFilter.dump=false
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
@@ -77,33 +76,36 @@ Channel.signal=1B
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_1B.dump=false
-Acquisition_1B.dump_filename=./acq_dump.dat
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 Acquisition_1B.item_type=gr_complex
 Acquisition_1B.if=0
 Acquisition_1B.sampled_ms=4
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 Acquisition_1B.pfa=0.0000008
 Acquisition_1B.doppler_max=15000
 Acquisition_1B.doppler_step=125
 Acquisition_1B.cboc=false ; This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false]. Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
+Acquisition_1B.dump=false
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 Tracking_1B.item_type=gr_complex
 Tracking_1B.if=0
-Tracking_1B.dump=false
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
 Tracking_1B.pll_bw_hz=20.0;
 Tracking_1B.dll_bw_hz=2.0;
 Tracking_1B.order=3;
 Tracking_1B.early_late_space_chips=0.15;
 Tracking_1B.very_early_late_space_chips=0.6;
+Tracking_1B.dump=false
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
 
 ;######### TELEMETRY DECODER CONFIG ############
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=true
diff --git a/conf/gnss-sdr_Galileo_E5a.conf b/conf/gnss-sdr_Galileo_E5a.conf
index 515b41fc6..d2ac70fba 100644
--- a/conf/gnss-sdr_Galileo_E5a.conf
+++ b/conf/gnss-sdr_Galileo_E5a.conf
@@ -27,27 +27,16 @@ GNSS-SDR.internal_fs_sps=32000000
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/datalogger/signals/ifen/32MS_complex.dat  ; <- PUT YOUR FILE HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=gr_complex
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=32000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -70,7 +59,7 @@ DataTypeAdapter.implementation=Pass_Through
 ;######### INPUT_FILTER CONFIG ############
 ;## Filter the input data. Can be combined with frequency translation for IF signals
 
-;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
+;#implementation:
 ;#[Pass_Through] disables this block
 ;#[Fir_Filter] enables a FIR Filter
 ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
@@ -79,20 +68,15 @@ DataTypeAdapter.implementation=Pass_Through
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
 ;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -139,6 +123,11 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=32000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
@@ -149,21 +138,17 @@ InputFilter.IF=0
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=8000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=8000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available satellite channels.
@@ -178,11 +163,9 @@ Channel.signal=5X
 ;#The following options are specific to each channel and overwrite the generic options
 
 ;######### CHANNEL 0 CONFIG ############
-
-Channel0.signal=5X
-
+;Channel0.signal=5X
 ;#satellite: Satellite PRN ID for this channel. Disable this option to random search
-Channel0.satellite=19
+;Channel0.satellite=19
 ;Channel0.repeat_satellite=true
 
 ;######### CHANNEL 1 CONFIG ############
@@ -204,19 +187,13 @@ Channel0.satellite=19
 ;Channel3.satellite=20
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_5X.dump=true
-;#filename: Log path and filename
-Acquisition_5X.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_5X.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_5X.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_5X.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_5X.threshold=0.001
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -230,30 +207,23 @@ Acquisition_5X.doppler_step=250
 Acquisition_5X.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_5X.max_dwells=1
-
 ;#CAF filter: **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
 Acquisition_5X.CAF_window_hz=0
 ;#Zero_padding: **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions.
 ;#If set to 1 it is ON, if set to 0 it is OFF.
 Acquisition_5X.Zero_padding=0
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_5X.dump=true
+;#filename: Log path and filename
+Acquisition_5X.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm:
 Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_5X.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_5X.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_5X.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_5X.dump_filename=./tracking_ch_
-
 ;#pll_bw_hz_init: **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.pll_bw_hz_init=20.0;
 ;#dll_bw_hz_init: **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
@@ -261,33 +231,33 @@ Tracking_5X.dll_bw_hz_init=20.0;
 ;#dll_ti_ms: **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
 ;Tracking_5X.ti_ms=3;
 Tracking_5X.ti_ms=1;
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 ;Tracking.pll_bw_hz=5.0;
 Tracking_5X.pll_bw_hz=20.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 ;Tracking.dll_bw_hz=2.0;
 Tracking_5X.dll_bw_hz=20.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_5X.order=2;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
 Tracking_5X.early_late_space_chips=0.5;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_5X.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_5X.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER CONFIG ############
 ;#implementation:
 TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
 TelemetryDecoder_5X.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -295,34 +265,24 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation algorithm:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=true;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf b/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
index bba38b048..ba75ebdcd 100644
--- a/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
+++ b/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
@@ -43,8 +43,6 @@ DataTypeAdapter.implementation=Pass_Through
 
 ;######### INPUT_FILTER CONFIG ############
 InputFilter.implementation=Freq_Xlating_Fir_Filter
-InputFilter.dump=false
-InputFilter.dump_filename=../data/input_filter.dat
 InputFilter.input_item_type=gr_complex
 InputFilter.output_item_type=gr_complex
 InputFilter.taps_item_type=float
@@ -65,6 +63,8 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=50000000
 InputFilter.IF=-15345000
 InputFilter.decimation_factor=1
+InputFilter.dump=false
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
@@ -88,23 +88,21 @@ Channel0.satellite=19
 
 ;######### CHANNEL 1 CONFIG ############
 Channel1.signal=5X
-Channel1.satellite=12
+;Channel1.satellite=12
 
 ;######### CHANNEL 2 CONFIG ############
 Channel2.signal=5X
-Channel2.satellite=11
+;Channel2.satellite=11
 
 ;######### CHANNEL 3 CONFIG ############
 Channel3.signal=5X
-Channel3.satellite=20
+;Channel3.satellite=20
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-Acquisition_5X.dump=false
-Acquisition_5X.dump_filename=./acq_dump.dat
+Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 Acquisition_5X.item_type=gr_complex
 Acquisition_5X.if=0
 Acquisition_5X.coherent_integration_time_ms=1
-Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 Acquisition_5X.threshold=0.002
 Acquisition_5X.doppler_max=10000
 Acquisition_5X.doppler_step=250
@@ -112,14 +110,14 @@ Acquisition_5X.bit_transition_flag=false
 Acquisition_5X.max_dwells=1
 Acquisition_5X.CAF_window_hz=0 ;  **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
 Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
+Acquisition_5X.dump=false
+Acquisition_5X.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
 Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
 Tracking_5X.item_type=gr_complex
 Tracking_5X.if=0
-Tracking_5X.dump=false
-Tracking_5X.dump_filename=./tracking_ch_
 Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
@@ -127,11 +125,15 @@ Tracking_5X.pll_bw_hz=20.0;
 Tracking_5X.dll_bw_hz=20.0;
 Tracking_5X.order=2;
 Tracking_5X.early_late_space_chips=0.5;
+Tracking_5X.dump=false
+Tracking_5X.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER CONFIG ############
 TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
 TelemetryDecoder_5X.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false
diff --git a/conf/gnss-sdr_Hybrid_byte.conf b/conf/gnss-sdr_Hybrid_byte.conf
index 92d7511ae..aa7caae99 100644
--- a/conf/gnss-sdr_Hybrid_byte.conf
+++ b/conf/gnss-sdr_Hybrid_byte.conf
@@ -11,29 +11,17 @@ GNSS-SDR.internal_fs_sps=20000000
 
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/datalogger/signals/Fraunhofer/L125_III1b_210s_L1.bin     ; <- PUT YOUR FILE HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples..
 SignalSource.item_type=byte
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=20000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -48,14 +36,12 @@ SignalSource.enable_throttle_control=false
 SignalConditioner.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter.implementation=Ibyte_To_Complex
 
 ;######### INPUT_FILTER CONFIG ############
 ;## Filter the input data. Can be combined with frequency translation for IF signals
-
-;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
 ;#[Pass_Through] disables this block
 ;#[Fir_Filter] enables a FIR Filter
 ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
@@ -64,20 +50,15 @@ DataTypeAdapter.implementation=Ibyte_To_Complex
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples..
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -123,32 +104,30 @@ InputFilter.grid_density=16
 
 InputFilter.sampling_frequency=20000000
 InputFilter.IF=0
-
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signal
+Resampler.sample_freq_in=20000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=20000000
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=20000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=20000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
@@ -178,19 +157,13 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.0060
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -199,22 +172,20 @@ Acquisition_1C.threshold=0.0060
 Acquisition_1C.doppler_max=10000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=500
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -223,83 +194,69 @@ Acquisition_1B.pfa=0.0000008
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=45.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=45.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=4;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -307,23 +264,17 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Hybrid_byte_sim.conf b/conf/gnss-sdr_Hybrid_byte_sim.conf
index 420810fb2..7df406547 100644
--- a/conf/gnss-sdr_Hybrid_byte_sim.conf
+++ b/conf/gnss-sdr_Hybrid_byte_sim.conf
@@ -14,28 +14,20 @@ GNSS-SDR.internal_fs_sps=2600000
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 ;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin      ; <- PUT YOUR FILE HERE
 SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin      ; <- PUT YOUR FILE HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=byte
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
+;#dump: Dump the Signal source data to a file.
 SignalSource.dump=false
-
 SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -77,12 +69,13 @@ InputFilter.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -133,10 +126,10 @@ InputFilter.IF=0
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 Resampler.implementation=Pass_Through
 Resampler.item_type = gr_complex;
 
+
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
 Channels_1C.count=11
@@ -145,10 +138,6 @@ Channels_1B.count=0
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-
-;#IMPORTANT: When cshort is used as input type for Acq and Trk, please set the Channel type to cshort here
-;#item_type: Type and resolution for each of the signal samples.
-Channel.item_type=gr_complex
 ;#signal:
 ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
 Channel1.signal=1C
@@ -169,19 +158,14 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms
 ;#notice that this affects the Acquisition threshold range!
 Acquisition_1C.use_CFAR_algorithm=false;
@@ -193,22 +177,20 @@ Acquisition_1C.threshold=15
 Acquisition_1C.doppler_max=6000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=100
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -217,108 +199,85 @@ Acquisition_1B.pfa=0.0000008
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=20.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1C.dll_bw_hz=1.5;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1C.order=3;
 
-;######### TRACKING GALILEO CONFIG ############
 
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+;######### TRACKING GALILEO CONFIG ############
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1B.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
-TelemetryDecoder_1B.dump=false
-TelemetryDecoder_1B.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf
index 68b0f984f..63f92330e 100644
--- a/conf/gnss-sdr_Hybrid_gr_complex.conf
+++ b/conf/gnss-sdr_Hybrid_gr_complex.conf
@@ -12,27 +12,16 @@ GNSS-SDR.internal_fs_sps=4092000
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/datalogger/signals/sim/GPS_sim1.dat      ; <- PUT YOUR FILE HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=gr_complex
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4092000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -61,22 +50,15 @@ DataTypeAdapter.item_type=gr_complex
 
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -128,15 +110,21 @@ InputFilter.IF=5499998.47412109
 ;# Decimation factor after the frequency tranaslating block
 InputFilter.decimation_factor=8
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
+
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 Resampler.implementation=Pass_Through
 
+
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
 Channels_1C.count=1
@@ -171,19 +159,13 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.use_CFAR_algorithm=false;
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=30
@@ -193,22 +175,20 @@ Acquisition_1C.threshold=30
 Acquisition_1C.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=100
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -217,98 +197,79 @@ Acquisition_1B.pfa=0.0000002
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
-
 ;# Extended correlation after telemetry bit synchronization
 ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
 ;# Longer integration period require more stable front-end LO
-
 Tracking_1C.extend_correlation_ms=10
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=40;
 Tracking_1C.pll_bw_narrow_hz=25;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1C.dll_bw_hz=2.0;
-
 Tracking_1C.dll_bw_narrow_hz=2.0;
-
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_1C.fll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1C.order=3;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_1B.fll_bw_hz=10.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=4;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -316,23 +277,17 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=10;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Hybrid_ishort.conf b/conf/gnss-sdr_Hybrid_ishort.conf
index 26c27e2ce..6bfa9e8fa 100644
--- a/conf/gnss-sdr_Hybrid_ishort.conf
+++ b/conf/gnss-sdr_Hybrid_ishort.conf
@@ -28,27 +28,16 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=4000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -79,20 +68,15 @@ DataTypeAdapter.implementation=Ishort_To_Complex
 ;InputFilter.implementation=Freq_Xlating_Fir_Filter
 InputFilter.implementation=Pass_Through
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -139,31 +123,31 @@ InputFilter.grid_density=16
 InputFilter.sampling_frequency=4000000
 InputFilter.IF=0
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
 
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
-
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
 ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
-
+;#item_type: Type and resolution for each of the signal samples.
+Resampler.item_type=gr_complex
+;#sample_freq_in: the sample frequency of the input signalq
+Resampler.sample_freq_in=4000000
+;#sample_freq_out: the desired sample frequency of the output signal
+Resampler.sample_freq_out=4000000
 ;#dump: Dump the resamplered data to a file.
 Resampler.dump=false
 ;#dump_filename: Log path and filename.
 Resampler.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signalq
-Resampler.sample_freq_in=4000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
@@ -188,21 +172,14 @@ Channel6.signal=1B
 Channel7.signal=1B
 
 
-
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel:
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.0075
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -211,22 +188,21 @@ Acquisition_1C.threshold=0.0075
 Acquisition_1C.doppler_max=10000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=500
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
 ;#implementation: Acquisition algorithm selection for this channel:
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -236,84 +212,69 @@ Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
 Acquisition_1B.cboc=false;
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=50.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=5.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=50.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=5.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm:
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=20.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=4;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
-TelemetryDecoder_1B.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -321,20 +282,13 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
@@ -343,6 +297,7 @@ PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of Galileo ephemeris messages. 0 m
 PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of GPS ephemeris messages. 0 mutes this message
 PVT.rtcm_MT1097_rate_ms=1000 ; Period (in ms) of Galileo observables. 0 mutes this message
 PVT.rtcm_MT1077_rate_ms=1000 ; Period (in ms) of GPS observables. 0 mutes this message
-
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf
index aa3d970d8..2427aa101 100644
--- a/conf/gnss-sdr_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_Hybrid_nsr.conf
@@ -15,28 +15,19 @@ GNSS-SDR.internal_fs_sps=2560000
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Nsr_File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/media/javier/SISTEMA/signals/ifen/E1L1_FE0_Band0.stream       ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=byte
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=20480000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
+;#dump: Dump the Signal source data to a file.
 SignalSource.dump=false
-
 SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -65,22 +56,15 @@ DataTypeAdapter.item_type=float
 
 InputFilter.implementation=Freq_Xlating_Fir_Filter
 
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=float
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -132,6 +116,12 @@ InputFilter.IF=5499998.47412109
 ;# Decimation factor after the frequency tranaslating block
 InputFilter.decimation_factor=8
 
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
+
 
 ;######### RESAMPLER CONFIG ############
 ;## Resamples the input data.
@@ -151,9 +141,11 @@ Channels.in_acquisition=1
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
 Channel0.signal=1C
@@ -175,19 +167,13 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.0075
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -196,22 +182,21 @@ Acquisition_1C.threshold=0.0075
 Acquisition_1C.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=250
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -220,118 +205,92 @@ Acquisition_1B.pfa=0.0000002
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
-
 ;# Extended correlation after telemetry bit synchronization
 ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
 ;# Longer integration period require more stable front-end LO
-
 Tracking_1C.extend_correlation_ms=1
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-
 Tracking_1C.pll_bw_hz=40;
 Tracking_1C.pll_bw_narrow_hz=20;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.dll_bw_narrow_hz=1.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1C.order=3;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=4;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
-TelemetryDecoder_1B_factor=4;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation algorithm.
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=10;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
index d6f7aa3b6..e9e5eb0f8 100644
--- a/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
+++ b/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
@@ -13,27 +13,16 @@ GNSS-SDR.internal_fs_sps=20000000
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=byte
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=20000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
@@ -48,7 +37,7 @@ SignalSource.enable_throttle_control=false
 SignalConditioner.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter.implementation=Ibyte_To_Complex
 
@@ -63,7 +52,7 @@ InputFilter.implementation=Pass_Through
 
 ;#implementation: Use [Pass_Through] or [Direct_Resampler]
 ;#[Pass_Through] disables this block
-;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
+;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation
 ;Resampler.implementation=Direct_Resampler
 Resampler.implementation=Pass_Through
 
@@ -96,19 +85,13 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.use_CFAR_algorithm=false;
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=18
@@ -116,22 +99,20 @@ Acquisition_1C.threshold=18
 Acquisition_1C.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=500
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=../data/acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 Acquisition_1B.acquire_pilot=true
 Acquisition_1B.use_CFAR_algorithm=false
 ;#threshold: Acquisition threshold
@@ -141,100 +122,78 @@ Acquisition_1B.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
 Acquisition_1B.bit_transition_flag=true
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=../data/acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=30.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=2.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=30.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 Tracking_1B.track_pilot=true
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=4.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=0.5;
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_narrow_hz=2.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_narrow_hz=0.25;
-
 Tracking_1B.extend_correlation_symbols=4;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_narrow_chips=0.06;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_narrow_chips=0.25;
-
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=4;
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -242,23 +201,17 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
index 7b3c059fb..8b2f05195 100644
--- a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
+++ b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
@@ -7,43 +7,33 @@
 
 ;######### GLOBAL OPTIONS ##################
 ;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
-GNSS-SDR.internal_fs_hz=5456000
+GNSS-SDR.internal_fs_sps=5456000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Labsat_Signal_Source
-
 SignalSource.selected_channel=1
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 ;# Labsat sile source automatically increments the file name when the signal is split in several files
 ;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
 ;# in this example, the first file complete path will be ../signals/GPS_025_0000.LS3
-
 SignalSource.filename=../signals/GPS_025    ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource.sampling_frequency=16368000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource.samples=0
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
+;#dump: Dump the Signal source data to a file.
 SignalSource.dump=false
-
 SignalSource.dump_filename=../data/signal_source.dat
-
-
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
 
+
 ;######### SIGNAL_CONDITIONER CONFIG ############
 ;## It holds blocks to change data type, filter and resample input data.
 
@@ -61,10 +51,9 @@ DataTypeAdapter.item_type=gr_complex
 ;######### INPUT_FILTER CONFIG ############
 ;## Filter the input data. Can be combined with frequency translation for IF signals
 
-;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
+;#implementation
 ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
 ;# that shifts IF down to zero Hz.
-
 InputFilter.implementation=Freq_Xlating_Fir_Filter
 
 ;#dump: Dump the filtered data to a file.
@@ -75,14 +64,13 @@ InputFilter.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -164,19 +152,13 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.use_CFAR_algorithm=false;
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=22
@@ -184,22 +166,19 @@ Acquisition_1C.threshold=22
 Acquisition_1C.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=250
-
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=../data/acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 Acquisition_1B.acquire_pilot=true
 Acquisition_1B.use_CFAR_algorithm=false
 ;#threshold: Acquisition threshold
@@ -209,79 +188,59 @@ Acquisition_1B.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
 Acquisition_1B.bit_transition_flag=true
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=../data/acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=2.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=true
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 Tracking_1B.track_pilot=true
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=7.5;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=0.5;
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_narrow_hz=2.5;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_narrow_hz=0.25;
-
 Tracking_1B.extend_correlation_symbols=4;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_narrow_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_narrow_chips=0.30;
-
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
@@ -294,13 +253,12 @@ TelemetryDecoder_1C.dump=false
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -308,23 +266,17 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
index 7cf44f53b..746dbdea9 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
@@ -24,29 +24,22 @@ GNSS-SDR.SUPL_LAC=0x59e2
 GNSS-SDR.SUPL_CI=0x31b0
 
 ;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 SignalSource.flag_read_file=true
 SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb  ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_III-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=1
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -76,13 +69,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -156,10 +149,10 @@ InputFilter1.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter1.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 1 ############
@@ -183,10 +176,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -219,19 +212,13 @@ Channel.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.use_CFAR_algorithm=false;
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=15
@@ -247,91 +234,71 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=true
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
-
 Tracking_1C.extend_correlation_ms=10
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.pll_bw_narrow_hz=35;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.dll_bw_narrow_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1C.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
 Tracking_1C.early_late_space_chips=0.5;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=true
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
+
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
index c7824e242..dc80ecfd0 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
@@ -74,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -153,10 +153,10 @@ InputFilter1.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter1.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 1 ############
@@ -180,10 +180,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -197,12 +197,13 @@ Channels_1C.count=8
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;# CHANNEL CONNECTION
 Channel0.RF_channel_ID=0
@@ -231,19 +232,13 @@ Channel7.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.012
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -258,89 +253,66 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=3.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=3.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
\ No newline at end of file
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
index 06aabba4f..9a184f66d 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
@@ -27,24 +27,18 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_III-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=1
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -74,13 +68,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -153,10 +147,10 @@ InputFilter1.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter1.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 1 ############
@@ -180,10 +174,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -196,12 +190,13 @@ Channels_1C.count=8
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;# CHANNEL CONNECTION
 Channel0.RF_channel_ID=0
@@ -224,24 +219,15 @@ Channel5.signal=1C
 Channel6.signal=1C
 Channel7.signal=1C
 
-;######### SPECIFIC CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
-
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.012
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -256,87 +242,66 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=3.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=3.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
-;######### OBSERVABLES CONFIG ############
-;#implementation:
-Observables.implementation=Hybrid_Observables
 
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
\ No newline at end of file
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
index 14367f2d8..34c4e3142 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
@@ -27,24 +27,18 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_II-3b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=1
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -74,16 +68,16 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
-;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
+;#taps_item_type: Type and resolution for the taps of the filter.
 InputFilter0.taps_item_type=float
 
 ;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
@@ -123,8 +117,6 @@ InputFilter0.grid_density=16
 
 ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
 ;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
-;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
-; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
 InputFilter0.sampling_frequency=40000000
 ;# IF deviation due to front-end LO inaccuracies [HZ]
 InputFilter0.IF=-205000
@@ -153,10 +145,10 @@ InputFilter1.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter1.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 1 ############
@@ -180,10 +172,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -197,11 +189,13 @@ Channels_1C.count=8
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-;# signal:
+;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;# CHANNEL CONNECTION
 Channel0.RF_channel_ID=0
@@ -225,24 +219,15 @@ Channel6.signal=1C
 Channel7.signal=1C
 
 
-;######### SPECIFIC CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
-
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.012
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -257,54 +242,43 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=3.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=3.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -312,34 +286,24 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
\ No newline at end of file
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
index 89d81f8ff..2bba3f755 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
@@ -27,24 +27,18 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_I-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=1
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -74,13 +68,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -153,10 +147,10 @@ InputFilter1.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter1.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 1 ############
@@ -180,10 +174,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -199,9 +193,11 @@ Channels.in_acquisition=1
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;# CHANNEL CONNECTION
 Channel0.RF_channel_ID=0
@@ -220,24 +216,15 @@ Channel1.signal=1C
 Channel2.signal=1C
 Channel3.signal=1C
 
-;######### SPECIFIC CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
-
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.011
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -252,89 +239,65 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=3.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=3.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
index 4d075265e..48c73a036 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
@@ -27,24 +27,18 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_III-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=2
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -78,13 +72,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -172,13 +166,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -254,10 +248,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -273,12 +267,13 @@ Channels_2S.count=8
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 
 ;# CHANNEL CONNECTION
@@ -359,19 +354,13 @@ Channel15.signal=2S
 ;######### SPECIFIC CHANNELS CONFIG ######
 ;#The following options are specific to each channel and overwrite the generic options
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.008
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -386,112 +375,92 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
-
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=true
-Tracking_1C.dump_filename=./tracking_ch_
 Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.dll_bw_hz=3.0;
 Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
+Tracking_1C.dump=true
+Tracking_1C.dump_filename=./tracking_ch_
+
 
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.0005
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_min=-5000
 Acquisition_2S.doppler_step=30
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
 
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=true
-Tracking_2S.dump_filename=./tracking_ch_
 Tracking_2S.pll_bw_hz=1.5;
 Tracking_2S.dll_bw_hz=0.3;
 Tracking_2S.order=3;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=true
+Tracking_2S.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER GPS L1 CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-TelemetryDecoder_1C.decimation_factor=20;
 
 
 ;######### TELEMETRY DECODER GPS L2 CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 TelemetryDecoder_2S.dump=false
-TelemetryDecoder_2S.decimation_factor=1;
 
 
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#averaging_depth: Number of PVT observations in the moving average algorithm
 PVT.averaging_depth=10
-
 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
 PVT.flag_averaging=true
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
index 2a8e629c7..44be57a15 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
@@ -81,13 +81,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -175,13 +175,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -257,10 +257,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -278,9 +278,11 @@ Channels.in_acquisition=1
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 
 ;# CHANNEL CONNECTION
@@ -305,19 +307,13 @@ Channel15.RF_channel_ID=1
 ;######### SPECIFIC CHANNELS CONFIG ######
 ;#The following options are specific to each channel and overwrite the generic options
 ;######### ACQUISITION GLOBAL CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples..
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.008
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -332,16 +328,13 @@ Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
-
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
@@ -353,44 +346,37 @@ Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
 
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.0005
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_min=-5000
 Acquisition_2S.doppler_step=30
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
 
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=true
-Tracking_2S.dump_filename=../data/epl_tracking_ch_
 Tracking_2S.pll_bw_hz=1.5;
 Tracking_2S.dll_bw_hz=0.3;
 Tracking_2S.order=3;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=true
+Tracking_2S.dump_filename=../data/epl_tracking_ch_
 
 
 ;# GALILEO E1B
-
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -399,100 +385,80 @@ Acquisition_1B.pfa=0.0000005
 Acquisition_1B.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=./veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
-
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=./veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS L1 CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-TelemetryDecoder_1C.decimation_factor=20;
 
 
 ;######### TELEMETRY DECODER GPS L2 CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 TelemetryDecoder_2S.dump=false
-TelemetryDecoder_2S.decimation_factor=1;
 
 ;######### TELEMETRY DECODER GALILEO E1B CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
-TelemetryDecoder_1B.decimation_factor=5;
 
 
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=100
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
+
diff --git a/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
index eaa8b494c..c5f32b456 100644
--- a/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
@@ -27,19 +27,14 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=UHD_Signal_Source
-
 ;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
 SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples. 
 SignalSource.item_type=gr_complex
-
 ;#RF_channels: Number of RF channels present in the frontend device (i.e. USRP with two frontends)
 SignalSource.RF_channels=2
-
 ;#sampling_frequency: Original Signal sampling frequency in [Hz]
 SignalSource.sampling_frequency=4000000
-
 ;#subdevice: UHD subdevice specification (for USRP dual frontend use A:0 or B:0 or A:0 B:0)
 SignalSource.subdevice=A:0 B:0
 
@@ -55,10 +50,6 @@ SignalSource.gain0=50
 ;#samples: Number of samples to be processed. Notice that 0 indicates no limit
 SignalSource.samples0=0
 
-;#dump: Dump the Signal source RF channel data to a file. Disable this option in this version
-SignalSource.dump0=false
-
-SignalSource.dump_filename0=../data/signal_source0.dat
 
 ;## RF CHANNEL 1 ##
 ;#freq: RF front-end center frequency in [Hz]
@@ -70,11 +61,6 @@ SignalSource.gain1=50
 ;#samples: Number of samples to be processed. Notice that 0 indicates no limit
 SignalSource.samples1=0
 
-;#dump: Dump the Signal source RF channel data to a file. Disable this option in this version
-SignalSource.dump1=false
-
-SignalSource.dump_filename1=../data/signal_source1.dat
-
 
 ;######### SIGNAL_CONDITIONER 0 CONFIG ############
 ;## It holds blocks to change data type, filter and resample input data.
@@ -107,14 +93,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -199,14 +184,13 @@ InputFilter1.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -276,9 +260,11 @@ Channels.in_acquisition=1
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;# CHANNEL CONNECTION
 Channel0.RF_channel_ID=0
@@ -299,19 +285,14 @@ Channel3.signal=1C
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
-
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.coherent_integration_time_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
 Acquisition_1C.threshold=0.01
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -326,87 +307,65 @@ Acquisition_1C.doppler_step=500
 Acquisition_1C.bit_transition_flag=false
 ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
 Acquisition_1C.max_dwells=1
-
-
-;######### ACQUISITION CHANNELS CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_1C.early_late_space_chips=0.5;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=./tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=40.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
-;######### OBSERVABLES CONFIG ############
-;#implementation:
-Observables.implementation=Hybrid_Observables
 
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
index 29f2720dd..2f601ba41 100644
--- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
@@ -27,27 +27,20 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 SignalSource.flag_read_file=true
 SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb   ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_III-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=1
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -81,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter_ch0.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -130,11 +123,7 @@ InputFilter0.grid_density=16
 
 ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
 ;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
-;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
-; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
 InputFilter0.sampling_frequency=20000000
-;# IF deviation due to front-end LO inaccuracies [HZ]
-;#InputFilter0.IF=-205000
 InputFilter0.IF=0
 
 ;# Decimation factor after the frequency tranaslating block
@@ -174,13 +163,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -222,9 +211,6 @@ InputFilter1.filter_type=bandpass
 InputFilter1.grid_density=16
 
 ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
-;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
-;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
-; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
 InputFilter1.sampling_frequency=20000000
 ;# IF deviation due to front-end LO inaccuracies [HZ]
 InputFilter1.IF=0
@@ -261,10 +247,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter_ch2.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples..
 InputFilter2.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -306,9 +292,6 @@ InputFilter2.filter_type=bandpass
 InputFilter2.grid_density=16
 
 ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
-;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
-;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
-; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
 InputFilter2.sampling_frequency=40000000
 ;# IF deviation due to front-end LO inaccuracies [HZ]
 InputFilter2.IF=0
@@ -334,11 +317,13 @@ Channels_5X.count=0
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-;# signal:
+;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 ;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
 
 ;# CHANNEL CONNECTION
@@ -388,31 +373,26 @@ Channel39.RF_channel_ID=2
 ;#The following options are specific to each channel and overwrite the generic options
 
 ;# GPS L1 CA
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.coherent_integration_time_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.005
 Acquisition_1C.doppler_max=5000
 Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 Acquisition_1C.max_dwells=1
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 ;# Galileo E1
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -421,29 +401,31 @@ Acquisition_1B.pfa=0.0000002
 Acquisition_1B.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
-
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
 
 
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.00074
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_min=-5000
 Acquisition_2S.doppler_step=60
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
+
 
 ;# GALILEO E5a
-Acquisition_5X.dump=false
-Acquisition_5X.dump_filename=./acq_dump.dat
+Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 Acquisition_5X.item_type=gr_complex
 Acquisition_5X.if=0
 Acquisition_5X.coherent_integration_time_ms=1
-Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 Acquisition_5X.threshold=0.009
 Acquisition_5X.doppler_max=5000
 Acquisition_5X.doppler_step=125
@@ -451,32 +433,29 @@ Acquisition_5X.bit_transition_flag=false
 Acquisition_5X.max_dwells=1
 Acquisition_5X.CAF_window_hz=0 ;  **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
 Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
+Acquisition_5X.dump=false
+Acquisition_5X.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING CONFIG ############
-
 ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.dll_bw_hz=3.0;
 Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
 
 ;######### GALILEO E1 TRK CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
@@ -487,24 +466,28 @@ Tracking_1B.order=3;
 Tracking_1B.early_late_space_chips=0.15;
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
 
 ;######### GPS L2C GENERIC TRACKING CONFIG ############
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=false
-Tracking_2S.dump_filename=./tracking_ch_
 Tracking_2S.pll_bw_hz=2.0;
 Tracking_2S.dll_bw_hz=0.25;
 Tracking_2S.order=2;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=false
+Tracking_2S.dump_filename=./tracking_ch_
+
 
 ;######### GALILEO E5 TRK CONFIG ############
 Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
 Tracking_5X.item_type=gr_complex
 Tracking_5X.if=0
-Tracking_5X.dump=false
-Tracking_5X.dump_filename=./tracking_ch_
 Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
@@ -512,6 +495,9 @@ Tracking_5X.pll_bw_hz=20.0;
 Tracking_5X.dll_bw_hz=20.0;
 Tracking_5X.order=2;
 Tracking_5X.early_late_space_chips=0.5;
+Tracking_5X.dump=false
+Tracking_5X.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
@@ -526,8 +512,8 @@ TelemetryDecoder_2S.dump=false
 TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
 TelemetryDecoder_5X.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
@@ -536,36 +522,25 @@ Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=100
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
index 66d6b6a12..669f734c3 100644
--- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
+++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
@@ -27,27 +27,20 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 SignalSource.flag_read_file=true
 SignalSource.signal_file=/home/javier/signals/20140923_20-24-17_L125_roof_210s.usb   ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_III-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=2
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -81,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter_ch0.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -173,13 +166,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -253,10 +246,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;######### RESAMPLER CONFIG 2 ############
@@ -274,11 +267,13 @@ Channels_2S.count=4
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-;# signal:
+;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 ;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
 
 ;# CHANNEL CONNECTION
@@ -304,108 +299,92 @@ Channel18.RF_channel_ID=1
 Channel19.RF_channel_ID=1
 
 
-;######### ACQUISITION GENERIC CONFIG ######
-;#The following options are specific to each channel and overwrite the generic options
-
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.coherent_integration_time_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.005
 Acquisition_1C.doppler_max=5000
 Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 Acquisition_1C.max_dwells=1
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+
 
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.00074
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_min=-5000
 Acquisition_2S.doppler_step=60
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
 
 
 ;######### TRACKING CONFIG ############
-
 ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.dll_bw_hz=3.0;
 Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 
 ;######### GPS L2C GENERIC TRACKING CONFIG ############
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=false
-Tracking_2S.dump_filename=./tracking_ch_
 Tracking_2S.pll_bw_hz=2.0;
 Tracking_2S.dll_bw_hz=0.25;
 Tracking_2S.order=2;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=false
+Tracking_2S.dump_filename=./tracking_ch_
 
 
 ;######### TELEMETRY DECODER CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-TelemetryDecoder_1C.decimation_factor=20;
+
 
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 TelemetryDecoder_2S.dump=false
-TelemetryDecoder_2S.decimation_factor=1;
 
 
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=true
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=100
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
\ No newline at end of file
diff --git a/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
index 9ab64a11a..dece9c9e4 100644
--- a/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
+++ b/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
@@ -27,27 +27,20 @@ GNSS-SDR.SUPL_CI=0x31b0
 ;######### SIGNAL_SOURCE CONFIG ############
 ;#implementation
 SignalSource.implementation=Flexiband_Signal_Source
-
 SignalSource.flag_read_file=true
 SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb   ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource.item_type=gr_complex
-
 ;# FPGA firmware file
 SignalSource.firmware_file=flexiband_III-1b.bit
-
 ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
 SignalSource.RF_channels=3
-
 ;#frontend channels gain. Not usable yet!
 SignalSource.gain1=0
 SignalSource.gain2=0
 SignalSource.gain3=0
-
 ;#frontend channels AGC
 SignalSource.AGC=true
-
 ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
 SignalSource.usb_packet_buffer=128
 
@@ -81,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter_ch0.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse reaponse given a set of band edges,
+;#the desired reaponse on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -174,16 +167,16 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges,
-;#the desired reponse on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
-;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
+;#taps_item_type: Type and resolution for the taps of the filter.
 InputFilter1.taps_item_type=float
 
 ;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
@@ -261,10 +254,10 @@ InputFilter2.dump=false
 ;#dump_filename: Log path and filename.
 InputFilter2.dump_filename=../data/input_filter_ch2.dat
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter2.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter2.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -334,12 +327,13 @@ Channels_5X.count=10
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
-;# signal:
+;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
-;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
+;# "L5" GPS L5
 
 ;# CHANNEL CONNECTION
 
@@ -388,31 +382,27 @@ Channel39.RF_channel_ID=2
 ;#The following options are specific to each channel and overwrite the generic options
 
 ;# GPS L1 CA
-Acquisition_1C.dump=false
-Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.if=0
 Acquisition_1C.coherent_integration_time_ms=1
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.threshold=0.005
 Acquisition_1C.doppler_max=5000
 Acquisition_1C.doppler_step=250
 Acquisition_1C.bit_transition_flag=false
 Acquisition_1C.max_dwells=1
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+
 
 ;# Galileo E1
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -421,29 +411,31 @@ Acquisition_1B.pfa=0.0000002
 Acquisition_1B.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
-
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
 
 
 ;# GPS L2C M
-Acquisition_2S.dump=false
-Acquisition_2S.dump_filename=./acq_dump.dat
+Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.item_type=gr_complex
 Acquisition_2S.if=0
-Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
 Acquisition_2S.threshold=0.00074
 ;Acquisition_2S.pfa=0.001
 Acquisition_2S.doppler_max=5000
 Acquisition_2S.doppler_min=-5000
 Acquisition_2S.doppler_step=60
 Acquisition_2S.max_dwells=1
+Acquisition_2S.dump=false
+Acquisition_2S.dump_filename=./acq_dump.dat
+
 
 ;# GALILEO E5a
-Acquisition_5X.dump=false
-Acquisition_5X.dump_filename=./acq_dump.dat
+Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 Acquisition_5X.item_type=gr_complex
 Acquisition_5X.if=0
 Acquisition_5X.coherent_integration_time_ms=1
-Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
 Acquisition_5X.threshold=0.009
 Acquisition_5X.doppler_max=5000
 Acquisition_5X.doppler_step=125
@@ -451,32 +443,28 @@ Acquisition_5X.bit_transition_flag=false
 Acquisition_5X.max_dwells=1
 Acquisition_5X.CAF_window_hz=0 ;  **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
 Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
+Acquisition_5X.dump=false
+Acquisition_5X.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING CONFIG ############
-
 ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
-Tracking_1C.dump=false
-Tracking_1C.dump_filename=../data/epl_tracking_ch_
 Tracking_1C.pll_bw_hz=35.0;
 Tracking_1C.dll_bw_hz=2.0;
 Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 ;######### GALILEO E1 TRK CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
@@ -487,24 +475,28 @@ Tracking_1B.order=3;
 Tracking_1B.early_late_space_chips=0.15;
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
 
 ;######### GPS L2C GENERIC TRACKING CONFIG ############
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 Tracking_2S.item_type=gr_complex
 Tracking_2S.if=0
-Tracking_2S.dump=false
-Tracking_2S.dump_filename=./tracking_ch_
 Tracking_2S.pll_bw_hz=2.0;
 Tracking_2S.dll_bw_hz=0.25;
 Tracking_2S.order=2;
 Tracking_2S.early_late_space_chips=0.5;
+Tracking_2S.dump=false
+Tracking_2S.dump_filename=./tracking_ch_
+
 
 ;######### GALILEO E5 TRK CONFIG ############
 Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
 Tracking_5X.item_type=gr_complex
 Tracking_5X.if=0
-Tracking_5X.dump=false
-Tracking_5X.dump_filename=./tracking_ch_
 Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
 Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
@@ -512,6 +504,9 @@ Tracking_5X.pll_bw_hz=20.0;
 Tracking_5X.dll_bw_hz=20.0;
 Tracking_5X.order=2;
 Tracking_5X.early_late_space_chips=0.5;
+Tracking_5X.dump=false
+Tracking_5X.dump_filename=./tracking_ch_
+
 
 ;######### TELEMETRY DECODER CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
@@ -526,6 +521,7 @@ TelemetryDecoder_2S.dump=false
 TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
 TelemetryDecoder_5X.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
@@ -538,34 +534,24 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 PVT.positioning_mode=PPP_Static  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
 PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=10
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=100
-
 ;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
 ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
 PVT.flag_nmea_tty_port=false;
-
 ;#nmea_dump_devname: serial device descriptor for NMEA logging
 PVT.nmea_dump_devname=/dev/pts/4
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
diff --git a/conf/gnss-sdr_multisource_Hybrid_ishort.conf b/conf/gnss-sdr_multisource_Hybrid_ishort.conf
index d80bc3050..3aa7f840b 100644
--- a/conf/gnss-sdr_multisource_Hybrid_ishort.conf
+++ b/conf/gnss-sdr_multisource_Hybrid_ishort.conf
@@ -14,57 +14,35 @@ Receiver.sources_count=2
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
 
 
 ;######### SIGNAL_SOURCE 0 CONFIG ############
-;#implementation
 SignalSource0.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource0.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource0.item_type=ishort
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource0.sampling_frequency=4000000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource0.samples=0
 
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource0.dump=false
-
-SignalSource0.dump_filename=../data/signal_source.dat
 
 ;######### SIGNAL_SOURCE 1 CONFIG ############
-
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
 SignalSource1.implementation=File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource1.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource1.item_type=ishort
-
 ;#sampling_frequency: Original Signal sampling frequency in [Hz]
 SignalSource1.sampling_frequency=4000000
-
 ;#freq: RF front-end center frequency in [Hz]
 SignalSource1.freq=1575420000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource1.samples=0
 
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource1.dump=false
-
-SignalSource1.dump_filename=../data/signal_source.dat
-
 
 ;######### SIGNAL_CONDITIONER 0 CONFIG ############
 ;## It holds blocks to change data type, filter and resample input data.
@@ -97,12 +75,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of GNU Radio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands.
+;;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -163,7 +142,7 @@ Resampler1.dump=false
 ;#dump_filename: Log path and filename.
 Resampler1.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Resampler1.item_type=gr_complex
 
 ;#sample_freq_in: the sample frequency of the input signal
@@ -181,7 +160,7 @@ Resampler1.sample_freq_out=4000000
 SignalConditioner1.implementation=Signal_Conditioner
 
 ;######### DATA_TYPE_ADAPTER 1 CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
+;## Changes the type of input data.
 ;#implementation: [Pass_Through] disables this block
 DataTypeAdapter1.implementation=Ishort_To_Complex
 
@@ -203,12 +182,13 @@ InputFilter1.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of GNU Radio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=gr_complex
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -269,7 +249,7 @@ Resampler1.dump=false
 ;#dump_filename: Log path and filename.
 Resampler1.dump_filename=../data/resampler.dat
 
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Resampler1.item_type=gr_complex
 
 ;#sample_freq_in: the sample frequency of the input signal
@@ -299,19 +279,13 @@ Channel.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.0075
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -320,22 +294,20 @@ Acquisition_1C.threshold=0.0075
 Acquisition_1C.doppler_max=10000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=500
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -344,70 +316,57 @@ Acquisition_1B.pfa=0.0000008
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=45.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=45.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=4;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
@@ -418,10 +377,8 @@ TelemetryDecoder_1B.dump=false
 ;######### OBSERVABLES CONFIG ############
 ;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
@@ -429,19 +386,14 @@ Observables.dump_filename=./observables.dat
 ;######### PVT CONFIG ############
 ;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=100;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
diff --git a/conf/gnss-sdr_multisource_Hybrid_nsr.conf b/conf/gnss-sdr_multisource_Hybrid_nsr.conf
index cc151286e..5a543018e 100644
--- a/conf/gnss-sdr_multisource_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_multisource_Hybrid_nsr.conf
@@ -17,53 +17,35 @@ GNSS-SDR.internal_fs_sps=2560000
 ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
 ; it helps to not overload the CPU, but the processing time will be longer.
 SignalSource.enable_throttle_control=false
-
-;#repeat: Repeat the processing file. Disable this option in this version
+;#repeat: Repeat the processing file.
 SignalSource.repeat=false
 
 
 ;######### SIGNAL_SOURCE 0 CONFIG ############
 ;#implementation
 SignalSource0.implementation=Nsr_File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource0.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream  ; <- PUT YOUR FILE HERE
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource0.item_type=byte
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource0.sampling_frequency=20480000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource0.samples=0
 
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource0.dump=false
-
-SignalSource0.dump_filename=../data/signal_source.dat
 
 ;######### SIGNAL_SOURCE 1 CONFIG ############
 ;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
 SignalSource1.implementation=Nsr_File_Signal_Source
-
 ;#filename: path to file with the captured GNSS signal samples to be processed
 SignalSource1.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream
-
 ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
 SignalSource1.item_type=byte
-
 ;#sampling_frequency: Original Signal sampling frequency in samples per second
 SignalSource1.sampling_frequency=20480000
-
 ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
 SignalSource1.samples=0
 
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource1.dump=false
-
-SignalSource1.dump_filename=../data/signal_source.dat
-
 
 ;######### SIGNAL_CONDITIONER 0 CONFIG ############
 ;## It holds blocks to change data type, filter and resample input data.
@@ -96,14 +78,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter0.input_item_type=float
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter0.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -194,14 +175,13 @@ InputFilter1.dump_filename=../data/input_filter.dat
 
 ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
 ;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
-;#reponse given a set of band edges, the desired reponse on those bands,
-;#and the weight given to the error in those bands.
+;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
+;#the desired response on those bands, and the weight given to the error in those bands.
 
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+;#input_item_type: Type and resolution for input signal samples.
 InputFilter1.input_item_type=float
 
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+;#outut_item_type: Type and resolution for output filtered signal samples.
 InputFilter1.output_item_type=gr_complex
 
 ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@@ -272,9 +252,11 @@ Channels.in_acquisition=1
 
 ;#signal:
 ;# "1C" GPS L1 C/A
-;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "1G" GLONASS L1 C/A
+;# "2S" GPS L2 L2C (M)
 ;# "5X" GALILEO E5a I+Q
+;# "L5" GPS L5
 
 ;# SOURCE CONNECTION
 Channel0.RF_channel_ID=0
@@ -316,19 +298,13 @@ Channel15.signal=1B
 
 
 ;######### GPS ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1C.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1C.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 ;#threshold: Acquisition threshold
 Acquisition_1C.threshold=0.0075
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -337,22 +313,20 @@ Acquisition_1C.threshold=0.0075
 Acquisition_1C.doppler_max=10000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=500
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
 
 
 ;######### GALILEO ACQUISITION CONFIG ############
-
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1B.dump=false
-;#filename: Log path and filename
-Acquisition_1B.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#item_type: Type and resolution for each of the signal samples.
 Acquisition_1B.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz]
 Acquisition_1B.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
 Acquisition_1B.sampled_ms=4
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 ;#threshold: Acquisition threshold
 ;Acquisition_1B.threshold=0
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@@ -361,105 +335,81 @@ Acquisition_1B.pfa=0.0000002
 Acquisition_1B.doppler_max=15000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1B.doppler_step=125
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+
 
 ;######### TRACKING GPS CONFIG ############
-
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples.
 Tracking_1C.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1C.if=0
-
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=45.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=2.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
 Tracking_1C.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=45.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
 
 ;######### TRACKING GALILEO CONFIG ############
-
-;#implementation: Selected tracking algorithm: [Galileo_E1_DLL_PLL_VEML_Tracking]
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+;#item_type: Type and resolution for each of the signal samples.
 Tracking_1B.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
 Tracking_1B.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1B.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1B.dump_filename=../data/veml_tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1B.pll_bw_hz=15.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1B.dll_bw_hz=2.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_1B.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
 Tracking_1B.early_late_space_chips=0.15;
-
 ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
 Tracking_1B.very_early_late_space_chips=0.6;
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
+
 
 ;######### TELEMETRY DECODER GALILEO CONFIG ############
 ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
-TelemetryDecoder_1B.dump=false
-TelemetryDecoder_1B.decimation_factor=4;
 
 
 ;######### OBSERVABLES CONFIG ############
-;#implementation:
 Observables.implementation=Hybrid_Observables
-
 ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
 Observables.dump=false
-
 ;#dump_filename: Log path and filename.
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation:
 PVT.implementation=RTKLIB_PVT
-
 ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
 PVT.output_rate_ms=10;
-
 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
 PVT.display_rate_ms=500;
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=false
-
 PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
-
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
 PVT.dump_filename=./PVT
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false