diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
index 822742daf..131509411 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
@@ -1,9 +1,10 @@
 /*!
  * \file volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
  * \brief VOLK_GNSSSDR kernel: multiplies N complex (32-bit float per component) vectors
- * by a common vector, phase rotated and accumulates the results in N float complex outputs.
+ * by a common vector, phase rotated with Doppler rate and accumulates the results in N float complex outputs.
  * \authors <ul>
- *          <li> Antonio Ramos 2018. antonio.ramosdet(at)gmail.com
+ *          <li> Carles Fernandez, 2019 cfernandez@cttc.es
+ *          <li> Javier Arribas, 2019 javiarribas@cttc.es
  *          </ul>
  *
  * VOLK_GNSSSDR kernel that multiplies N 32 bits complex vectors by a common vector, which is
@@ -43,8 +44,8 @@
  *
  * Rotates and multiplies the reference complex vector with an arbitrary number of other real vectors,
  * accumulates the results and stores them in the output vector.
- * The rotation is done at a fixed rate per sample, from an initial \p phase offset.
- * This function can be used for Doppler wipe-off and multiple correlator.
+ * The rotation is done at a variable rate per sample, from an initial \p phase offset.
+ * This function can be used for Doppler wipe-off and multiple correlator in the presence of Doppler rate.
  *
  * <b>Dispatcher Prototype</b>
  * \code
@@ -70,24 +71,19 @@
 #define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
 
 
-#include <volk_gnsssdr/saturation_arithmetic.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <volk_gnsssdr/volk_gnsssdr_complex.h>
 #include <volk_gnsssdr/volk_gnsssdr_malloc.h>
 #include <math.h>
 
+
 #ifdef LV_HAVE_GENERIC
 
 static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points)
 {
     lv_32fc_t tmp32_1;
-#ifdef __cplusplus
-    lv_32fc_t half_phase_inc_rate = std::sqrt(phase_inc_rate);
-#else
-    lv_32fc_t half_phase_inc_rate = csqrtf(phase_inc_rate);
-#endif
-    lv_32fc_t constant_rotation = phase_inc * half_phase_inc_rate;
-    lv_32fc_t delta_phase_rate = lv_cmake(1.0f, 0.0f);
+    lv_32fc_t phase_doppler_rate = lv_cmake(1.0f, 0.0f);
+    lv_32fc_t phase_doppler = (*phase);
     int n_vec;
     unsigned int n;
     for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
@@ -96,27 +92,60 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_g
         }
     for (n = 0; n < num_points; n++)
         {
-            tmp32_1 = *in_common++ * (*phase);
             // Regenerate phase
             if (n % 256 == 0)
                 {
 #ifdef __cplusplus
                     (*phase) /= std::abs((*phase));
-                    delta_phase_rate /= std::abs(delta_phase_rate);
 #else
                     (*phase) /= hypotf(lv_creal(*phase), lv_cimag(*phase));
-                    delta_phase_rate /= hypotf(lv_creal(delta_phase_rate), lv_cimag(delta_phase_rate));
 #endif
                 }
-            (*phase) *= (constant_rotation * delta_phase_rate);
-            delta_phase_rate *= phase_inc_rate;
+            tmp32_1 = *in_common++ * (*phase);
+
+            phase_doppler *= phase_inc;
+            phase_doppler_rate = cpowf(phase_inc_rate, lv_cmake(n * n, 0.0f));
+            (*phase) = phase_doppler * phase_doppler_rate;
+
             for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
                 {
                     result[n_vec] += (tmp32_1 * in_a[n_vec][n]);
                 }
         }
 }
+#endif
 
-#endif /*LV_HAVE_GENERIC*/
+
+#ifdef LV_HAVE_GENERIC
+static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic_acc(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points)
+{
+    lv_32fc_t tmp32_1 = lv_cmake(0.0f, 0.0f);
+    lv_32fc_t phase_rate_acc = lv_cmake(1.0f, 0.0f);
+    int n_vec;
+    unsigned int n;
+    for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
+        {
+            result[n_vec] = lv_cmake(0.0f, 0.0f);
+        }
+    for (n = 0; n < num_points; n++)
+        {
+            // Regenerate phase
+            if (n % 256 == 0)
+                {
+#ifdef __cplusplus
+                    (*phase) /= std::abs((*phase));
+#else
+                    (*phase) /= hypotf(lv_creal(*phase), lv_cimag(*phase));
+#endif
+                }
+            phase_rate_acc += phase_inc_rate;
+            (*phase) *= lv_cmake(cosf(phase_rate_acc), sinf(phase_rate_acc));
+            for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
+                {
+                    result[n_vec] += (tmp32_1 * in_a[n_vec][n]);
+                }
+        }
+}
+#endif
 
 #endif /* INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H */
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc.h
index ac71ab47a..bb3c8d9f8 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc.h
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc.h
@@ -1,6 +1,7 @@
 /*!
  * \file volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc.h
- * \brief Volk puppet for the multiple 16-bit complex dot product kernel.
+ * \brief VOLK_GNSSSDR kernel: multiplies N complex (32-bit float per component) vectors
+ * by a common vector, phase rotated with Doppler rate and accumulates the results in N float complex outputs.
  * \authors <ul>
  *          <li> Carles Fernandez Prades 2016 cfernandez at cttc dot cat
  *          </ul>
@@ -61,6 +62,7 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32
             in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
             memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
         }
+
     volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(result, local_code, phase_inc[0], phase_inc_rate[0], phase, (const float**)in_a, num_a_vectors, num_points);
 
     for (n = 0; n < num_a_vectors; n++)
@@ -71,93 +73,35 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32
 }
 #endif  // Generic
 
-//
-//#ifdef LV_HAVE_GENERIC
-//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_generic_reload(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
-//{
-//    // phases must be normalized. Phase rotator expects a complex exponential input!
-//    float rem_carrier_phase_in_rad = 0.25;
-//    float phase_step_rad = 0.1;
-//    lv_32fc_t phase[1];
-//    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
-//    lv_32fc_t phase_inc[1];
-//    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
-//    int n;
-//    int num_a_vectors = 3;
-//    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
-//    for (n = 0; n < num_a_vectors; n++)
-//        {
-//            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
-//            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
-//        }
-//    volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_generic_reload(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
-//
-//    for (n = 0; n < num_a_vectors; n++)
-//        {
-//            volk_gnsssdr_free(in_a[n]);
-//        }
-//    volk_gnsssdr_free(in_a);
-//}
-//
-//#endif  // Generic
-//
-//#ifdef LV_HAVE_AVX
-//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_u_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
-//{
-//    // phases must be normalized. Phase rotator expects a complex exponential input!
-//    float rem_carrier_phase_in_rad = 0.25;
-//    float phase_step_rad = 0.1;
-//    lv_32fc_t phase[1];
-//    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
-//    lv_32fc_t phase_inc[1];
-//    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
-//    int n;
-//    int num_a_vectors = 3;
-//    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
-//    for (n = 0; n < num_a_vectors; n++)
-//        {
-//            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
-//            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
-//        }
-//    volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_u_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
-//
-//    for (n = 0; n < num_a_vectors; n++)
-//        {
-//            volk_gnsssdr_free(in_a[n]);
-//        }
-//    volk_gnsssdr_free(in_a);
-//}
-//
-//#endif  // AVX
-//
-//
-//#ifdef LV_HAVE_AVX
-//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_a_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
-//{
-//    // phases must be normalized. Phase rotator expects a complex exponential input!
-//    float rem_carrier_phase_in_rad = 0.25;
-//    float phase_step_rad = 0.1;
-//    lv_32fc_t phase[1];
-//    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
-//    lv_32fc_t phase_inc[1];
-//    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
-//    int n;
-//    int num_a_vectors = 3;
-//    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
-//    for (n = 0; n < num_a_vectors; n++)
-//        {
-//            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
-//            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
-//        }
-//    volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_a_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
-//
-//    for (n = 0; n < num_a_vectors; n++)
-//        {
-//            volk_gnsssdr_free(in_a[n]);
-//        }
-//    volk_gnsssdr_free(in_a);
-//}
-//
-//#endif  // AVX
+#ifdef LV_HAVE_GENERIC
+static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_generic_acc(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
+{
+    // phases must be normalized. Phase rotator expects a complex exponential input!
+    float rem_carrier_phase_in_rad = 0.25;
+    float phase_step_rad = 0.1;
+    lv_32fc_t phase[1];
+    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
+    lv_32fc_t phase_inc[1];
+    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
+    lv_32fc_t phase_inc_rate[1];
+    phase_inc_rate[0] = lv_cmake(cos(phase_step_rad * 0.001), sin(phase_step_rad * 0.001));
+    int n;
+    int num_a_vectors = 3;
+    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
+    for (n = 0; n < num_a_vectors; n++)
+        {
+            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
+            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
+        }
+
+    volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic_acc(result, local_code, phase_inc[0], phase_inc_rate[0], phase, (const float**)in_a, num_a_vectors, num_points);
+
+    for (n = 0; n < num_a_vectors; n++)
+        {
+            volk_gnsssdr_free(in_a[n]);
+        }
+    volk_gnsssdr_free(in_a);
+}
+#endif   // Generic
 
 #endif  // INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
diff --git a/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
index 6dba51ede..8bfcbe82f 100644
--- a/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
+++ b/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);
diff --git a/src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
index 6253788e8..49d76417c 100644
--- a/src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
+++ b/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()
-= default;
+BeidouB3iDllPllTracking::~BeidouB3iDllPllTracking() = default;
 
 
 void BeidouB3iDllPllTracking::start_tracking()
diff --git a/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc b/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
index ec8e95979..1beba6c51 100644
--- a/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
+++ b/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;
diff --git a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
index aa8b0f998..cdf4d7cad 100644
--- a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
+++ b/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);
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
index b8f4815e2..a511503fb 100644
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
+++ b/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);
diff --git a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
index a1e2c722c..65912ccbf 100644
--- a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
+++ b/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);
diff --git a/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
index 2066f99be..988f8dccb 100644
--- a/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
+++ b/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);