diff --git a/.clang-format b/.clang-format
index 7ab3cb079..f13c68662 100644
--- a/.clang-format
+++ b/.clang-format
@@ -51,7 +51,7 @@ IncludeBlocks: Merge
 IncludeCategories:
   - Regex:           '^.*.h"'
     Priority:        1
-  - Regex:           '^.*(boost|gflags|glog|gnsssdr|gpstk|gtest|gnuradio|pmt|uhd|volk)/'
+  - Regex:           '^.*(boost|gflags|glog|gnsssdr|gnuradio|gpstk|gsl|gtest|pmt|uhd|volk)/'
     Priority:        2
   - Regex:           '^.*(armadillo|matio|pugixml)'
     Priority:        2
diff --git a/.clang-tidy b/.clang-tidy
index 3515d6a2a..4e0602b32 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -8,10 +8,14 @@ Checks: '-*,
         cert-err60-cpp,
         cert-flp30-c,
         clang-analyzer-cplusplus*,
+        cppcoreguidelines-pro-type-cstyle-cast,
         cppcoreguidelines-pro-type-static-cast-downcast,
         cppcoreguidelines-slicing,
+        cppcoreguidelines-special-member-functions,
         google-build-namespaces,
         google-runtime-int,
+        hicpp-exception-baseclass,
+        hicpp-explicit-conversions,
         misc-misplaced-const,
         misc-new-delete-overloads,
         misc-non-copyable-objects,
@@ -24,14 +28,22 @@ Checks: '-*,
         modernize-raw-string-literal,
         modernize-use-auto,
         modernize-use-bool-literals,
+        modernize-use-emplace,
         modernize-use-equals-default,
         modernize-use-equals-delete,
         modernize-use-noexcept,
         modernize-use-nullptr,
         performance-faster-string-find,
+        performance-for-range-copy,
+        performance-implicit-conversion-in-loop,
         performance-inefficient-algorithm,
+        performance-inefficient-string-concatenation,
+        performance-inefficient-vector-operation,
         performance-move-const-arg,
+        performance-move-constructor-init,
+        performance-noexcept-move-constructor,
         performance-type-promotion-in-math-fn,
+        performance-unnecessary-copy-initialization,
         performance-unnecessary-value-param,
         readability-container-size-empty,
         readability-identifier-naming,
diff --git a/src/algorithms/PVT/libs/CMakeLists.txt b/src/algorithms/PVT/libs/CMakeLists.txt
index d20cac4c6..45705ab57 100644
--- a/src/algorithms/PVT/libs/CMakeLists.txt
+++ b/src/algorithms/PVT/libs/CMakeLists.txt
@@ -95,6 +95,12 @@ target_include_directories(pvt_libs
 
 target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(pvt_libs
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(Boost_VERSION_STRING VERSION_GREATER 1.65.99)
     target_compile_definitions(pvt_libs
         PUBLIC
diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h
index 06efc77be..292e531ff 100644
--- a/src/algorithms/PVT/libs/pvt_solution.h
+++ b/src/algorithms/PVT/libs/pvt_solution.h
@@ -32,6 +32,9 @@
 #ifndef GNSS_SDR_PVT_SOLUTION_H_
 #define GNSS_SDR_PVT_SOLUTION_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
 
 #include <armadillo>
 #include <boost/date_time/posix_time/posix_time.hpp>
diff --git a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
index 00353490a..22dedce6e 100644
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
@@ -41,8 +41,8 @@
 #include "gps_sdr_signal_processing.h"
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
-#include <algorithm>
 #include <gsl/gsl>
+#include <algorithm>
 
 
 GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
diff --git a/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt b/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
index 39caeb02c..ccea93400 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
@@ -69,12 +69,13 @@ endif()
 target_link_libraries(acquisition_gr_blocks
     PUBLIC
         algorithms_libs
+        acquisition_libs
+        channel_libs
+        core_system_parameters
+        Armadillo::armadillo
         Gnuradio::runtime
         Gnuradio::fft
         Volk::volk
-        channel_libs
-        acquisition_libs
-        core_system_parameters
     PRIVATE
         Gflags::gflags
         Glog::glog
@@ -90,6 +91,12 @@ target_include_directories(acquisition_gr_blocks
         ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(acquisition_gr_blocks
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(OPENCL_FOUND)
     target_link_libraries(acquisition_gr_blocks PUBLIC OpenCL::OpenCL)
     target_include_directories(acquisition_gr_blocks
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
index bd3b6302b..b026dae6f 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
@@ -52,6 +52,10 @@
 #ifndef GNSS_SDR_PCPS_ACQUISITION_H_
 #define GNSS_SDR_PCPS_ACQUISITION_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "acq_conf.h"
 #include "channel_fsm.h"
 #include <armadillo>
@@ -61,6 +65,7 @@
 #include <gnuradio/gr_complex.h>     // for gr_complex
 #include <gnuradio/thread/thread.h>  // for scoped_lock
 #include <gnuradio/types.h>          // for gr_vector_const_void_star
+#include <gsl/gsl>                   // for Guidelines Support Library
 #include <volk/volk_complex.h>       // for lv_16sc_t
 #include <complex>
 #include <cstdint>
@@ -68,12 +73,6 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 class Gnss_Synchro;
 class pcps_acquisition;
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
index 3556eba10..2c79f1527 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
@@ -49,6 +49,10 @@
 #ifndef GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
 #define GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "acq_conf.h"
 #include "channel_fsm.h"
 #include "gnss_synchro.h"
diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt
index 4978a3d78..d8fac7598 100644
--- a/src/algorithms/libs/CMakeLists.txt
+++ b/src/algorithms/libs/CMakeLists.txt
@@ -92,23 +92,11 @@ else()
     target_link_libraries(algorithms_libs PRIVATE Boost::filesystem Boost::system)
 endif()
 
-include(CheckCXXSourceCompiles)
-check_cxx_source_compiles("
-    #include <span>
-    int main()
-    { std::span<float> sv; }"
-    has_span
+target_include_directories(algorithms_libs
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/algorithms/libs/gsl/include
 )
 
-if(${has_span})
-    target_compile_definitions(algorithms_libs PUBLIC -DHAS_SPAN=1)
-else()
-    target_include_directories(algorithms_libs
-        PUBLIC
-            ${CMAKE_SOURCE_DIR}/src/algorithms/libs/gsl/include
-    )
-endif()
-
 target_link_libraries(algorithms_libs
     PUBLIC
         Armadillo::armadillo
@@ -130,6 +118,12 @@ if(OPENCL_FOUND)
     )
 endif()
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(algorithms_libs
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 target_include_directories(algorithms_libs
     PUBLIC
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
diff --git a/src/algorithms/libs/beidou_b1i_signal_processing.h b/src/algorithms/libs/beidou_b1i_signal_processing.h
index 367a6d7b1..c86907e06 100644
--- a/src/algorithms/libs/beidou_b1i_signal_processing.h
+++ b/src/algorithms/libs/beidou_b1i_signal_processing.h
@@ -33,17 +33,10 @@
 #ifndef GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
-
 //! Generates int32_t GPS L1 C/A code for the desired SV ID and code shift
 void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift);
 
diff --git a/src/algorithms/libs/beidou_b3i_signal_processing.h b/src/algorithms/libs/beidou_b3i_signal_processing.h
index dc91c30c9..0698550e9 100644
--- a/src/algorithms/libs/beidou_b3i_signal_processing.h
+++ b/src/algorithms/libs/beidou_b3i_signal_processing.h
@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates int BeiDou B3I code for the desired SV ID and code shift
 void beidou_b3i_code_gen_int(gsl::span<int> _dest, int32_t _prn, uint32_t _chip_shift);
 
diff --git a/src/algorithms/libs/galileo_e1_signal_processing.h b/src/algorithms/libs/galileo_e1_signal_processing.h
index be7f5f4b9..08c4db3c8 100644
--- a/src/algorithms/libs/galileo_e1_signal_processing.h
+++ b/src/algorithms/libs/galileo_e1_signal_processing.h
@@ -32,15 +32,10 @@
 #ifndef GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <array>
 #include <complex>
 #include <cstdint>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 
 /*!
diff --git a/src/algorithms/libs/galileo_e5_signal_processing.h b/src/algorithms/libs/galileo_e5_signal_processing.h
index f04e95ab5..d3e8b617f 100644
--- a/src/algorithms/libs/galileo_e5_signal_processing.h
+++ b/src/algorithms/libs/galileo_e5_signal_processing.h
@@ -34,16 +34,10 @@
 #ifndef GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <array>
 #include <complex>
 #include <cstdint>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 
 /*!
  * \brief Generates Galileo E5a code at 1 sample/chip
diff --git a/src/algorithms/libs/geofunctions.h b/src/algorithms/libs/geofunctions.h
index ca0797e73..9aaf68387 100644
--- a/src/algorithms/libs/geofunctions.h
+++ b/src/algorithms/libs/geofunctions.h
@@ -32,6 +32,10 @@
 #ifndef GNSS_SDR_GEOFUNCTIONS_H
 #define GNSS_SDR_GEOFUNCTIONS_H
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include <armadillo>
 
 arma::mat Skew_symmetric(const arma::vec &a);  //!< Calculates skew-symmetric matrix
diff --git a/src/algorithms/libs/glonass_l1_signal_processing.h b/src/algorithms/libs/glonass_l1_signal_processing.h
index f239823e6..e7c641b2d 100644
--- a/src/algorithms/libs/glonass_l1_signal_processing.h
+++ b/src/algorithms/libs/glonass_l1_signal_processing.h
@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
 void glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _chip_shift);
 
diff --git a/src/algorithms/libs/glonass_l2_signal_processing.h b/src/algorithms/libs/glonass_l2_signal_processing.h
index aae68cb1c..fe79c4ed5 100644
--- a/src/algorithms/libs/glonass_l2_signal_processing.h
+++ b/src/algorithms/libs/glonass_l2_signal_processing.h
@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates complex GLONASS L2 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
 void glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _chip_shift);
 
diff --git a/src/algorithms/libs/gnss_signal_processing.h b/src/algorithms/libs/gnss_signal_processing.h
index cb08cf24f..d2c68b3eb 100644
--- a/src/algorithms/libs/gnss_signal_processing.h
+++ b/src/algorithms/libs/gnss_signal_processing.h
@@ -35,17 +35,10 @@
 #ifndef GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
-
 /*!
  * \brief This function generates a complex exponential in _dest.
  *
diff --git a/src/algorithms/libs/gps_l2c_signal.h b/src/algorithms/libs/gps_l2c_signal.h
index 3ec6a4c4e..099aa4ca2 100644
--- a/src/algorithms/libs/gps_l2c_signal.h
+++ b/src/algorithms/libs/gps_l2c_signal.h
@@ -33,17 +33,10 @@
 #ifndef GNSS_SDR_GPS_L2C_SIGNAL_H_
 #define GNSS_SDR_GPS_L2C_SIGNAL_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
-
 //! Generates complex GPS L2C M code for the desired SV ID
 void gps_l2c_m_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
 void gps_l2c_m_code_gen_float(gsl::span<float> _dest, uint32_t _prn);
diff --git a/src/algorithms/libs/gps_l5_signal.h b/src/algorithms/libs/gps_l5_signal.h
index d6e60bf4d..057d0f02a 100644
--- a/src/algorithms/libs/gps_l5_signal.h
+++ b/src/algorithms/libs/gps_l5_signal.h
@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GPS_L5_SIGNAL_H_
 #define GNSS_SDR_GPS_L5_SIGNAL_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates complex GPS L5I code for the desired SV ID
 void gps_l5i_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
 
diff --git a/src/algorithms/libs/gps_sdr_signal_processing.h b/src/algorithms/libs/gps_sdr_signal_processing.h
index 66db15886..13cacfabc 100644
--- a/src/algorithms/libs/gps_sdr_signal_processing.h
+++ b/src/algorithms/libs/gps_sdr_signal_processing.h
@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates int GPS L1 C/A code for the desired SV ID and code shift
 void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift);
 
diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
index 6aa7462e5..d34b8e499 100644
--- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
+++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
@@ -251,7 +251,7 @@ void signal_generator_c::generate_codes()
 
                             std::array<char, 3> signal_1C = {{'1', 'C', '\0'}};
 
-                            galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(sampled_code_pilot_[sat].data(), vector_length_), signal_1C, cboc, PRN_[sat], fs_in_,
+                            galileo_e1_code_gen_complex_sampled(sampled_code_pilot_[sat], signal_1C, cboc, PRN_[sat], fs_in_,
                                 static_cast<int>(GALILEO_E1_B_CODE_LENGTH_CHIPS) - delay_chips_[sat], true);
 
                             // Obtain the desired CN0 assuming that Pn = 1.
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
index 8ec99b2c5..4ba01fc22 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
@@ -550,7 +550,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
             flag_SOW_set = true;
             d_nav.flag_new_SOW_available = false;
 
-            if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
+            if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(d_symbol_duration_ms))
                 {
                     LOG(INFO) << "Warning: BEIDOU B1I TOW update in ch " << d_channel
                               << " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
index ff04bdf59..e82779644 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
@@ -581,7 +581,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
             flag_SOW_set = true;
             d_nav.flag_new_SOW_available = false;
 
-            if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
+            if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(d_symbol_duration_ms))
                 {
                     LOG(INFO) << "Warning: BEIDOU B3I TOW update in ch " << d_channel
                               << " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc
index 50abe691e..b1be0dd90 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc
@@ -193,7 +193,7 @@ sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::Symbol_Aligner_And_Dec
     std::array<int32_t, nn> g_encoder{121, 91};
 
     d_vd1 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
-    d_vd1 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
+    d_vd2 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
     d_past_symbol = 0;
 }
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 77c9a01f5..01d9e5378 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -89,6 +89,7 @@ endif()
 target_link_libraries(tracking_gr_blocks
     PUBLIC
         Boost::boost
+        Armadillo::armadillo
         Gnuradio::blocks
         Matio::matio
         Volkgnsssdr::volkgnsssdr
@@ -108,6 +109,12 @@ if(ENABLE_CUDA AND NOT CMAKE_VERSION VERSION_GREATER 3.11)
     )
 endif()
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(tracking_gr_blocks
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(tracking_gr_blocks
diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
index 9fb0c408f..dbd6eaba8 100644
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
@@ -57,15 +57,15 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>   // for io_signature
 #include <gnuradio/thread/thread.h>  // for scoped_lock
-#include <matio.h>                   // for Mat_VarCreate
-#include <pmt/pmt_sugar.h>           // for mp
+#include <gsl/gsl>
+#include <matio.h>          // for Mat_VarCreate
+#include <pmt/pmt_sugar.h>  // for mp
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <algorithm>  // for fill_n
 #include <array>
 #include <cmath>      // for fmod, round, floor
 #include <exception>  // for exception
-#include <gsl/gsl>
-#include <iostream>  // for cout, cerr
+#include <iostream>   // for cout, cerr
 #include <map>
 #include <numeric>
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
index 028e8fbde..5ca096839 100644
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
@@ -49,14 +49,14 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>   // for io_signature
 #include <gnuradio/thread/thread.h>  // for scoped_lock
-#include <matio.h>                   // for Mat_VarCreate
-#include <pmt/pmt_sugar.h>           // for mp
+#include <gsl/gsl>
+#include <matio.h>          // for Mat_VarCreate
+#include <pmt/pmt_sugar.h>  // for mp
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <algorithm>  // for fill_n
 #include <cmath>      // for fmod, round, floor
 #include <exception>  // for exception
-#include <gsl/gsl>
-#include <iostream>  // for cout, cerr
+#include <iostream>   // for cout, cerr
 #include <map>
 #include <numeric>
 #include <vector>
@@ -1680,9 +1680,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
                                                         d_current_fpga_integration_period = d_fpga_integration_period;
                                                         d_current_extended_correlation_in_fpga = true;
 
-                                                        d_P_accu_old.real(d_P_accu_old.real() * d_fpga_integration_period);
-                                                        d_P_accu_old.imag(d_P_accu_old.imag() * d_fpga_integration_period);
-
                                                         if (d_sc_demodulate_enabled)
                                                             {
                                                                 multicorrelator_fpga->enable_secondary_codes();
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
index 9853e6753..a111a44ea 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
@@ -45,12 +45,12 @@
 #include "tracking_discriminators.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
+#include <gsl/gsl>
 #include <matio.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <array>
 #include <cmath>
 #include <exception>
-#include <gsl/gsl>
 #include <iostream>
 #include <memory>
 #include <sstream>
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h
index 7aa6c57cc..674ac4ae9 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h
@@ -40,6 +40,10 @@
 #ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
 #define GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "bayesian_estimation.h"
 #include "cpu_multicorrelator_real_codes.h"
 #include "gnss_synchro.h"
diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index 09cc778a7..c22fd8618 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -134,6 +134,12 @@ if(OS_IS_MACOSX)
     endif()
 endif()
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(tracking_libs
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(tracking_libs
diff --git a/src/algorithms/tracking/libs/bayesian_estimation.h b/src/algorithms/tracking/libs/bayesian_estimation.h
index 7867afe77..77d449b11 100644
--- a/src/algorithms/tracking/libs/bayesian_estimation.h
+++ b/src/algorithms/tracking/libs/bayesian_estimation.h
@@ -45,6 +45,10 @@
 #ifndef GNSS_SDR_BAYESIAN_ESTIMATION_H_
 #define GNSS_SDR_BAYESIAN_ESTIMATION_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include <armadillo>
 #include <gnuradio/gr_complex.h>
 
diff --git a/src/algorithms/tracking/libs/nonlinear_tracking.h b/src/algorithms/tracking/libs/nonlinear_tracking.h
index a8c853bcf..ba8f511aa 100644
--- a/src/algorithms/tracking/libs/nonlinear_tracking.h
+++ b/src/algorithms/tracking/libs/nonlinear_tracking.h
@@ -43,6 +43,10 @@
 #ifndef GNSS_SDR_NONLINEAR_TRACKING_H_
 #define GNSS_SDR_NONLINEAR_TRACKING_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include <armadillo>
 #include <gnuradio/gr_complex.h>
 
diff --git a/src/algorithms/tracking/libs/tcp_communication.cc b/src/algorithms/tracking/libs/tcp_communication.cc
index 30809ecc6..f0b191c3e 100644
--- a/src/algorithms/tracking/libs/tcp_communication.cc
+++ b/src/algorithms/tracking/libs/tcp_communication.cc
@@ -32,6 +32,7 @@
 #include "tcp_communication.h"
 #include "tcp_packet_data.h"
 #include <iostream>
+#include <stdexcept>
 #include <string>
 
 
@@ -87,7 +88,7 @@ void Tcp_Communication::send_receive_tcp_packet_galileo_e1(boost::array<float, N
             //! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
             if (d_control_id_ != readbuf.data()[0])
                 {
-                    throw "Packet error!";
+                    throw std::runtime_error("Packet error!");
                 }
 
             // Recover the variables received
@@ -122,7 +123,7 @@ void Tcp_Communication::send_receive_tcp_packet_gps_l1_ca(boost::array<float, NU
             //! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
             if (d_control_id_ != readbuf.data()[0])
                 {
-                    throw "Packet error!";
+                    throw std::runtime_error("Packet error!");
                 }
 
             // Recover the variables received
diff --git a/src/core/receiver/CMakeLists.txt b/src/core/receiver/CMakeLists.txt
index 95435e407..ee83488d8 100644
--- a/src/core/receiver/CMakeLists.txt
+++ b/src/core/receiver/CMakeLists.txt
@@ -156,6 +156,12 @@ target_link_libraries(core_receiver
         Armadillo::armadillo
 )
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(core_receiver
+        PRIVATE -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 # Fix for Boost Asio < 1.70
 if(OS_IS_MACOSX)
     if((CMAKE_CXX_COMPILER_ID MATCHES "Clang") AND (Boost_VERSION_STRING VERSION_LESS 1.70.0))
diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc
index 3f8107fc1..244aa4309 100644
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@@ -32,6 +32,10 @@
  * -------------------------------------------------------------------------
  */
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "control_thread.h"
 #include "channel_event.h"
 #include "command_event.h"
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 3651f56e4..060adfb5d 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -1470,6 +1470,15 @@ void GNSSFlowgraph::perform_hw_reset()
 {
     // a stop acquisition command causes the SW to reset the HW
     std::shared_ptr<Channel> channel_ptr;
+
+    for (uint32_t i = 0; i < channels_count_; i++)
+        {
+            channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
+            channel_ptr->tracking()->stop_tracking();
+        }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
     channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
     channel_ptr->acquisition()->stop_acquisition();
 }
diff --git a/src/core/system_parameters/GPS_L1_CA.h b/src/core/system_parameters/GPS_L1_CA.h
index 420a49d01..fb0321b0f 100644
--- a/src/core/system_parameters/GPS_L1_CA.h
+++ b/src/core/system_parameters/GPS_L1_CA.h
@@ -71,9 +71,7 @@ const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000;  //!< Sampling frequency that
  */
 const double MAX_TOA_DELAY_MS = 20;
 
-//#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
-//const double GPS_STARTOFFSET_ms = 68.802;  //[ms] Initial sign. travel time (this cannot go here)
-const double GPS_STARTOFFSET_MS = 60.0;
+const double GPS_STARTOFFSET_MS = 68.802;  // [ms] Initial signal travel time (only for old ls_pvt implementation)
 
 // OBSERVABLE HISTORY DEEP FOR INTERPOLATION
 const int32_t GPS_L1_CA_HISTORY_DEEP = 100;
diff --git a/src/tests/unit-tests/arithmetic/code_generation_test.cc b/src/tests/unit-tests/arithmetic/code_generation_test.cc
index 376d5c1f3..da8d04449 100644
--- a/src/tests/unit-tests/arithmetic/code_generation_test.cc
+++ b/src/tests/unit-tests/arithmetic/code_generation_test.cc
@@ -31,14 +31,9 @@
 
 #include "gnss_signal_processing.h"
 #include "gps_sdr_signal_processing.h"
+#include <gsl/gsl>
 #include <chrono>
 #include <complex>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 
 TEST(CodeGenerationTest, CodeGenGPSL1Test)
diff --git a/src/tests/unit-tests/arithmetic/complex_carrier_test.cc b/src/tests/unit-tests/arithmetic/complex_carrier_test.cc
index 9a5f825e3..ec8e9b68a 100644
--- a/src/tests/unit-tests/arithmetic/complex_carrier_test.cc
+++ b/src/tests/unit-tests/arithmetic/complex_carrier_test.cc
@@ -32,14 +32,9 @@
 #include "GPS_L1_CA.h"
 #include "gnss_signal_processing.h"
 #include <armadillo>
+#include <gsl/gsl>
 #include <chrono>
 #include <complex>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 DEFINE_int32(size_carrier_test, 100000, "Size of the arrays used for complex carrier testing");
 
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
index c05fa53b1..4640cb73d 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
@@ -139,7 +139,7 @@ TEST(CpuMulticorrelatorRealCodesTest, MeasureExecutionTime)
                     //create the concurrent correlator threads
                     for (int current_thread = 0; current_thread < current_max_threads; current_thread++)
                         {
-                            thread_pool.push_back(std::thread(run_correlator_cpu_real_codes,
+                            thread_pool.emplace_back(std::thread(run_correlator_cpu_real_codes,
                                 correlator_pool[current_thread],
                                 d_rem_carrier_phase_rad,
                                 d_carrier_phase_step_rad,
diff --git a/src/utils/front-end-cal/front_end_cal.cc b/src/utils/front-end-cal/front_end_cal.cc
index 2607c4efa..017325c4a 100644
--- a/src/utils/front-end-cal/front_end_cal.cc
+++ b/src/utils/front-end-cal/front_end_cal.cc
@@ -45,6 +45,7 @@
 #include <cmath>
 #include <iostream>  // for operator<<
 #include <map>
+#include <stdexcept>
 #include <utility>
 
 extern Concurrent_Map<Gps_Ephemeris> global_gps_ephemeris_map;
@@ -303,7 +304,7 @@ arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, const
 }
 
 
-double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height)
+double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height) noexcept(false)
 {
     int num_secs = 10;
     double step_secs = 0.5;
@@ -359,7 +360,7 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
             mean_Doppler_Hz = arma::mean(Doppler_Hz);
             return mean_Doppler_Hz;
         }
-    throw(1);
+    throw std::runtime_error("1");
 }
 
 
diff --git a/src/utils/front-end-cal/front_end_cal.h b/src/utils/front-end-cal/front_end_cal.h
index 07022e505..5f23311b9 100644
--- a/src/utils/front-end-cal/front_end_cal.h
+++ b/src/utils/front-end-cal/front_end_cal.h
@@ -65,7 +65,7 @@ public:
      * 3- Approximate receiver Latitude and Longitude (WGS-84)
      *
      */
-    double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
+    double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height) noexcept(false);
 
     /*!
      * \brief This function models the Elonics E4000 + RTL2832 front-end
diff --git a/src/utils/front-end-cal/main.cc b/src/utils/front-end-cal/main.cc
index efd752206..51eace09d 100644
--- a/src/utils/front-end-cal/main.cc
+++ b/src/utils/front-end-cal/main.cc
@@ -121,7 +121,6 @@ private:
 
 public:
     int rx_message;
-    ~FrontEndCal_msg_rx() override;  //!< Default destructor
 };
 
 
@@ -155,9 +154,6 @@ FrontEndCal_msg_rx::FrontEndCal_msg_rx() : gr::block("FrontEndCal_msg_rx", gr::i
 }
 
 
-FrontEndCal_msg_rx::~FrontEndCal_msg_rx() = default;
-
-
 void wait_message()
 {
     while (!stop)
@@ -574,7 +570,7 @@ int main(int argc, char** argv)
                 {
                     std::cout << "Exception caught while reading ephemeris" << std::endl;
                 }
-            catch (int ex)
+            catch (const std::exception& ex)
                 {
                     std::cout << "  " << it.first << "   " << it.second << "  (Eph not found)" << std::endl;
                 }
@@ -623,7 +619,7 @@ int main(int argc, char** argv)
                 {
                     std::cout << "Exception caught while reading ephemeris" << std::endl;
                 }
-            catch (int ex)
+            catch (const std::exception& ex)
                 {
                     std::cout << "  " << it.first << "   " << it.second - mean_f_if_Hz << "  (Eph not found)" << std::endl;
                 }