From 1d80f1ba9beed559372947acef4c596433dbb3b1 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 14 Jun 2019 18:22:07 +0200
Subject: [PATCH 01/20] Fix building if Armadillo < 9.400

---
 src/algorithms/tracking/libs/CMakeLists.txt | 9 +++++++--
 src/tests/CMakeLists.txt                    | 5 +++++
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index 80948c7e3..f8fb19479 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -33,7 +33,6 @@ set(TRACKING_LIB_SOURCES
     cpu_multicorrelator.cc
     cpu_multicorrelator_real_codes.cc
     cpu_multicorrelator_16sc.cc
-    nonlinear_tracking.cc
     lock_detectors.cc
     tcp_communication.cc
     tcp_packet_data.cc
@@ -51,7 +50,6 @@ set(TRACKING_LIB_HEADERS
     cpu_multicorrelator.h
     cpu_multicorrelator_real_codes.h
     cpu_multicorrelator_16sc.h
-    nonlinear_tracking.h
     lock_detectors.h
     tcp_communication.h
     tcp_packet_data.h
@@ -65,6 +63,12 @@ set(TRACKING_LIB_HEADERS
     exponential_smoother.h
 )
 
+if(ARMADILLO_VERSION_STRING VERSION_GREATER 9.400)
+    # sqrtmat_sympd() requires 9.400
+    set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} nonlinear_tracking.cc)
+    set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} nonlinear_tracking.h)
+endif()
+
 if(ENABLE_FPGA)
     set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
     set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
@@ -84,6 +88,7 @@ target_link_libraries(tracking_libs
         Gnuradio::runtime
         Volkgnsssdr::volkgnsssdr
         core_system_parameters
+        algorithms_libs
         ${OPT_TRACKING_LIBRARIES}
     PRIVATE
         Gflags::gflags
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 8bbddef13..219676d34 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -161,6 +161,11 @@ if(ENABLE_FPGA)
     add_definitions(-DFPGA_BLOCKS_TEST=1)
 endif()
 
+if(ARMADILLO_VERSION_STRING VERSION_GREATER 9.400)
+    #  sqrtmat_sympd() in nonlinear_tracking.cc requires 9.400
+    add_definitions(-DARMADILLO_HAVE_MVNRND=1)
+endif()
+
 find_package(Gnuplot)
 if(GNUPLOT_FOUND)
     add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")

From a22f79891b8db1fdb49e0c8f20465941bccf266d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 14 Jun 2019 19:16:37 +0200
Subject: [PATCH 02/20] Fix building if Armadillo < 8.400

---
 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 f171f199a..e20338cfa 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -99,8 +99,10 @@ DECLARE_string(log_dir);
 #endif
 
 #include "unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc"
+#if ARMADILLO_HAVE_MVNRND
 #include "unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc"
+#endif
 #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"

From 61f7ea2922a21b09913162dbdb82087cf29fa5d4 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 14 Jun 2019 21:16:40 +0200
Subject: [PATCH 03/20] Fix for Armadillo < 8.400

---
 src/tests/CMakeLists.txt | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 219676d34..04faa41a7 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -798,14 +798,20 @@ endif()
 
 #########################################################
 if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
+    set(NONLINEAR_SOURCES "")
+    if(ARMADILLO_VERSION_STRING VERSION_GREATER 9.400)
+        set(NONLINEAR_SOURCES
+            ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+            ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
+        )
+    endif()
     add_executable(trk_test
         ${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc
-        ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
-        ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
+        ${NONLINEAR_SOURCES}
     )
     if(${FILESYSTEM_FOUND})
         target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM=1)

From 7467f94164b96b2821ca5b3eea10c2fbac79c808 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 10:11:11 +0200
Subject: [PATCH 04/20] Relax Armadillo version for nonlinear filters

---
 src/algorithms/tracking/libs/CMakeLists.txt | 4 ++--
 src/tests/CMakeLists.txt                    | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index f8fb19479..e8bfb8d26 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -63,8 +63,8 @@ set(TRACKING_LIB_HEADERS
     exponential_smoother.h
 )
 
-if(ARMADILLO_VERSION_STRING VERSION_GREATER 9.400)
-    # sqrtmat_sympd() requires 9.400
+if(ARMADILLO_VERSION_STRING VERSION_GREATER 7.400)
+    # sqrtmat_sympd() requires 7.400
     set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} nonlinear_tracking.cc)
     set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} nonlinear_tracking.h)
 endif()
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 04faa41a7..12f65f0fd 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -161,8 +161,8 @@ if(ENABLE_FPGA)
     add_definitions(-DFPGA_BLOCKS_TEST=1)
 endif()
 
-if(ARMADILLO_VERSION_STRING VERSION_GREATER 9.400)
-    #  sqrtmat_sympd() in nonlinear_tracking.cc requires 9.400
+if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
+    # mvnrnd() requires 8.400
     add_definitions(-DARMADILLO_HAVE_MVNRND=1)
 endif()
 
@@ -799,7 +799,7 @@ endif()
 #########################################################
 if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
     set(NONLINEAR_SOURCES "")
-    if(ARMADILLO_VERSION_STRING VERSION_GREATER 9.400)
+    if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
         set(NONLINEAR_SOURCES
             ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
             ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc

From ec8f398e59031e7cee58211c5d2def01665bfee7 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 14 Jun 2019 14:10:30 +0200
Subject: [PATCH 05/20] Set CMAKE_CXX_STANDARD to 20 when available

---
 CMakeLists.txt                                              | 6 +++++-
 .../libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt    | 6 +++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 66ae4894a..601688fa2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -787,7 +787,11 @@ if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
                 TYPE OPTIONAL
             )
             if(${FILESYSTEM_FOUND})
-                set(CMAKE_CXX_STANDARD 17)
+                if(CMAKE_VERSION VERSION_LESS 3.12)
+                    set(CMAKE_CXX_STANDARD 17)
+                else()
+                    set(CMAKE_CXX_STANDARD 20)
+                endif()
                 set(CMAKE_CXX_STANDARD_REQUIRED ON)
             endif()
         endif()
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
index 8d515f584..86b4eab9d 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
@@ -95,7 +95,11 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
             set(CMAKE_CXX_STANDARD 14)
         else()
             if(${FILESYSTEM_FOUND})
-                set(CMAKE_CXX_STANDARD 17)
+                if(CMAKE_VERSION VERSION_LESS 3.12)
+                    set(CMAKE_CXX_STANDARD 17)
+                else()
+                    set(CMAKE_CXX_STANDARD 20)
+                endif()
                 set(CMAKE_CXX_STANDARD_REQUIRED ON)
             else()
                 set(CMAKE_CXX_STANDARD 14)

From aae32a103360b5004900f4e705cca83a4e6d3d2c Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 11:02:06 +0200
Subject: [PATCH 06/20] Udpate changelog

---
 docs/changelog | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/changelog b/docs/changelog
index 5cfa4faee..b816abbc7 100644
--- a/docs/changelog
+++ b/docs/changelog
@@ -50,7 +50,8 @@
 - Added interfaces for FPGA off-loading.
 - CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12.
 - Improvements for macOS users using Homebrew.
-- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17.
+- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher.
+- CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions.
 
 
 ### Improvements in Reliability

From 6911ad8fce8553c81762d3ada63ee706df43b9ff Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 13:07:09 +0200
Subject: [PATCH 07/20] Remove performance-unnecessary-copy-initialization
 clang-tidy check

Applying its fixes breaks building when using clnag 8.0 :-(
---
 .clang-tidy    | 1 -
 docs/changelog | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/.clang-tidy b/.clang-tidy
index bfb1b252c..3515d6a2a 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -32,7 +32,6 @@ Checks: '-*,
         performance-inefficient-algorithm,
         performance-move-const-arg,
         performance-type-promotion-in-math-fn,
-        performance-unnecessary-copy-initialization,
         performance-unnecessary-value-param,
         readability-container-size-empty,
         readability-identifier-naming,
diff --git a/docs/changelog b/docs/changelog
index b816abbc7..25156e270 100644
--- a/docs/changelog
+++ b/docs/changelog
@@ -16,7 +16,7 @@
 
 - Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel).
 - Shortened Acquisition to Tracking transition time.
-- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-copy-initialization, performance-unnecessary-value-param, readability-string-compare.
+- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare.
 
 
 ### Improvements in Flexibility:

From b11e85aa61ba3af241c5d3333b4b4b57ef3af106 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 19:33:00 +0200
Subject: [PATCH 08/20] Find libgfortran in more environments (including gcc
 9.0)

---
 cmake/Modules/FindGFORTRAN.cmake | 43 ++++++++++++++++++++++++++++++++
 1 file changed, 43 insertions(+)

diff --git a/cmake/Modules/FindGFORTRAN.cmake b/cmake/Modules/FindGFORTRAN.cmake
index f19ccd77a..395639c9a 100644
--- a/cmake/Modules/FindGFORTRAN.cmake
+++ b/cmake/Modules/FindGFORTRAN.cmake
@@ -45,12 +45,37 @@ find_library(GFORTRAN NAMES gfortran
         /usr/lib/gcc/i686-redhat-linux/4.8.2
         /usr/lib/gcc/x86_64-redhat-linux/7
         /usr/lib/gcc/i686-redhat-linux/7
+        /usr/lib/gcc/x86_64-redhat-linux/8
+        /usr/lib/gcc/i686-redhat-linux/8
+        /usr/lib/gcc/x86_64-redhat-linux/9
+        /usr/lib/gcc/i686-redhat-linux/9
+        /usr/lib64/gcc/x86_64-redhat-linux/7
+        /usr/lib64/gcc/x86_64-redhat-linux/8
+        /usr/lib64/gcc/x86_64-redhat-linux/9
         /usr/lib/gcc/armv7hl-redhat-linux-gnueabi/7
         /usr/lib/gcc/aarch64-redhat-linux/7
         /usr/lib/gcc/i586-suse-linux/4.8  # OpenSUSE 13.1
         /usr/lib/gcc/i586-suse-linux/4.9
+        /usr/lib/gcc/i586-suse-linux/7
+        /usr/lib/gcc/i586-suse-linux/8
+        /usr/lib/gcc/i586-suse-linux/9
         /usr/lib/gcc/x86_64-suse-linux/4.8
         /usr/lib/gcc/x86_64-suse-linux/4.9
+        /usr/lib64/gcc/x86_64-suse-linux/7
+        /usr/lib64/gcc/x86_64-suse-linux/8
+        /usr/lib64/gcc/x86_64-suse-linux/9
+        /usr/lib/gcc/armv7hl-suse-linux-gnueabi/7
+        /usr/lib/gcc/armv7hl-suse-linux-gnueabi/8
+        /usr/lib/gcc/armv7hl-suse-linux-gnueabi/9
+        /usr/lib64/gcc/aarch64-suse-linux/7
+        /usr/lib64/gcc/aarch64-suse-linux/8
+        /usr/lib64/gcc/aarch64-suse-linux/9
+        /usr/lib64/gcc/powerpc64-suse-linux/7
+        /usr/lib64/gcc/powerpc64-suse-linux/8
+        /usr/lib64/gcc/powerpc64-suse-linux/9
+        /usr/lib64/gcc/powerpc64le-suse-linux/7
+        /usr/lib64/gcc/powerpc64le-suse-linux/8
+        /usr/lib64/gcc/powerpc64le-suse-linux/9
         /usr/lib/gcc/i486-linux-gnu # Debian 7
         /usr/lib/gcc/i486-linux-gnu/4.4
         /usr/lib/gcc/i486-linux-gnu/4.6
@@ -142,6 +167,24 @@ find_library(GFORTRAN NAMES gfortran
         /usr/lib/gcc/powerpc64le-linux-gnu/8
         /usr/lib/gcc/s390x-linux-gnu/8
         /usr/lib/gcc/alpha-linux-gnu/8
+        /usr/lib/gcc/x86_64-linux-gnu/9
+        /usr/lib/gcc/aarch64-linux-gnu/9
+        /usr/lib/gcc/arm-linux-gnueabi/9
+        /usr/lib/gcc/arm-linux-gnueabihf/9
+        /usr/lib/gcc/i686-linux-gnu/9
+        /usr/lib/gcc/powerpc64le-linux-gnu/9
+        /usr/lib/gcc/powerpc64-linux-gnu/9/
+        /usr/lib/gcc/s390x-linux-gnu/9
+        /usr/lib/gcc/alpha-linux-gnu/9
+        /usr/lib/gcc/hppa-linux-gnu/9
+        /usr/lib/gcc/m68k-linux-gnu/9
+        /usr/lib/gcc/mips-linux-gnu/9
+        /usr/lib/gcc/mips64el-linux-gnuabi64/9
+        /usr/lib/gcc/mipsel-linux-gnu/9
+        /usr/lib/gcc/riscv64-linux-gnu/9
+        /usr/lib/gcc/sh4-linux-gnu/9
+        /usr/lib/gcc/sparc64-linux-gnu/9
+        /usr/lib/gcc/x86_64-linux-gnux32/9
         ${GFORTRAN_ROOT}/lib
         $ENV{GFORTRAN_ROOT}/lib
 )

From 6df59ab6b771ba8b3667df38836cee00cce801eb Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 20:39:06 +0200
Subject: [PATCH 09/20] Allow building glog with clang and stdc++

---
 CMakeLists.txt | 55 +++++++++++++++++++++++---------------------------
 1 file changed, 25 insertions(+), 30 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 601688fa2..beac67588 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1235,37 +1235,32 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
         set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
         set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
     endif()
-
-    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
-"#!/bin/sh
-export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
-export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
-export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK} -lc++\"
-export CXXFLAGS=\"-stdlib=libc++\"
-export CC=clang
-export CXX=clang++
-cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
-aclocal
-automake --add-missing
-autoreconf -vfi
-cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
-        )
-    else()
-        file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
-"#!/bin/sh
-export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
-export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
-export LIBS=${GFLAGS_LIBRARIES_TO_LINK}
-cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
-aclocal
-automake --add-missing
-autoreconf -vfi
-cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
-        )
+    include(CheckCXXCompilerFlag)
+    check_cxx_compiler_flag(-stdlib=libc++ HAVE_FLAG_CXX)
+    if(${HAVE_FLAG_CXX})
+        set(GFLAGS_LIBRARIES_TO_LINK "${GFLAGS_LIBRARIES_TO_LINK} -lc++")
+        set(GLOG_EXPORT_CXX_LIBRARIES "export CXXFLAGS=\"-stdlib=libc++\"")
     endif()
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+        set(GLOG_EXPORT_C_COMPILER "export CC=clang")
+        set(GLOG_EXPORT_CXX_COMPILER "export CXX=clang++")
+    endif()
+
+    file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
+"#!/bin/sh
+export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
+export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
+export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK}\"
+${GLOG_EXPORT_CXX_LIBRARIES}
+${GLOG_EXPORT_C_COMPILER}
+${GLOG_EXPORT_CXX_COMPILER}
+cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
+aclocal
+automake --add-missing
+autoreconf -vfi
+cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
+${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
+    )
 
     file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
         DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}

From 62280567a63c0eeec0517712c3876a12fd101f34 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 22:01:05 +0200
Subject: [PATCH 10/20] Allow building glog with clang

---
 CMakeLists.txt | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index beac67588..b13dd1407 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1235,9 +1235,7 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
         set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
         set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
     endif()
-    include(CheckCXXCompilerFlag)
-    check_cxx_compiler_flag(-stdlib=libc++ HAVE_FLAG_CXX)
-    if(${HAVE_FLAG_CXX})
+    if(OS_IS_MACOSX)
         set(GFLAGS_LIBRARIES_TO_LINK "${GFLAGS_LIBRARIES_TO_LINK} -lc++")
         set(GLOG_EXPORT_CXX_LIBRARIES "export CXXFLAGS=\"-stdlib=libc++\"")
     endif()

From 597806ed179e5bcc21c0b49c4efd52dcace0584b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 22:14:38 +0200
Subject: [PATCH 11/20] Add Catalina to the list of macOS versions

---
 CMakeLists.txt | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b13dd1407..8193d44b3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -295,6 +295,12 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
     set(OS_IS_MACOSX TRUE)
     execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
     string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
+    if(${DARWIN_VERSION} MATCHES "19")
+        set(MACOS_CATALINA TRUE)
+        set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
+        set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LIBRARY "libc++")
+        message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on macOS Catalina 10.15")
+    endif()
     if(${DARWIN_VERSION} MATCHES "18")
         set(MACOS_MOJAVE TRUE)
         set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")

From c31236096d3b02bb0bba0d219546c626ae1d42a1 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 22:25:22 +0200
Subject: [PATCH 12/20] Build volk_gnsssdr with C++20 with clang++ if available

---
 .../libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt    | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

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 86b4eab9d..4dc040d43 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
@@ -138,7 +138,11 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
                 set(CMAKE_CXX_STANDARD 14)
             else()
                 if(${FILESYSTEM_FOUND})
-                    set(CMAKE_CXX_STANDARD 17)
+                    if(CMAKE_VERSION VERSION_LESS 3.12)
+                        set(CMAKE_CXX_STANDARD 17)
+                    else()
+                        set(CMAKE_CXX_STANDARD 20)
+                    endif()
                     set(CMAKE_CXX_STANDARD_REQUIRED ON)
                 else()
                     set(CMAKE_CXX_STANDARD 14)

From e2d583a44205aa6d49289f32cfa0423f7dd4b1d8 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sat, 15 Jun 2019 23:49:24 +0200
Subject: [PATCH 13/20] Move definition og GNU Radio imported targets to the
 custom CMake module

---
 CMakeLists.txt                   | 126 -------------------------------
 cmake/Modules/FindGNURADIO.cmake |  37 +++++++++
 2 files changed, 37 insertions(+), 126 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8193d44b3..f2f4b7f8e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -629,132 +629,6 @@ set_package_properties(GNURADIO PROPERTIES
     PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones."
     TYPE REQUIRED
 )
-if(GNURADIO_VERSION)
-    if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
-        unset(GNURADIO_RUNTIME_FOUND)
-        message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
-    endif()
-endif()
-if(NOT GNURADIO_RUNTIME_FOUND)
-    message(STATUS "CMake cannot find GNU Radio >= ${GNSSSDR_GNURADIO_MIN_VERSION}")
-    if(OS_IS_LINUX)
-        message("Go to https://github.com/gnuradio/pybombs")
-        message("and follow the instructions to install GNU Radio in your system.")
-    endif()
-    if(OS_IS_MACOSX)
-        message("You can install it easily via Macports:")
-        message("  sudo port install gnuradio ")
-        message("Alternatively, you can use homebrew:")
-        message("  brew install gnuradio")
-    endif()
-    message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
-else()
-    if(NOT TARGET Gnuradio::runtime)
-        add_library(Gnuradio::runtime SHARED IMPORTED)
-        list(GET GNURADIO_RUNTIME_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_RUNTIME_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::runtime PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_RUNTIME_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_RUNTIME_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_RUNTIME_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_ANALOG_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-analog library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::analog)
-        add_library(Gnuradio::analog SHARED IMPORTED)
-        list(GET GNURADIO_ANALOG_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_ANALOG_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::analog PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_ANALOG_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_ANALOG_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_ANALOG_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_BLOCKS_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-blocks library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::blocks)
-        add_library(Gnuradio::blocks SHARED IMPORTED)
-        list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::blocks PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_BLOCKS_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_BLOCKS_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_BLOCKS_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_FILTER_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-filter library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::filter)
-        add_library(Gnuradio::filter SHARED IMPORTED)
-        list(GET GNURADIO_FILTER_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_FILTER_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::filter PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_FILTER_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FILTER_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_FILTER_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_FFT_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-fft library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::fft)
-        add_library(Gnuradio::fft SHARED IMPORTED)
-        list(GET GNURADIO_FFT_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_FFT_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::fft PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_FFT_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FFT_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_FFT_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(NOT GNURADIO_PMT_FOUND)
-    message(FATAL_ERROR "*** The gnuradio-pmt library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
-else()
-    if(NOT TARGET Gnuradio::pmt)
-        add_library(Gnuradio::pmt SHARED IMPORTED)
-        list(GET GNURADIO_PMT_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_PMT_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::pmt PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_PMT_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_PMT_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_PMT_LIBRARIES}"
-        )
-    endif()
-endif()
-
-if(ENABLE_UHD AND UHD_FOUND AND GNURADIO_UHD_FOUND)
-    if(NOT TARGET Gnuradio::uhd)
-        add_library(Gnuradio::uhd SHARED IMPORTED)
-        list(GET GNURADIO_UHD_LIBRARIES 0 FIRST_DIR)
-        get_filename_component(GNURADIO_UHD_DIR ${FIRST_DIR} ABSOLUTE)
-        set_target_properties(Gnuradio::uhd PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNURADIO_UHD_DIR}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_UHD_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GNURADIO_UHD_LIBRARIES}"
-        )
-    endif()
-endif()
 
 
 
diff --git a/cmake/Modules/FindGNURADIO.cmake b/cmake/Modules/FindGNURADIO.cmake
index 37b106833..27777983c 100644
--- a/cmake/Modules/FindGNURADIO.cmake
+++ b/cmake/Modules/FindGNURADIO.cmake
@@ -143,6 +143,21 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
         set(GNURADIO_FOUND FALSE) # Trick for feature_summary
     endif()
 
+    # Create imported target
+    string(TOLOWER ${EXTVAR} gnuradio_component)
+    if(NOT TARGET Gnuradio::${gnuradio_component})
+        add_library(Gnuradio::${gnuradio_component} SHARED IMPORTED)
+        set(GNURADIO_LIBRARY ${GNURADIO_${EXTVAR}_LIBRARIES})
+        list(GET GNURADIO_LIBRARY 0 FIRST_DIR)
+        get_filename_component(GNURADIO_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::${gnuradio_component} PROPERTIES
+            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+            IMPORTED_LOCATION "${GNURADIO_DIR}"
+            INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_${EXTVAR}_INCLUDE_DIRS}"
+            INTERFACE_LINK_LIBRARIES "${GNURADIO_LIBRARY}"
+        )
+    endif()
+
     mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
 endfunction()
 
@@ -218,3 +233,25 @@ if(NOT DEFINED GNURADIO_FOUND)
     set(GNURADIO_FOUND TRUE)
 endif()
 set(GNURADIO_VERSION ${PC_GNURADIO_RUNTIME_VERSION})
+
+if(NOT GNSSSDR_GNURADIO_MIN_VERSION)
+    set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
+endif()
+
+if(GNURADIO_VERSION)
+    if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
+        unset(GNURADIO_RUNTIME_FOUND)
+        message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
+        if(OS_IS_LINUX)
+            message("Go to https://github.com/gnuradio/pybombs")
+            message("and follow the instructions to install GNU Radio in your system.")
+        endif()
+        if(OS_IS_MACOSX)
+            message("You can install it easily via Macports:")
+            message("  sudo port install gnuradio ")
+            message("Alternatively, you can use homebrew:")
+            message("  brew install gnuradio")
+        endif()
+        message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
+    endif()
+endif()

From e574ecdccf914ca06eb5cfd6885c1cba0497d3a7 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 00:16:52 +0200
Subject: [PATCH 14/20] Print Armadillo version if found in the summary report

---
 CMakeLists.txt | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f2f4b7f8e..bfee10eb9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1337,6 +1337,9 @@ set_package_properties(Armadillo PROPERTIES
     TYPE REQUIRED
 )
 if(ARMADILLO_FOUND)
+    set_package_properties(Armadillo PROPERTIES
+        DESCRIPTION "C++ library for linear algebra and scientific computing (found: v${ARMADILLO_VERSION_STRING})"
+    )
     if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
         set(ARMADILLO_FOUND false)
         set(ENABLE_OWN_ARMADILLO true)

From 75d51ab837d29222d4579bef58f1aee2d984bc0d Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 09:37:04 +0200
Subject: [PATCH 15/20] Fix typos, improve comments

---
 CMakeLists.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bfee10eb9..e3a44189f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -474,7 +474,7 @@ endif()
 
 
 ################################################################################
-# Set C and C++ standard
+# Set minimal C and C++ standards
 ################################################################################
 if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
     set(CMAKE_C_STANDARD 11)
@@ -490,7 +490,7 @@ else()
         endif()
     endif()
     if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-        if(OS_IS_MACOSX)
+        if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
             if(CLANG_VERSION VERSION_LESS "600")
                 add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
             else()
@@ -649,7 +649,7 @@ endif()
 
 
 ################################################################################
-# Dectect availability of std::filesystem
+# Detect availability of std::filesystem and set C++ standard accordingly
 ################################################################################
 set(FILESYSTEM_FOUND FALSE)
 if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)

From d6887488f3f6399f161d6f876cb8c6f17866d8ba Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 11:40:58 +0200
Subject: [PATCH 16/20] Avoid usage of std::rand()

---
 .../tracking/cubature_filter_test.cc                         | 5 +++--
 .../tracking/unscented_filter_test.cc                        | 5 +++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
index ec61ea47d..827c706ea 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
@@ -97,14 +97,15 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
     std::default_random_engine e1(r());
     std::normal_distribution<float> normal_dist(0, 5);
     std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
+    std::uniform_int_distribution<> uniform_dist_int(1, 5);
 
     uint8_t nx = 0;
     uint8_t ny = 0;
 
     for (uint16_t k = 0; k < CUBATURE_TEST_N_TRIALS; k++)
         {
-            nx = std::rand() % 5 + 1;
-            ny = std::rand() % 5 + 1;
+            nx = static_cast<uint8_t>(uniform_dist_int(e1));
+            ny = static_cast<uint8_t>(uniform_dist_int(e1));
 
             kf_x = arma::randn<arma::vec>(nx, 1);
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
index d68a76ea6..510ac90b5 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
@@ -97,14 +97,15 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
     std::default_random_engine e1(r());
     std::normal_distribution<float> normal_dist(0, 5);
     std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
+    std::uniform_int_distribution<> uniform_dist_int(1, 5);
 
     uint8_t nx = 0;
     uint8_t ny = 0;
 
     for (uint16_t k = 0; k < UNSCENTED_TEST_N_TRIALS; k++)
         {
-            nx = std::rand() % 5 + 1;
-            ny = std::rand() % 5 + 1;
+            nx = static_cast<uint8_t>(uniform_dist_int(e1));
+            ny = static_cast<uint8_t>(uniform_dist_int(e1));
 
             kf_x = arma::randn<arma::vec>(nx, 1);
 

From 16f7c4b889f78f8fb89af994e548896b607ec412 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 14:54:41 +0200
Subject: [PATCH 17/20] Pass vectors and matrices by reference, rename classes
 to CamelCase style

---
 .../tracking/libs/nonlinear_tracking.cc       | 46 +++++++++----------
 .../tracking/libs/nonlinear_tracking.h        | 40 ++++++++--------
 .../tracking/cubature_filter_test.cc          | 22 ++++-----
 .../tracking/unscented_filter_test.cc         | 22 ++++-----
 4 files changed, 65 insertions(+), 65 deletions(-)

diff --git a/src/algorithms/tracking/libs/nonlinear_tracking.cc b/src/algorithms/tracking/libs/nonlinear_tracking.cc
index 99d637f06..645185730 100644
--- a/src/algorithms/tracking/libs/nonlinear_tracking.cc
+++ b/src/algorithms/tracking/libs/nonlinear_tracking.cc
@@ -4,7 +4,7 @@
  *
  * Cubature_Filter implements the functionality of the Cubature Kalman
  * Filter, which uses multidimensional cubature rules to estimate the
- * time evolution of a nonlinear system. Unscented_filter implements
+ * time evolution of a nonlinear system. UnscentedFilter implements
  * an Unscented Kalman Filter which uses Unscented Transform rules to
  * perform a similar estimation.
  *
@@ -44,7 +44,7 @@
 
 /***************** CUBATURE KALMAN FILTER *****************/
 
-Cubature_filter::Cubature_filter()
+CubatureFilter::CubatureFilter()
 {
     int nx = 1;
     x_pred_out = arma::zeros(nx, 1);
@@ -55,7 +55,7 @@ Cubature_filter::Cubature_filter()
 }
 
 
-Cubature_filter::Cubature_filter(int nx)
+CubatureFilter::CubatureFilter(int nx)
 {
     x_pred_out = arma::zeros(nx, 1);
     P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
@@ -65,7 +65,7 @@ Cubature_filter::Cubature_filter(int nx)
 }
 
 
-Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
+CubatureFilter::CubatureFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
 {
     x_pred_out = x_pred_0;
     P_x_pred_out = P_x_pred_0;
@@ -75,10 +75,10 @@ Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x
 }
 
 
-Cubature_filter::~Cubature_filter() = default;
+CubatureFilter::~CubatureFilter() = default;
 
 
-void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
+void CubatureFilter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
 {
     x_pred_out = x_pred_0;
     P_x_pred_out = P_x_pred_0;
@@ -91,7 +91,7 @@ void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x
 /*
  * Perform the prediction step of the cubature Kalman filter
  */
-void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
+void CubatureFilter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance)
 {
     // Compute number of cubature points
     int nx = x_post.n_elem;
@@ -133,7 +133,7 @@ void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::ma
 /*
  * Perform the update step of the cubature Kalman filter
  */
-void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
+void CubatureFilter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance)
 {
     // Compute number of cubature points
     int nx = x_pred.n_elem;
@@ -178,25 +178,25 @@ void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec&
 }
 
 
-arma::mat Cubature_filter::get_x_pred() const
+arma::mat CubatureFilter::get_x_pred() const
 {
     return x_pred_out;
 }
 
 
-arma::mat Cubature_filter::get_P_x_pred() const
+arma::mat CubatureFilter::get_P_x_pred() const
 {
     return P_x_pred_out;
 }
 
 
-arma::mat Cubature_filter::get_x_est() const
+arma::mat CubatureFilter::get_x_est() const
 {
     return x_est;
 }
 
 
-arma::mat Cubature_filter::get_P_x_est() const
+arma::mat CubatureFilter::get_P_x_est() const
 {
     return P_x_est;
 }
@@ -205,7 +205,7 @@ arma::mat Cubature_filter::get_P_x_est() const
 
 /***************** UNSCENTED KALMAN FILTER *****************/
 
-Unscented_filter::Unscented_filter()
+UnscentedFilter::UnscentedFilter()
 {
     int nx = 1;
     x_pred_out = arma::zeros(nx, 1);
@@ -216,7 +216,7 @@ Unscented_filter::Unscented_filter()
 }
 
 
-Unscented_filter::Unscented_filter(int nx)
+UnscentedFilter::UnscentedFilter(int nx)
 {
     x_pred_out = arma::zeros(nx, 1);
     P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
@@ -226,7 +226,7 @@ Unscented_filter::Unscented_filter(int nx)
 }
 
 
-Unscented_filter::Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
+UnscentedFilter::UnscentedFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
 {
     x_pred_out = x_pred_0;
     P_x_pred_out = P_x_pred_0;
@@ -236,10 +236,10 @@ Unscented_filter::Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P
 }
 
 
-Unscented_filter::~Unscented_filter() = default;
+UnscentedFilter::~UnscentedFilter() = default;
 
 
-void Unscented_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
+void UnscentedFilter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
 {
     x_pred_out = x_pred_0;
     P_x_pred_out = P_x_pred_0;
@@ -252,7 +252,7 @@ void Unscented_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_
 /*
  * Perform the prediction step of the Unscented Kalman filter
  */
-void Unscented_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
+void UnscentedFilter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance)
 {
     // Compute number of sigma points
     int nx = x_post.n_elem;
@@ -307,7 +307,7 @@ void Unscented_filter::predict_sequential(const arma::vec& x_post, const arma::m
 /*
  * Perform the update step of the Unscented Kalman filter
  */
-void Unscented_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
+void UnscentedFilter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance)
 {
     // Compute number of sigma points
     int nx = x_pred.n_elem;
@@ -364,25 +364,25 @@ void Unscented_filter::update_sequential(const arma::vec& z_upd, const arma::vec
 }
 
 
-arma::mat Unscented_filter::get_x_pred() const
+arma::mat UnscentedFilter::get_x_pred() const
 {
     return x_pred_out;
 }
 
 
-arma::mat Unscented_filter::get_P_x_pred() const
+arma::mat UnscentedFilter::get_P_x_pred() const
 {
     return P_x_pred_out;
 }
 
 
-arma::mat Unscented_filter::get_x_est() const
+arma::mat UnscentedFilter::get_x_est() const
 {
     return x_est;
 }
 
 
-arma::mat Unscented_filter::get_P_x_est() const
+arma::mat UnscentedFilter::get_P_x_est() const
 {
     return P_x_est;
 }
diff --git a/src/algorithms/tracking/libs/nonlinear_tracking.h b/src/algorithms/tracking/libs/nonlinear_tracking.h
index fdba4fec3..642645ea1 100644
--- a/src/algorithms/tracking/libs/nonlinear_tracking.h
+++ b/src/algorithms/tracking/libs/nonlinear_tracking.h
@@ -2,9 +2,9 @@
  * \file nonlinear_tracking.h
  * \brief Interface of a library for nonlinear tracking algorithms
  *
- * Cubature_Filter implements the functionality of the Cubature Kalman
+ * CubatureFilter implements the functionality of the Cubature Kalman
  * Filter, which uses multidimensional cubature rules to estimate the
- * time evolution of a nonlinear system. Unscented_filter implements
+ * time evolution of a nonlinear system. UnscentedFilter implements
  * an Unscented Kalman Filter which uses Unscented Transform rules to
  * perform a similar estimation.
  *
@@ -47,29 +47,29 @@
 #include <gnuradio/gr_complex.h>
 
 // Abstract model function
-class Model_Function
+class ModelFunction
 {
 public:
-    Model_Function(){};
-    virtual arma::vec operator()(arma::vec input) = 0;
-    virtual ~Model_Function() = default;
+    ModelFunction(){};
+    virtual arma::vec operator()(const arma::vec& input) = 0;
+    virtual ~ModelFunction() = default;
 };
 
-class Cubature_filter
+class CubatureFilter
 {
 public:
     // Constructors and destructors
-    Cubature_filter();
-    Cubature_filter(int nx);
-    Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
-    ~Cubature_filter();
+    CubatureFilter();
+    CubatureFilter(int nx);
+    CubatureFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
+    ~CubatureFilter();
 
     // Reinitialization function
     void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
 
     // Prediction and estimation
-    void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
-    void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
+    void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance);
+    void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance);
 
     // Getters
     arma::mat get_x_pred() const;
@@ -84,21 +84,21 @@ private:
     arma::mat P_x_est;
 };
 
-class Unscented_filter
+class UnscentedFilter
 {
 public:
     // Constructors and destructors
-    Unscented_filter();
-    Unscented_filter(int nx);
-    Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
-    ~Unscented_filter();
+    UnscentedFilter();
+    UnscentedFilter(int nx);
+    UnscentedFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
+    ~UnscentedFilter();
 
     // Reinitialization function
     void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
 
     // Prediction and estimation
-    void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
-    void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
+    void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance);
+    void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance);
 
     // Getters
     arma::mat get_x_pred() const;
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
index 827c706ea..56e18df38 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
@@ -36,21 +36,21 @@
 #define CUBATURE_TEST_N_TRIALS 1000
 #define CUBATURE_TEST_TOLERANCE 0.01
 
-class Transition_Model : public Model_Function
+class TransitionModel : public ModelFunction
 {
 public:
-    Transition_Model(arma::mat kf_F) { coeff_mat = kf_F; };
-    virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
+    TransitionModel(const arma::mat& kf_F) { coeff_mat = kf_F; };
+    virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
 
 private:
     arma::mat coeff_mat;
 };
 
-class Measurement_Model : public Model_Function
+class MeasurementModel : public ModelFunction
 {
 public:
-    Measurement_Model(arma::mat kf_H) { coeff_mat = kf_H; };
-    virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
+    MeasurementModel(const arma::mat& kf_H) { coeff_mat = kf_H; };
+    virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
 
 private:
     arma::mat coeff_mat;
@@ -58,7 +58,7 @@ private:
 
 TEST(CubatureFilterComputationTest, CubatureFilterTest)
 {
-    Cubature_filter kf_cubature;
+    CubatureFilter kf_cubature;
 
     arma::vec kf_x;
     arma::mat kf_P_x;
@@ -88,8 +88,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
     arma::mat kf_P_y;
     arma::mat kf_K;
 
-    Model_Function* transition_function;
-    Model_Function* measurement_function;
+    ModelFunction* transition_function;
+    ModelFunction* measurement_function;
 
     //--- Perform initializations ------------------------------
 
@@ -118,7 +118,7 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
             kf_F = arma::randu<arma::mat>(nx, nx);
             kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
 
-            transition_function = new Transition_Model(kf_F);
+            transition_function = new TransitionModel(kf_F);
             arma::mat ttx = (*transition_function)(kf_x_post);
 
             kf_cubature.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
@@ -141,7 +141,7 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
 
             kf_y = kf_H * (kf_F * kf_x + eta) + nu;
 
-            measurement_function = new Measurement_Model(kf_H);
+            measurement_function = new MeasurementModel(kf_H);
             kf_cubature.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
 
             ckf_x_post = kf_cubature.get_x_est();
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
index 510ac90b5..eaef07845 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
@@ -36,21 +36,21 @@
 #define UNSCENTED_TEST_N_TRIALS 10
 #define UNSCENTED_TEST_TOLERANCE 10
 
-class Transition_Model_UKF : public Model_Function
+class TransitionModelUKF : public ModelFunction
 {
 public:
-    Transition_Model_UKF(arma::mat kf_F) { coeff_mat = kf_F; };
-    virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
+    TransitionModelUKF(const arma::mat& kf_F) { coeff_mat = kf_F; };
+    virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
 
 private:
     arma::mat coeff_mat;
 };
 
-class Measurement_Model_UKF : public Model_Function
+class MeasurementModelUKF : public ModelFunction
 {
 public:
-    Measurement_Model_UKF(arma::mat kf_H) { coeff_mat = kf_H; };
-    virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
+    MeasurementModelUKF(const arma::mat& kf_H) { coeff_mat = kf_H; };
+    virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
 
 private:
     arma::mat coeff_mat;
@@ -58,7 +58,7 @@ private:
 
 TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
 {
-    Unscented_filter kf_unscented;
+    UnscentedFilter kf_unscented;
 
     arma::vec kf_x;
     arma::mat kf_P_x;
@@ -88,8 +88,8 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
     arma::mat kf_P_y;
     arma::mat kf_K;
 
-    Model_Function* transition_function;
-    Model_Function* measurement_function;
+    ModelFunction* transition_function;
+    ModelFunction* measurement_function;
 
     //--- Perform initializations ------------------------------
 
@@ -118,7 +118,7 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
             kf_F = arma::randu<arma::mat>(nx, nx);
             kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
 
-            transition_function = new Transition_Model_UKF(kf_F);
+            transition_function = new TransitionModelUKF(kf_F);
             arma::mat ttx = (*transition_function)(kf_x_post);
 
             kf_unscented.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
@@ -141,7 +141,7 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
 
             kf_y = kf_H * (kf_F * kf_x + eta) + nu;
 
-            measurement_function = new Measurement_Model_UKF(kf_H);
+            measurement_function = new MeasurementModelUKF(kf_H);
             kf_unscented.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
 
             ukf_x_post = kf_unscented.get_x_est();

From ee9e7493aea5b5783f4956bc248195b5cd29c9e9 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 20:27:00 +0200
Subject: [PATCH 18/20] Add annotation rate parameter for KML, GPX, GeoJSON and
 NMEA outputs (default: 1s)

---
 src/algorithms/PVT/adapters/rtklib_pvt.cc     |  5 +++
 .../PVT/gnuradio_blocks/rtklib_pvt_gs.cc      | 41 +++++++++++++++++--
 .../PVT/gnuradio_blocks/rtklib_pvt_gs.h       |  5 +++
 src/algorithms/PVT/libs/pvt_conf.cc           |  4 ++
 src/algorithms/PVT/libs/pvt_conf.h            |  4 ++
 5 files changed, 55 insertions(+), 4 deletions(-)

diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index cae7fc052..51579ad06 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -138,6 +138,11 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
             pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
         }
 
+    pvt_output_parameters.kml_rate_ms = bc::lcm(configuration->property(role + ".kml_rate_ms", pvt_output_parameters.kml_rate_ms), pvt_output_parameters.output_rate_ms);
+    pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
+    pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
+    pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);
+
     // Infer the type of receiver
     /*
      *   TYPE  |  RECEIVER
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 2af4082b6..199ce7d04 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -178,6 +178,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::string kml_dump_filename;
     kml_dump_filename = d_dump_filename;
     d_kml_output_enabled = conf_.kml_output_enabled;
+    d_kml_rate_ms = conf_.kml_rate_ms;
+    if (d_kml_rate_ms == 0)
+        {
+            d_kml_output_enabled = false;
+        }
     if (d_kml_output_enabled)
         {
             d_kml_dump = std::make_shared<Kml_Printer>(conf_.kml_output_path);
@@ -192,6 +197,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::string gpx_dump_filename;
     gpx_dump_filename = d_dump_filename;
     d_gpx_output_enabled = conf_.gpx_output_enabled;
+    d_gpx_rate_ms = conf_.gpx_rate_ms;
+    if (d_gpx_rate_ms == 0)
+        {
+            d_gpx_output_enabled = false;
+        }
     if (d_gpx_output_enabled)
         {
             d_gpx_dump = std::make_shared<Gpx_Printer>(conf_.gpx_output_path);
@@ -206,6 +216,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::string geojson_dump_filename;
     geojson_dump_filename = d_dump_filename;
     d_geojson_output_enabled = conf_.geojson_output_enabled;
+    d_geojson_rate_ms = conf_.geojson_rate_ms;
+    if (d_geojson_rate_ms == 0)
+        {
+            d_geojson_output_enabled = false;
+        }
     if (d_geojson_output_enabled)
         {
             d_geojson_printer = std::make_shared<GeoJSON_Printer>(conf_.geojson_output_path);
@@ -218,6 +233,12 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
 
     // initialize nmea_printer
     d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled or conf_.flag_nmea_tty_port);
+    d_nmea_rate_ms = conf_.nmea_rate_ms;
+    if (d_nmea_rate_ms == 0)
+        {
+            d_nmea_output_file_enabled = false;
+        }
+
     if (d_nmea_output_file_enabled)
         {
             d_nmea_printer = std::make_shared<Nmea_Printer>(conf_.nmea_dump_filename, conf_.nmea_output_file_enabled, conf_.flag_nmea_tty_port, conf_.nmea_dump_devname, conf_.nmea_output_file_path);
@@ -1799,19 +1820,31 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                                 }
                                             if (d_kml_output_enabled)
                                                 {
-                                                    d_kml_dump->print_position(d_pvt_solver, false);
+                                                    if (current_RX_time_ms % d_kml_rate_ms == 0)
+                                                        {
+                                                            d_kml_dump->print_position(d_pvt_solver, false);
+                                                        }
                                                 }
                                             if (d_gpx_output_enabled)
                                                 {
-                                                    d_gpx_dump->print_position(d_pvt_solver, false);
+                                                    if (current_RX_time_ms % d_gpx_rate_ms == 0)
+                                                        {
+                                                            d_gpx_dump->print_position(d_pvt_solver, false);
+                                                        }
                                                 }
                                             if (d_geojson_output_enabled)
                                                 {
-                                                    d_geojson_printer->print_position(d_pvt_solver, false);
+                                                    if (current_RX_time_ms % d_geojson_rate_ms == 0)
+                                                        {
+                                                            d_geojson_printer->print_position(d_pvt_solver, false);
+                                                        }
                                                 }
                                             if (d_nmea_output_file_enabled)
                                                 {
-                                                    d_nmea_printer->Print_Nmea_Line(d_pvt_solver, false);
+                                                    if (current_RX_time_ms % d_nmea_rate_ms == 0)
+                                                        {
+                                                            d_nmea_printer->Print_Nmea_Line(d_pvt_solver, false);
+                                                        }
                                                 }
 
                                             /*
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
index a97874da8..ade48e8b7 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
@@ -106,6 +106,11 @@ private:
     int32_t d_rtcm_MT1097_rate_ms;  // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
     int32_t d_rtcm_MSM_rate_ms;
 
+    int32_t d_kml_rate_ms;
+    int32_t d_gpx_rate_ms;
+    int32_t d_geojson_rate_ms;
+    int32_t d_nmea_rate_ms;
+
     int32_t d_last_status_print_seg;  // for status printer
 
     uint32_t d_nchannels;
diff --git a/src/algorithms/PVT/libs/pvt_conf.cc b/src/algorithms/PVT/libs/pvt_conf.cc
index 990745632..d16db0526 100644
--- a/src/algorithms/PVT/libs/pvt_conf.cc
+++ b/src/algorithms/PVT/libs/pvt_conf.cc
@@ -35,6 +35,10 @@ Pvt_Conf::Pvt_Conf()
     type_of_receiver = 0U;
     output_rate_ms = 0;
     display_rate_ms = 0;
+    kml_rate_ms = 1000;
+    gpx_rate_ms = 1000;
+    geojson_rate_ms = 1000;
+    nmea_rate_ms = 1000;
 
     rinex_version = 0;
     rinexobs_rate_ms = 0;
diff --git a/src/algorithms/PVT/libs/pvt_conf.h b/src/algorithms/PVT/libs/pvt_conf.h
index 7d6b02f89..1b6897e7e 100644
--- a/src/algorithms/PVT/libs/pvt_conf.h
+++ b/src/algorithms/PVT/libs/pvt_conf.h
@@ -41,6 +41,10 @@ public:
     uint32_t type_of_receiver;
     int32_t output_rate_ms;
     int32_t display_rate_ms;
+    int32_t kml_rate_ms;
+    int32_t gpx_rate_ms;
+    int32_t geojson_rate_ms;
+    int32_t nmea_rate_ms;
 
     int32_t rinex_version;
     int32_t rinexobs_rate_ms;

From bb03f804784277c25e6cfa619b91340b0b140ae5 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 23:28:24 +0200
Subject: [PATCH 19/20] Print Boost, Matio and Protocol Buffers found versions
 in summary report

---
 CMakeLists.txt                        | 29 ++++++++++++++++++++++++---
 cmake/Modules/FindLOG4CPP.cmake       |  1 -
 src/utils/rinex2assist/CMakeLists.txt |  2 ++
 3 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e3a44189f..dec1a3edb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -702,14 +702,25 @@ if(NOT ${FILESYSTEM_FOUND})
     set(BOOST_COMPONENTS ${BOOST_COMPONENTS} filesystem)
 endif()
 find_package(Boost ${GNSSSDR_BOOST_MIN_VERSION} COMPONENTS ${BOOST_COMPONENTS} REQUIRED)
+
+if(NOT Boost_FOUND)
+    message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
+endif()
+
 set_package_properties(Boost PROPERTIES
     URL "https://www.boost.org"
-    DESCRIPTION "Portable C++ source libraries"
     PURPOSE "Used widely across the source code."
     TYPE REQUIRED
 )
-if(NOT Boost_FOUND)
-    message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
+
+if(CMAKE_VERSION VERSION_GREATER 3.14)
+    set_package_properties(Boost PROPERTIES
+        DESCRIPTION "Portable C++ source libraries (found: ${Boost_VERSION_STRING})"
+    )
+else()
+    set_package_properties(Boost PROPERTIES
+        DESCRIPTION "Portable C++ source libraries (found: ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})"
+    )
 endif()
 
 if(CMAKE_VERSION VERSION_LESS 3.5)
@@ -1669,6 +1680,10 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
     set_package_properties(MATIO PROPERTIES
         PURPOSE "Matio v${GNSSSDR_MATIO_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
     )
+else()
+    set_package_properties(MATIO PROPERTIES
+        DESCRIPTION "MATLAB MAT File I/O Library (found: v.${MATIO_VERSION_STRING})"
+    )
 endif()
 
 
@@ -1796,6 +1811,13 @@ if(Protobuf_FOUND AND CMAKE_VERSION VERSION_LESS 3.9)
         set(Protobuf_VERSION "${_PROTOBUF_MAJOR_VERSION}.${_PROTOBUF_MINOR_VERSION}.${_PROTOBUF_SUBMINOR_VERSION}")
     endif()
 endif()
+
+if(Protobuf_FOUND)
+    set_package_properties(Protobuf PROPERTIES
+        DESCRIPTION "Structured data serialization mechanism (found: v${Protobuf_VERSION})"
+    )
+endif()
+
 if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
     find_program(PROTOC_EXECUTABLE protoc)
     if(NOT PROTOC_EXECUTABLE)
@@ -1815,6 +1837,7 @@ if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
         message(FATAL_ERROR "Please install the Protocol Buffers compiler v${Protobuf_VERSION} in the host machine")
     endif()
 endif()
+
 if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}))
     unset(Protobuf_PROTOC_EXECUTABLE)
     if(CMAKE_CROSSCOMPILING)
diff --git a/cmake/Modules/FindLOG4CPP.cmake b/cmake/Modules/FindLOG4CPP.cmake
index 784d1f2d0..83d6532ac 100644
--- a/cmake/Modules/FindLOG4CPP.cmake
+++ b/cmake/Modules/FindLOG4CPP.cmake
@@ -85,7 +85,6 @@ find_library(LOG4CPP_LIBRARY
         /usr/lib/alpha-linux-gnu
         /usr/lib64
         /usr/lib
-        /usr/local/lib
         /opt/local/lib
         ${LOG4CPP_ROOT}/lib
         $ENV{LOG4CPP_ROOT}/lib
diff --git a/src/utils/rinex2assist/CMakeLists.txt b/src/utils/rinex2assist/CMakeLists.txt
index 312462ea1..78c07c428 100644
--- a/src/utils/rinex2assist/CMakeLists.txt
+++ b/src/utils/rinex2assist/CMakeLists.txt
@@ -99,3 +99,5 @@ else()
     message(STATUS "Boost Iostreams library not found.")
     message(STATUS " rinex2assist will not be built.")
 endif()
+
+set(Boost_FOUND TRUE) # trick for summary report

From d49959d264f43fc95645a47d4013620da70f438b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Sun, 16 Jun 2019 23:32:11 +0200
Subject: [PATCH 20/20] Update changelog

---
 docs/changelog | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/changelog b/docs/changelog
index 25156e270..3b8c0438e 100644
--- a/docs/changelog
+++ b/docs/changelog
@@ -64,8 +64,9 @@
 - The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
 - Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
 - The Labsat_Signal_Source now terminates the receiver's execution when the end of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat 3 files.
-- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
+- Added configuration parameters to set the annotation rate in KML, GPX, GeoJSON and NMEA outputs, set by default to 1 s.
 - New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
+- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
 - Improved information provided to the user in case of failure.