Expose more tracking parameters to the configuration: filters order, FLL usage, pull-in time

src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc

@@ -73,6 +73,49 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
             dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
         }
     trk_param.dll_bw_hz = dll_bw_hz;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
     float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);

src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc

@@ -68,6 +68,49 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
     float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
     if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
     trk_param.dll_bw_hz = dll_bw_hz;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
     float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
@@ -141,8 +184,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
 }
 
 
-BeidouB3iDllPllTracking::~BeidouB3iDllPllTracking()
+BeidouB3iDllPllTracking::~BeidouB3iDllPllTracking() = default;
-= default;
 
 
 void BeidouB3iDllPllTracking::start_tracking()

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc

@@ -88,6 +88,49 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
     trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
     float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
     trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
     trk_param.early_late_space_chips = early_late_space_chips;

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc

@@ -83,6 +83,49 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
             dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
         }
     trk_param.dll_bw_hz = dll_bw_hz;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
     trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
     float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc

@@ -89,6 +89,49 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
             dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
         }
     trk_param.dll_bw_hz = dll_bw_hz;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
     float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);

src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc

@@ -77,6 +77,49 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
     trk_param.early_late_space_narrow_chips = 0.0;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
     trk_param.vector_length = vector_length;
     int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc

@@ -90,6 +90,49 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
     trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
+
+    int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
+    if (dll_filter_order < 1)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
+            dll_filter_order = 1;
+        }
+    if (dll_filter_order > 3)
+        {
+            LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
+            dll_filter_order = 3;
+        }
+    trk_param.dll_filter_order = dll_filter_order;
+
+    int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
+    if (pll_filter_order < 2)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
+            pll_filter_order = 2;
+        }
+    if (pll_filter_order > 3)
+        {
+            LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
+            pll_filter_order = 3;
+        }
+    trk_param.pll_filter_order = pll_filter_order;
+
+    if (pll_filter_order == 2)
+        {
+            trk_param.fll_filter_order = 1;
+        }
+    if (pll_filter_order == 3)
+        {
+            trk_param.fll_filter_order = 2;
+        }
+
+    bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
+    trk_param.enable_fll_pull_in = enable_fll_pull_in;
+    float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
+    trk_param.fll_bw_hz = fll_bw_hz;
+    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = pull_in_time_s;
+
     int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_HZ) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
     trk_param.vector_length = vector_length;
     int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);