Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

docs/changelog

@@ -4,7 +4,7 @@ Next release will have several improvements in different dimensions, addition of
 
 ### Improvements in Accuracy:
 
-- Part of the RTKLIB core libraries has been integrated into GNSS-SDR. There is now a single PVT block implementation which makes use of RTKLIB to deliver PVT solutions, including Single and PPP navigation modes.
+- Part of the RTKLIB core library has been integrated into GNSS-SDR. There is now a single PVT block implementation which makes use of RTKLIB to deliver PVT solutions, including Single and PPP navigation modes.
 - Fixed CN0 estimation for other correlation times than 1 ms.
 - Improved computation of tracking parameters and GNSS observables.
 - Other minor bug fixes.
@@ -14,7 +14,7 @@ Next release will have several improvements in different dimensions, addition of
 
 - Internal Finite State Machines rewritten for improved continuity in delivering position fixes. This fixes a bug that was stalling the receiver after about six hours of continuous operation.
 - Redesign of the time counter for enhanced continuity.
-- Improved acquisition and tracking sensibility.
+- Improved acquisition and tracking sensitivity.
 - Other minor bug fixes.
 
 
@@ -22,7 +22,7 @@ Next release will have several improvements in different dimensions, addition of
 
 - Added the possibility of non-blocking acquisition, which works well when using real-time data from an RF front-end.
 - Complex local codes have been replaced by real codes, alleviating the computational burden.
-- New kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
+- New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
 - Some AVX2 implementations added to the volk_gnsssdr library.
 - Improvement in C++ usage: Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
 - A number of code optimizations here and there.
@@ -124,7 +124,7 @@ Next release will have several improvements in different dimensions, addition of
 - Updated and improved documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
 - Improved documentation of required dependency packages in several GNU/Linux distributions.
 - Parameter names with the same role have been harmonized within different block implementations.
-- Added a chnagelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
+- Added a changelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
 - Added colors to the commandline user interface.
 - Updated manfiles.
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -2091,9 +2091,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                             std::cout << TEXT_BOLD_GREEN
                                       << "Position at " << d_ls_pvt->get_position_UTC_time()
                                       << " UTC using " << d_ls_pvt->get_num_valid_observations()
-                                      << std::setprecision(10)
+                                      << std::fixed << std::setprecision(9)
                                       << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
-                                      << std::setprecision(4)
+                                      << std::fixed << std::setprecision(3)
                                       << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
                             std::cout << std::setprecision(ss);
                             LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -154,9 +154,38 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
     eph_t eph_data[MAXOBS];
     geph_t geph_data[MAXOBS];
 
+    // Workaround for NAV/CNAV clash problem
+    bool gps_dual_band = false;
+    bool band1 = false;
+    bool band2 = false;
     for (gnss_observables_iter = gnss_observables_map.cbegin();
          gnss_observables_iter != gnss_observables_map.cend();
-         gnss_observables_iter++)  // CHECK INCONSISTENCY when combining GLONASS + other system
+         ++gnss_observables_iter)
+        {
+            switch (gnss_observables_iter->second.System)
+                {
+                case 'G':
+                    {
+                        std::string sig_(gnss_observables_iter->second.Signal);
+                        if (sig_.compare("1C") == 0)
+                            {
+                                band1 = true;
+                            }
+                        if (sig_.compare("2S") == 0)
+                            {
+                                band2 = true;
+                            }
+                    }
+                default:
+                    {
+                    }
+                }
+        }
+    if (band1 == true and band2 == true) gps_dual_band = true;
+
+    for (gnss_observables_iter = gnss_observables_map.cbegin();
+         gnss_observables_iter != gnss_observables_map.cend();
+         ++gnss_observables_iter)  // CHECK INCONSISTENCY when combining GLONASS + other system
         {
             switch (gnss_observables_iter->second.System)
                 {
@@ -255,8 +284,8 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
                                         DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
                                     }
                             }
-                        // GPS L2 (ephemeris disabled due to an incompatibility with RTKLIB solver)
+                        // GPS L2 (todo: solve NAV/CNAV clash)
-                        if (sig_.compare("2S_disabled") == 0)
+                        if ((sig_.compare("2S") == 0) and (gps_dual_band == false))
                             {
                                 gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
                                 if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())

src/tests/system-tests/position_test.cc

@@ -277,7 +277,7 @@ int StaticPositionSystemTest::configure_receiver()
             const int extend_correlation_ms = 1;
 
             const int display_rate_ms = 500;
-            const int output_rate_ms = 10;
+            const int output_rate_ms = 100;
 
             config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));