From 14e109983a34a1349188dac1762664fe0f7eee09 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Wed, 9 Mar 2016 15:29:00 +0100
Subject: [PATCH 1/9] Added confguration option to set DLL and PLL bandwidth
 for 20 ms extended correlation in C_Aid GPS L1 CA tracking (dll_bw_narrow_hz
 and pll_bw_narrow_hz)

---
 .../adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc     |  8 ++++++++
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc           | 12 +++++++++---
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.h            |  8 ++++++++
 .../gps_l1_ca_dll_pll_c_aid_tracking_sc.cc           | 10 +++++++++-
 .../gps_l1_ca_dll_pll_c_aid_tracking_sc.h            | 10 ++++++++++
 5 files changed, 44 insertions(+), 4 deletions(-)

diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
index 436c68e60..fe9eb4d4c 100644
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
@@ -60,7 +60,9 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
     std::string dump_filename;
     std::string default_item_type = "gr_complex";
     float pll_bw_hz;
+    float pll_bw_narrow_hz;
     float dll_bw_hz;
+    float dll_bw_narrow_hz;
     float early_late_space_chips;
     item_type_ = configuration->property(role + ".item_type", default_item_type);
     //vector_length = configuration->property(role + ".vector_length", 2048);
@@ -69,6 +71,8 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
     dump = configuration->property(role + ".dump", false);
     pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
     dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
+    dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
     early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     std::string default_dump_filename = "./track_ch";
     dump_filename = configuration->property(role + ".dump_filename",
@@ -88,6 +92,8 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
                     dump_filename,
                     pll_bw_hz,
                     dll_bw_hz,
+                    pll_bw_narrow_hz,
+                    dll_bw_narrow_hz,
                     early_late_space_chips);
             DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")";
     }else if(item_type_.compare("cshort") == 0)
@@ -102,6 +108,8 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
                 dump_filename,
                 pll_bw_hz,
                 dll_bw_hz,
+                pll_bw_narrow_hz,
+                dll_bw_narrow_hz,
                 early_late_space_chips);
         DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")";
     }else
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index b7304512a..eba5c0795 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -67,10 +67,12 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_cc(
         std::string dump_filename,
         float pll_bw_hz,
         float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
         float early_late_space_chips)
 {
     return gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_cc(if_freq,
-            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_narrow_hz, dll_bw_narrow_hz, early_late_space_chips));
 }
 
 
@@ -106,6 +108,8 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
         std::string dump_filename,
         float pll_bw_hz,
         float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
         float early_late_space_chips) :
         gr::block("gps_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
                 gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@@ -129,6 +133,8 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
     // Initialize tracking  ==========================================
     d_pll_bw_hz=pll_bw_hz;
     d_dll_bw_hz=dll_bw_hz;
+    d_pll_bw_narrow_hz=pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz=dll_bw_narrow_hz;
     d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
     d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz,2);
 
@@ -394,8 +400,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					current_synchro_data.symbol_integration_enabled=true;
 					// UPDATE INTEGRATION TIME
 	            	CURRENT_INTEGRATION_TIME_S = static_cast<double>(GPS_CA_TELEMETRY_SYMBOLS_PER_BIT)*GPS_L1_CA_CODE_PERIOD;
-				    d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
-				    d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz/5,2);
+				    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+				    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
 					enable_dll_pll=true;
 
 				}else{
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
index 3d4cf3272..5df1ad8c4 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -64,6 +64,8 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
                                    std::string dump_filename,
                                    float pll_bw_hz,
                                    float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
                                    float early_late_space_chips);
 
 
@@ -96,6 +98,8 @@ private:
             std::string dump_filename,
             float pll_bw_hz,
             float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
             float early_late_space_chips);
 
     gps_l1_ca_dll_pll_c_aid_tracking_cc(long if_freq,
@@ -106,6 +110,8 @@ private:
             std::string dump_filename,
             float pll_bw_hz,
             float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
             float early_late_space_chips);
 
     // tracking configuration vars
@@ -145,6 +151,8 @@ private:
     // tracking vars
     float d_dll_bw_hz;
     float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
index d74738e4d..12b8351bf 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -66,10 +66,12 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_sc(
         std::string dump_filename,
         float pll_bw_hz,
         float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
         float early_late_space_chips)
 {
     return gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_sc(if_freq,
-            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, early_late_space_chips));
 }
 
 
@@ -94,6 +96,8 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
         std::string dump_filename,
         float pll_bw_hz,
         float dll_bw_hz,
+        float pll_bw_narrow_hz,
+        float dll_bw_narrow_hz,
         float early_late_space_chips) :
         gr::block("gps_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
                 gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@@ -108,6 +112,10 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
     d_correlation_length_samples = static_cast<int>(d_vector_length);
 
     // Initialize tracking  ==========================================
+    d_pll_bw_hz=pll_bw_hz;
+    d_dll_bw_hz=dll_bw_hz;
+    d_pll_bw_narrow_hz=pll_bw_narrow_hz;
+    d_dll_bw_narrow_hz=dll_bw_narrow_hz;
     d_code_loop_filter.set_DLL_BW(dll_bw_hz);
     d_carrier_loop_filter.set_params(10.0, pll_bw_hz,2);
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h
index adfccfb08..ab0efd957 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -67,6 +67,8 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
                                    std::string dump_filename,
                                    float pll_bw_hz,
                                    float dll_bw_hz,
+                                   float pll_bw_narrow_hz,
+                                   float dll_bw_narrow_hz,
                                    float early_late_space_chips);
 
 
@@ -99,6 +101,8 @@ private:
             std::string dump_filename,
             float pll_bw_hz,
             float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
             float early_late_space_chips);
 
     gps_l1_ca_dll_pll_c_aid_tracking_sc(long if_freq,
@@ -109,6 +113,8 @@ private:
             std::string dump_filename,
             float pll_bw_hz,
             float dll_bw_hz,
+            float pll_bw_narrow_hz,
+            float dll_bw_narrow_hz,
             float early_late_space_chips);
 
     // tracking configuration vars
@@ -148,6 +154,10 @@ private:
     double d_acq_carrier_doppler_hz;
 
     // tracking vars
+    float d_dll_bw_hz;
+    float d_pll_bw_hz;
+    float d_dll_bw_narrow_hz;
+    float d_pll_bw_narrow_hz;
     double d_code_freq_chips;
     double d_code_phase_step_chips;
     double d_carrier_doppler_hz;

From 6e076e81430db1a800e5717c06b2113f7d90dd7e Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Fri, 11 Mar 2016 18:32:56 +0100
Subject: [PATCH 2/9] Fixing bugs in extended correlator for GPS L1

---
 conf/gnss-sdr_Hybrid_gr_complex.conf          | 347 ++++++++++++++++++
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc    |  43 ++-
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.h     |   3 +
 .../tracking/libs/cpu_multicorrelator.cc      |  25 +-
 4 files changed, 390 insertions(+), 28 deletions(-)
 create mode 100644 conf/gnss-sdr_Hybrid_gr_complex.conf

diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf
new file mode 100644
index 000000000..2a0a57c97
--- /dev/null
+++ b/conf/gnss-sdr_Hybrid_gr_complex.conf
@@ -0,0 +1,347 @@
+; Default configuration file
+; You can define your own receiver and invoke it by doing
+; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
+GNSS-SDR.internal_fs_hz=4092000
+
+;######### CONTROL_THREAD CONFIG ############
+ControlThread.wait_for_flowgraph=false
+;######### SIGNAL_SOURCE CONFIG ############
+;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
+SignalSource.implementation=File_Signal_Source
+
+;#filename: path to file with the captured GNSS signal samples to be processed
+SignalSource.filename=/home/javier/signals/GPS_sim1.dat
+
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+SignalSource.item_type=gr_complex
+
+;#sampling_frequency: Original Signal sampling frequency in [Hz]
+SignalSource.sampling_frequency=4092000
+
+;#freq: RF front-end center frequency in [Hz]
+SignalSource.freq=1575420000
+
+;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
+SignalSource.samples=0
+
+;#repeat: Repeat the processing file. Disable this option in this version
+SignalSource.repeat=false
+
+;#dump: Dump the Signal source data to a file. Disable this option in this version
+SignalSource.dump=false
+
+SignalSource.dump_filename=../data/signal_source.dat
+
+
+;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
+; it helps to not overload the CPU, but the processing time will be longer.
+SignalSource.enable_throttle_control=false
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+;## It holds blocks to change data type, filter and resample input data.
+
+;#implementation: Use [Pass_Through] or [Signal_Conditioner]
+;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
+SignalConditioner.implementation=Pass_Through
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+;## Changes the type of input data.
+;#implementation: [Pass_Through] disables this block
+DataTypeAdapter.implementation=Pass_Through
+DataTypeAdapter.item_type=gr_complex
+
+;######### INPUT_FILTER CONFIG ############
+;## Filter the input data. Can be combined with frequency translation for IF signals
+
+;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
+;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
+;# that shifts IF down to zero Hz.
+
+InputFilter.implementation=Pass_Through
+
+;#dump: Dump the filtered data to a file.
+InputFilter.dump=false
+
+;#dump_filename: Log path and filename.
+InputFilter.dump_filename=../data/input_filter.dat
+
+;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
+;#These options are based on parameters of gnuradio's function: gr_remez.
+;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
+;#reponse given a set of band edges, the desired reponse on those bands,
+;#and the weight given to the error in those bands.
+
+;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
+InputFilter.input_item_type=gr_complex
+
+;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
+InputFilter.output_item_type=gr_complex
+
+;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
+InputFilter.taps_item_type=float
+
+;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
+InputFilter.number_of_taps=5
+
+;#number_of _bands: Number of frequency bands in the filter.
+InputFilter.number_of_bands=2
+
+;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
+;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
+;#The number of band_begin and band_end elements must match the number of bands
+
+InputFilter.band1_begin=0.0
+InputFilter.band1_end=0.45
+InputFilter.band2_begin=0.55
+InputFilter.band2_end=1.0
+
+;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
+;#The number of ampl_begin and ampl_end elements must match the number of bands
+
+InputFilter.ampl1_begin=1.0
+InputFilter.ampl1_end=1.0
+InputFilter.ampl2_begin=0.0
+InputFilter.ampl2_end=0.0
+
+;#band_error: weighting applied to each band (usually 1).
+;#The number of band_error elements must match the number of bands
+InputFilter.band1_error=1.0
+InputFilter.band2_error=1.0
+
+;#filter_type: one of "bandpass", "hilbert" or "differentiator"
+InputFilter.filter_type=bandpass
+
+;#grid_density: determines how accurately the filter will be constructed.
+;The minimum value is 16; higher values are slower to compute the filter.
+InputFilter.grid_density=16
+
+;# Original sampling frequency stored in the signal file
+InputFilter.sampling_frequency=4092000
+
+;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
+;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
+
+InputFilter.IF=5499998.47412109
+
+;# Decimation factor after the frequency tranaslating block
+InputFilter.decimation_factor=8
+
+
+;######### RESAMPLER CONFIG ############
+;## Resamples the input data.
+
+;#implementation: Use [Pass_Through] or [Direct_Resampler]
+;#[Pass_Through] disables this block
+;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
+Resampler.implementation=Pass_Through
+
+;######### CHANNELS GLOBAL CONFIG ############
+;#count: Number of available GPS satellite channels.
+Channels_1C.count=1
+;#count: Number of available Galileo satellite channels.
+Channels_1B.count=0
+;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
+Channels.in_acquisition=1
+
+;#signal:
+;# "1C" GPS L1 C/A
+;# "2S" GPS L2 L2C (M)
+;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
+;# "5X" GALILEO E5a I+Q
+
+;#if the option is disabled by default is assigned "1C" GPS L1 C/A
+Channel0.signal=1C
+Channel1.signal=1B
+Channel2.signal=1B
+Channel3.signal=1B
+Channel4.signal=1B
+Channel5.signal=1B
+Channel6.signal=1B
+Channel7.signal=1B
+Channel8.signal=1B
+Channel9.signal=1B
+Channel10.signal=1B
+Channel11.signal=1B
+Channel12.signal=1B
+Channel13.signal=1B
+Channel14.signal=1B
+Channel15.signal=1B
+
+
+;######### GPS ACQUISITION CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1C.dump=false
+;#filename: Log path and filename
+Acquisition_1C.dump_filename=./acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1C.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz]
+Acquisition_1C.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition_1C.sampled_ms=1
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.use_CFAR_algorithm=false;
+;#threshold: Acquisition threshold
+Acquisition_1C.threshold=30
+;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+;Acquisition_1C.pfa=0.01
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_1C.doppler_max=5000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition_1C.doppler_step=100
+
+
+;######### GALILEO ACQUISITION CONFIG ############
+
+;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
+Acquisition_1B.dump=false
+;#filename: Log path and filename
+Acquisition_1B.dump_filename=./acq_dump.dat
+;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
+Acquisition_1B.item_type=gr_complex
+;#if: Signal intermediate frequency in [Hz]
+Acquisition_1B.if=0
+;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
+Acquisition_1B.sampled_ms=4
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+;#threshold: Acquisition threshold
+;Acquisition_1B.threshold=0
+;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
+Acquisition_1B.pfa=0.0000002
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_1B.doppler_max=15000
+;#doppler_max: Doppler step in the grid search [Hz]
+Acquisition_1B.doppler_step=125
+
+;######### TRACKING GPS CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
+;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+Tracking_1C.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz]
+Tracking_1C.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1C.dump=true
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1C.pll_bw_hz=20;
+Tracking_1C.pll_bw_narrow_hz=5;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1C.dll_bw_hz=4.0;
+
+Tracking_1C.dll_bw_narrow_hz=1.5;
+
+;#fll_bw_hz: FLL loop filter bandwidth [Hz]
+Tracking_1C.fll_bw_hz=2.0;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1C.order=3;
+
+;######### TRACKING GALILEO CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
+Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
+;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+Tracking_1B.item_type=gr_complex
+
+;#sampling_frequency: Signal Intermediate Frequency in [Hz]
+Tracking_1B.if=0
+
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
+Tracking_1B.dump=false
+
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_1B.dump_filename=../data/veml_tracking_ch_
+
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_1B.pll_bw_hz=15.0;
+
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_1B.dll_bw_hz=2.0;
+
+;#fll_bw_hz: FLL loop filter bandwidth [Hz]
+Tracking_1B.fll_bw_hz=10.0;
+
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_1B.order=3;
+
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
+Tracking_1B.early_late_space_chips=0.15;
+
+;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
+Tracking_1B.very_early_late_space_chips=0.6;
+
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
+;#decimation factor
+TelemetryDecoder_1C.decimation_factor=4;
+
+;######### TELEMETRY DECODER GALILEO CONFIG ############
+;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
+TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
+TelemetryDecoder_1B.dump=false
+TelemetryDecoder_1B_factor=4;
+
+;######### OBSERVABLES CONFIG ############
+;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
+Observables.implementation=Hybrid_Observables
+
+;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
+Observables.dump=false
+
+;#dump_filename: Log path and filename.
+Observables.dump_filename=./observables.dat
+
+
+;######### PVT CONFIG ############
+;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
+PVT.implementation=Hybrid_PVT
+
+;#averaging_depth: Number of PVT observations in the moving average algorithm
+PVT.averaging_depth=10
+
+;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
+PVT.flag_averaging=false
+
+;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
+PVT.output_rate_ms=10;
+
+;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
+PVT.display_rate_ms=500;
+
+;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
+PVT.dump=false
+
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+
+;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
+PVT.dump_filename=./PVT
+
+;######### OUTPUT_FILTER CONFIG ############
+;# Receiver output filter: Leave this block disabled in this version
+OutputFilter.implementation=Null_Sink_Output_Filter
+OutputFilter.filename=data/gnss-sdr.dat
+OutputFilter.item_type=gr_complex
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index eba5c0795..4f9880464 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -323,13 +323,10 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
     Gnss_Synchro current_synchro_data = Gnss_Synchro();
 
     // process vars
-    double code_error_chips_Ti = 0.0;
-    double code_error_filt_chips = 0.0;
     double code_error_filt_secs_Ti = 0.0;
     double CURRENT_INTEGRATION_TIME_S;
     double CORRECTED_INTEGRATION_TIME_S;
     double dll_code_error_secs_Ti = 0.0;
-    double carr_phase_error_secs_Ti = 0.0;
     double old_d_rem_code_phase_samples;
     if (d_enable_tracking == true)
         {
@@ -396,6 +393,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 		            if (d_preamble_synchronized==false)
 		            {
 		            		d_preamble_synchronized=true;
+		            		std::cout<<"dll="<<d_dll_bw_hz<<" dll_n="<<d_dll_bw_narrow_hz<<" pll="<<d_pll_bw_hz<<" pll_n="<<d_pll_bw_narrow_hz<<std::endl;
 		            }
 					current_synchro_data.symbol_integration_enabled=true;
 					// UPDATE INTEGRATION TIME
@@ -409,10 +407,25 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					if(d_preamble_synchronized==true)
 					{
 						// continue extended coherent correlation
-						d_correlation_length_samples=d_correlation_length_samples-d_rem_code_phase_integer_samples;
-						d_rem_code_phase_integer_samples=0;
 						d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * d_correlation_length_samples, GPS_TWO_PI);
-						d_rem_code_phase_chips = fmod(d_rem_code_phase_chips + d_code_phase_step_chips*d_correlation_length_samples,GPS_L1_CA_CODE_LENGTH_CHIPS);
+
+						// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
+						double T_chip_seconds = 1 / d_code_freq_chips;
+						double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+						double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+						int K_prn_samples = round(T_prn_samples);
+						double K_T_prn_error_samples=K_prn_samples-T_prn_samples;
+
+						old_d_rem_code_phase_samples=d_rem_code_phase_samples;
+						d_rem_code_phase_samples= d_rem_code_phase_samples - K_T_prn_error_samples -dll_code_error_secs_Ti * static_cast<double>(d_fs_in);
+						d_rem_code_phase_integer_samples=round(d_rem_code_phase_samples);
+						d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; //round to a discrete samples
+						d_rem_code_phase_samples=d_rem_code_phase_samples-d_rem_code_phase_integer_samples;
+						//code phase step (Code resampler phase increment per sample) [chips/sample]
+						d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
+						//remnant code phase [chips]
+						d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
+
 						// disable tracking loop and inform telemetry decoder
 						enable_dll_pll=false;
 					}else{
@@ -435,12 +448,12 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 			{
 				// ################## PLL ##########################################################
 				// Update PLL discriminator [rads/Ti -> Secs/Ti]
-				carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; //prompt output
+				d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; //prompt output
 				// Carrier discriminator filter
 				// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
 				//d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_phase_error_filt_secs_ti/INTEGRATION_TIME;
 				// Input [s/Ti] -> output [Hz]
-				d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
+				d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
 				// PLL to DLL assistance [Secs/Ti]
 				d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ;
 				// code Doppler frequency update
@@ -448,10 +461,10 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 
 				// ################## DLL ##########################################################
 				// DLL discriminator
-				code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); //[chips/Ti] //early and late
+				d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); //[chips/Ti] //early and late
 				// Code discriminator filter
-				code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips_Ti); //input [chips/Ti] -> output [chips/second]
-				code_error_filt_secs_Ti = code_error_filt_chips*CURRENT_INTEGRATION_TIME_S/d_code_freq_chips; // [s/Ti]
+				d_code_error_filt_chips = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); //input [chips/Ti] -> output [chips/second]
+				code_error_filt_secs_Ti = d_code_error_filt_chips*CURRENT_INTEGRATION_TIME_S/d_code_freq_chips; // [s/Ti]
 				// DLL code error estimation [s/Ti]
 				dll_code_error_secs_Ti = - code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti;
 
@@ -645,19 +658,19 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
 
                     //PLL commands
-                    d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
 
                     //DLL commands
-                    d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
-                    d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips), sizeof(double));
 
                     // CN0 and carrier lock test
                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
 
                     // AUX vars (for debug purposes)
-                    tmp_double = d_rem_code_phase_samples;
+                    tmp_double = d_code_phase_step_chips;
                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
                     tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
index 5df1ad8c4..4fb44681d 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -160,6 +160,9 @@ private:
     double d_acc_carrier_phase_cycles;
     double d_code_phase_samples;
     double d_pll_to_dll_assist_secs_Ti;
+    double d_code_error_chips_Ti;
+    double d_code_error_filt_chips;
+    double d_carr_phase_error_secs_Ti;
 
     // symbol history to detect bit transition
     std::deque<gr_complex> d_E_history;
diff --git a/src/algorithms/tracking/libs/cpu_multicorrelator.cc b/src/algorithms/tracking/libs/cpu_multicorrelator.cc
index 0deea37b2..089a4a88e 100644
--- a/src/algorithms/tracking/libs/cpu_multicorrelator.cc
+++ b/src/algorithms/tracking/libs/cpu_multicorrelator.cc
@@ -85,22 +85,21 @@ bool cpu_multicorrelator::set_input_output_vectors(std::complex<float>* corr_out
     return true;
 }
 
-
-
 void cpu_multicorrelator::update_local_code(int correlator_length_samples,float rem_code_phase_chips, float code_phase_step_chips)
 {
-    float local_code_chip_index;
+    int local_code_chip_index;
     for (int current_correlator_tap = 0; current_correlator_tap < d_n_correlators; current_correlator_tap++)
-        {
-            for (int n = 0; n < correlator_length_samples; n++)
-                {
-                    // resample code for current tap
-                    local_code_chip_index = std::fmod(code_phase_step_chips*static_cast<float>(n)+ d_shifts_chips[current_correlator_tap] - rem_code_phase_chips, d_code_length_chips);
-                    //Take into account that in multitap correlators, the shifts can be negative!
-                    if (local_code_chip_index < 0.0) local_code_chip_index += d_code_length_chips;
-                    d_local_codes_resampled[current_correlator_tap][n] = d_local_code_in[static_cast<int>(round(local_code_chip_index))];
-                }
-        }
+	{
+		for (int n = 0; n < correlator_length_samples; n++)
+		{
+		   // resample code for current tap
+		   local_code_chip_index = floor(code_phase_step_chips*static_cast<float>(n) + d_shifts_chips[current_correlator_tap]- rem_code_phase_chips);
+		   local_code_chip_index = local_code_chip_index % d_code_length_chips;
+		   //Take into account that in multitap correlators, the shifts can be negative!
+		   if (local_code_chip_index < 0) local_code_chip_index += d_code_length_chips;
+		   d_local_codes_resampled[current_correlator_tap][n] = d_local_code_in[local_code_chip_index];
+		}
+	}
 }
 
 

From 6c2f3d8f434851fb7dc6b19032488530a14477fd Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 15 Mar 2016 17:58:58 +0100
Subject: [PATCH 3/9] Bug fixes in GPS CA L1 20 extended correlator

---
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc    | 30 +++++++++++--------
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.h     |  5 +++-
 2 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 4f9880464..57b173664 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -198,6 +198,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
     d_acq_code_phase_samples = 0.0;
     d_acq_carrier_doppler_hz = 0.0;
     d_carrier_doppler_hz = 0.0;
+    d_code_error_filt_chips_Ti = 0.0;
     d_acc_carrier_phase_cycles = 0.0;
     d_code_phase_samples = 0.0;
 
@@ -324,8 +325,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 
     // process vars
     double code_error_filt_secs_Ti = 0.0;
-    double CURRENT_INTEGRATION_TIME_S;
-    double CORRECTED_INTEGRATION_TIME_S;
+    double CURRENT_INTEGRATION_TIME_S = 0.0;
+    double CORRECTED_INTEGRATION_TIME_S = 0.0;
     double dll_code_error_secs_Ti = 0.0;
     double old_d_rem_code_phase_samples;
     if (d_enable_tracking == true)
@@ -392,14 +393,16 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 
 		            if (d_preamble_synchronized==false)
 		            {
+							d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
+							d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
 		            		d_preamble_synchronized=true;
 		            		std::cout<<"dll="<<d_dll_bw_hz<<" dll_n="<<d_dll_bw_narrow_hz<<" pll="<<d_pll_bw_hz<<" pll_n="<<d_pll_bw_narrow_hz<<std::endl;
+
 		            }
 					current_synchro_data.symbol_integration_enabled=true;
 					// UPDATE INTEGRATION TIME
 	            	CURRENT_INTEGRATION_TIME_S = static_cast<double>(GPS_CA_TELEMETRY_SYMBOLS_PER_BIT)*GPS_L1_CA_CODE_PERIOD;
-				    d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
-				    d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
+
 					enable_dll_pll=true;
 
 				}else{
@@ -407,7 +410,9 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					if(d_preamble_synchronized==true)
 					{
 						// continue extended coherent correlation
-						d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * d_correlation_length_samples, GPS_TWO_PI);
+
+						//remnant carrier phase [rads]
+						d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
 
 						// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
 						double T_chip_seconds = 1 / d_code_freq_chips;
@@ -416,8 +421,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 						int K_prn_samples = round(T_prn_samples);
 						double K_T_prn_error_samples=K_prn_samples-T_prn_samples;
 
-						old_d_rem_code_phase_samples=d_rem_code_phase_samples;
-						d_rem_code_phase_samples= d_rem_code_phase_samples - K_T_prn_error_samples -dll_code_error_secs_Ti * static_cast<double>(d_fs_in);
+						d_rem_code_phase_samples= d_rem_code_phase_samples - K_T_prn_error_samples;
 						d_rem_code_phase_integer_samples=round(d_rem_code_phase_samples);
 						d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; //round to a discrete samples
 						d_rem_code_phase_samples=d_rem_code_phase_samples-d_rem_code_phase_integer_samples;
@@ -463,10 +467,12 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 				// DLL discriminator
 				d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); //[chips/Ti] //early and late
 				// Code discriminator filter
-				d_code_error_filt_chips = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); //input [chips/Ti] -> output [chips/second]
-				code_error_filt_secs_Ti = d_code_error_filt_chips*CURRENT_INTEGRATION_TIME_S/d_code_freq_chips; // [s/Ti]
+				d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); //input [chips/Ti] -> output [chips/second]
+				d_code_error_filt_chips_Ti = d_code_error_filt_chips_s*CURRENT_INTEGRATION_TIME_S;
+				code_error_filt_secs_Ti = d_code_error_filt_chips_Ti/d_code_freq_chips; // [s/Ti]
 				// DLL code error estimation [s/Ti]
-				dll_code_error_secs_Ti = - code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti;
+				// PLL to DLL assistance is disable due to the use of a fractional resampler that allows the correction of the code Doppler effect.
+				dll_code_error_secs_Ti = - code_error_filt_secs_Ti;// + d_pll_to_dll_assist_secs_Ti;
 
 				// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
 
@@ -663,14 +669,14 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 
                     //DLL commands
                     d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
-                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips), sizeof(double));
+                    d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
 
                     // CN0 and carrier lock test
                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
 
                     // AUX vars (for debug purposes)
-                    tmp_double = d_code_phase_step_chips;
+                    tmp_double = d_code_error_chips_Ti*CURRENT_INTEGRATION_TIME_S;
                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
                     tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
index 4fb44681d..fec006c3f 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -48,6 +48,7 @@
 #include "gnss_synchro.h"
 #include "tracking_2nd_DLL_filter.h"
 #include "tracking_FLL_PLL_filter.h"
+#include "tracking_loop_filter.h"
 #include "cpu_multicorrelator.h"
 
 class gps_l1_ca_dll_pll_c_aid_tracking_cc;
@@ -141,6 +142,7 @@ private:
     int d_rem_code_phase_integer_samples;
 
     // PLL and DLL filter library
+    //Tracking_2nd_DLL_filter d_code_loop_filter;
     Tracking_2nd_DLL_filter d_code_loop_filter;
     Tracking_FLL_PLL_filter d_carrier_loop_filter;
 
@@ -161,7 +163,8 @@ private:
     double d_code_phase_samples;
     double d_pll_to_dll_assist_secs_Ti;
     double d_code_error_chips_Ti;
-    double d_code_error_filt_chips;
+    double d_code_error_filt_chips_s;
+    double d_code_error_filt_chips_Ti;
     double d_carr_phase_error_secs_Ti;
 
     // symbol history to detect bit transition

From 2f61ad7c647b5623086206563471d21b1767a819 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Wed, 16 Mar 2016 17:32:20 +0100
Subject: [PATCH 4/9] Added configuration option to customize the extension of
 the GPS L1 CA correlation length after bit synchronization (options are:
 [1,2,4,5,10,20] ms). Increasing resolution in CN0 estimator internal
 variables.

---
 .../gps_l1_ca_dll_pll_c_aid_tracking.cc       |  4 ++
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc    | 37 ++++++++++++-------
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.h     |  6 ++-
 .../tracking/libs/lock_detectors.cc           | 21 ++++++-----
 4 files changed, 43 insertions(+), 25 deletions(-)

diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
index fe9eb4d4c..a3aea8d1a 100644
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
@@ -73,6 +73,9 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
     dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
     pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
     dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
+    int extend_correlation_ms;
+    extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
+
     early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     std::string default_dump_filename = "./track_ch";
     dump_filename = configuration->property(role + ".dump_filename",
@@ -94,6 +97,7 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
                     dll_bw_hz,
                     pll_bw_narrow_hz,
                     dll_bw_narrow_hz,
+                    extend_correlation_ms,
                     early_late_space_chips);
             DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")";
     }else if(item_type_.compare("cshort") == 0)
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 57b173664..4377c55f6 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -69,10 +69,11 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_cc(
         float dll_bw_hz,
         float pll_bw_narrow_hz,
         float dll_bw_narrow_hz,
+        int extend_correlation_ms,
         float early_late_space_chips)
 {
     return gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_cc(if_freq,
-            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_narrow_hz, dll_bw_narrow_hz, early_late_space_chips));
+            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
 }
 
 
@@ -90,10 +91,10 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t
 {
   //pmt::print(msg);
   DLOG(INFO) << "Extended correlation for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)<< std::endl;
-  if (d_enable_20ms_integration==false) //avoid re-setting preamble indicator
+  if (d_enable_extended_integration==false) //avoid re-setting preamble indicator
   {
 	  d_preamble_index=pmt::to_long(msg);
-	  d_enable_20ms_integration=true;
+	  d_enable_extended_integration=true;
 	  d_preamble_synchronized=false;
   }
 }
@@ -110,6 +111,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
         float dll_bw_hz,
         float pll_bw_narrow_hz,
         float dll_bw_narrow_hz,
+        int extend_correlation_ms,
         float early_late_space_chips) :
         gr::block("gps_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
                 gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@@ -135,6 +137,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
     d_dll_bw_hz=dll_bw_hz;
     d_pll_bw_narrow_hz=pll_bw_narrow_hz;
     d_dll_bw_narrow_hz=dll_bw_narrow_hz;
+    d_extend_correlation_ms = extend_correlation_ms;
     d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
     d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz,2);
 
@@ -206,7 +209,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
     d_rem_code_phase_chips = 0.0;
     d_code_phase_step_chips = 0.0;
     d_carrier_phase_step_rad = 0.0;
-    d_enable_20ms_integration=false;
+    d_enable_extended_integration=false;
     d_preamble_synchronized=false;
     //set_min_output_buffer((long int)300);
 }
@@ -291,7 +294,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
     // enable tracking
     d_pull_in = true;
     d_enable_tracking = true;
-    d_enable_20ms_integration=false;
+    d_enable_extended_integration=false;
     d_preamble_synchronized=false;
     LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
             << " Code Phase correction [samples]=" << delay_correction_samples
@@ -364,7 +367,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
             d_P_history.push_back(d_correlator_outs[1]); // save prompt output
             d_L_history.push_back(d_correlator_outs[2]); // save late output
 
-            if (d_P_history.size()>GPS_CA_TELEMETRY_SYMBOLS_PER_BIT)
+            if (d_P_history.size()>d_extend_correlation_ms)
             {
             	d_E_history.pop_front();
             	d_P_history.pop_front();
@@ -372,10 +375,10 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
             }
 
             bool enable_dll_pll;
-			if (d_enable_20ms_integration==true)
+			if (d_enable_extended_integration==true)
 			{
 				long int symbol_diff=d_symbol_counter-d_preamble_index;
-				if (symbol_diff % GPS_CA_TELEMETRY_SYMBOLS_PER_BIT == 0)
+				if (symbol_diff % d_extend_correlation_ms == 0)
 				{
 					// compute coherent integration and enable tracking loop
 		            // perform coherent integration using correlator output history
@@ -384,7 +387,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                     d_correlator_outs[0]=gr_complex(0.0,0.0);
 				    d_correlator_outs[1]=gr_complex(0.0,0.0);
 					d_correlator_outs[2]=gr_complex(0.0,0.0);
-		            for (int n=0;n<GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;n++)
+		            for (int n=0;n<d_extend_correlation_ms;n++)
 		            {
 		            	d_correlator_outs[0]+=d_E_history.at(n);
 		            	d_correlator_outs[1]+=d_P_history.at(n);
@@ -401,7 +404,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 		            }
 					current_synchro_data.symbol_integration_enabled=true;
 					// UPDATE INTEGRATION TIME
-	            	CURRENT_INTEGRATION_TIME_S = static_cast<double>(GPS_CA_TELEMETRY_SYMBOLS_PER_BIT)*GPS_L1_CA_CODE_PERIOD;
+	            	CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms)*GPS_L1_CA_CODE_PERIOD;
 
 					enable_dll_pll=true;
 
@@ -410,6 +413,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					if(d_preamble_synchronized==true)
 					{
 						// continue extended coherent correlation
+						//TODO: Take into account the extended correlation to update the accumulated carrier phase for carrier phase observables!!
 
 						//remnant carrier phase [rads]
 						d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
@@ -523,8 +527,13 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					{
 						d_cn0_estimation_counter = 0;
 						// Code lock indicator
-						d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
-						// Carrier lock indicator
+						if (current_synchro_data.symbol_integration_enabled==false)
+						{
+							d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
+						}else{
+							d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS*d_extend_correlation_ms);
+						}
+							// Carrier lock indicator
 						d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
 						// Loss of lock detection
 						if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
@@ -588,7 +597,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                         {
                             d_last_seg = floor(d_sample_counter / d_fs_in);
                             std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
-                            DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                            std::cout  << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
                                               << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
                             //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
                         }
@@ -598,7 +607,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                     if (floor(d_sample_counter / d_fs_in) != d_last_seg)
                         {
                             d_last_seg = floor(d_sample_counter / d_fs_in);
-                            DLOG(INFO) << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                            std::cout  << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
                                                << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
                         }
                 }
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
index fec006c3f..6183a2f28 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -67,6 +67,7 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
                                    float dll_bw_hz,
                                    float pll_bw_narrow_hz,
                                    float dll_bw_narrow_hz,
+                                   int extend_correlation_ms,
                                    float early_late_space_chips);
 
 
@@ -101,6 +102,7 @@ private:
             float dll_bw_hz,
             float pll_bw_narrow_hz,
             float dll_bw_narrow_hz,
+            int extend_correlation_ms,
             float early_late_space_chips);
 
     gps_l1_ca_dll_pll_c_aid_tracking_cc(long if_freq,
@@ -113,6 +115,7 @@ private:
             float dll_bw_hz,
             float pll_bw_narrow_hz,
             float dll_bw_narrow_hz,
+            int extend_correlation_ms,
             float early_late_space_chips);
 
     // tracking configuration vars
@@ -173,7 +176,8 @@ private:
     std::deque<gr_complex> d_L_history;
     long int d_preamble_index;
     long int d_symbol_counter;
-    bool d_enable_20ms_integration;
+    int d_extend_correlation_ms;
+    bool d_enable_extended_integration;
     bool d_preamble_synchronized;
     int d_correlation_symbol_counter;
     void msg_handler_preamble_index(pmt::pmt_t msg);
diff --git a/src/algorithms/tracking/libs/lock_detectors.cc b/src/algorithms/tracking/libs/lock_detectors.cc
index 17dafdcfe..f759ee8e5 100644
--- a/src/algorithms/tracking/libs/lock_detectors.cc
+++ b/src/algorithms/tracking/libs/lock_detectors.cc
@@ -67,21 +67,22 @@
  */
 float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length)
 {
-    float SNR = 0;
-    float SNR_dB_Hz = 0;
-    float Psig = 0;
-    float Ptot = 0;
+	double SNR = 0;
+	double SNR_dB_Hz = 0;
+    double Psig = 0;
+    double Ptot = 0;
     for (int i=0; i<length; i++)
         {
-            Psig += std::abs(Prompt_buffer[i].real());
-            Ptot += Prompt_buffer[i].imag() * Prompt_buffer[i].imag() + Prompt_buffer[i].real() * Prompt_buffer[i].real();
+            Psig += std::abs(static_cast<double>(Prompt_buffer[i].real()));
+            Ptot += static_cast<double>(Prompt_buffer[i].imag()) * static_cast<double>(Prompt_buffer[i].imag())
+            		+ static_cast<double>(Prompt_buffer[i].real()) * static_cast<double>(Prompt_buffer[i].real());
         }
-    Psig = Psig / (float)length;
+    Psig = Psig / static_cast<double>(length);
     Psig = Psig * Psig;
-    Ptot = Ptot / (float)length;
+    Ptot = Ptot / static_cast<double>(length);
     SNR = Psig / (Ptot - Psig);
-    SNR_dB_Hz = 10 * log10(SNR) + 10 * log10(fs_in/2) - 10 * log10((float)code_length);
-    return SNR_dB_Hz;
+    SNR_dB_Hz = 10 * log10(SNR) + 10 * log10(static_cast<double>(fs_in)/2) - 10 * log10(code_length);
+    return static_cast<float>(SNR_dB_Hz);
 }
 
 

From 840bb1b9a347eb3010f9cacffb50fe22e7aece2f Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Thu, 17 Mar 2016 18:54:41 +0100
Subject: [PATCH 5/9] Work on the telemetry decoder to support the
 variable-length correlator in GPS L1 CA tracking

---
 .../gps_l1_ca_telemetry_decoder_cc.cc         | 197 ++++++++----------
 .../gps_l1_ca_telemetry_decoder_cc.h          |   7 +-
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc    |  47 +++--
 src/core/system_parameters/GPS_L1_CA.h        |   1 +
 src/core/system_parameters/gnss_synchro.h     |   2 +-
 5 files changed, 122 insertions(+), 132 deletions(-)

diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index e99b48989..97db35e1f 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@@ -59,16 +59,16 @@ gps_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, boost::shared_ptr<
 
 
 
-void gps_l1_ca_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
-{
-    if (noutput_items != 0)
-        {
-            for (unsigned i = 0; i < 3; i++)
-                {
-                    ninput_items_required[i] = d_samples_per_bit * 8; //set the required sample history
-                }
-        }
-}
+//void gps_l1_ca_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
+//{
+//    if (noutput_items != 0)
+//        {
+//            for (unsigned i = 0; i < 3; i++)
+//                {
+//                    ninput_items_required[i] = d_samples_per_bit * 8; //set the required sample history
+//                }
+//        }
+//}
 
 
 
@@ -181,114 +181,101 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
     // ########### Output the tracking data to navigation and PVT ##########
     const Gnss_Synchro **in = (const Gnss_Synchro **)  &input_items[0]; //Get the input samples pointer
 
-    // TODO Optimize me!
-    if (in[0][d_samples_per_bit*8 - 1].symbol_integration_enabled==false)
+    // keep the last valid symbols
+    if (in[0]->Flag_valid_symbol_output==true)
     {
-    //******* preamble correlation ********
-    for (unsigned int i = 0; i < d_samples_per_bit*8; i++)
+    	d_symbol_history.push_back(in[0]->Prompt_I);
+        if (static_cast<int>(d_symbol_history.size())>GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
         {
-            if (in[0][i].Prompt_I < 0)	// symbols clipping
-                {
-                    corr_value -= d_preambles_symbols[i];
-                }
-            else
-                {
-                    corr_value += d_preambles_symbols[i];
-                }
+        	d_symbol_history.pop_front();
         }
-    }else{
-        //******* preamble correlation ********
-        for (unsigned int i = 0; i < d_samples_per_bit*8; i++)
-            {
-        		if (in[0][i].Flag_valid_symbol_output==true)
-        		{
-					if (in[0][i].Prompt_I < 0)	// symbols clipping
+
+		if (d_symbol_history.size()==GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
+		{
+			//******* preamble correlation ********
+			int current_symbol_index=0;
+			for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS/in[0]->correlation_length_ms; i++)
+				{
+					current_symbol_index=i*in[0]->correlation_length_ms;//+static_cast<int>(floor(in[0]->correlation_length_ms/2));
+					if (d_symbol_history.at(i) < 0)	// symbols clipping
 						{
-							corr_value -= d_preambles_symbols[i]*d_samples_per_bit;
+							//symbol weight expansion using the current tracking correlation length
+							corr_value -= d_preambles_symbols[current_symbol_index]*in[0]->correlation_length_ms;
 						}
 					else
 						{
-							corr_value += d_preambles_symbols[i]*d_samples_per_bit;
+							//symbol weight expansion using the current tracking correlation length
+							corr_value += d_preambles_symbols[current_symbol_index]*in[0]->correlation_length_ms;
 						}
-        		}
-            }
+				}
+		}
+		if (abs(corr_value)>120)
+			{
+				std::cout<<abs(corr_value)<<std::endl;
+			}
     }
     d_flag_preamble = false;
 
     //******* frame sync ******************
-    if (abs(corr_value) == 160)
-        {
-            //TODO: Rewrite with state machine
-            if (d_stat == 0)
-                {
-                    d_GPS_FSM.Event_gps_word_preamble();
-                    d_preamble_index = d_sample_counter;//record the preamble sample stamp
-                    DLOG(INFO)  << "Preamble detection for SAT " << this->d_satellite;
-                    d_symbol_accumulator = 0; //sync the symbol to bits integrator
-                    d_symbol_accumulator_counter = 0;
-                    d_frame_bit_index = 7;
-                    d_stat = 1; // enter into frame pre-detection status
-                }
-            else if (d_stat == 1) //check 6 seconds of preamble separation
-                {
-                    preamble_diff = d_sample_counter - d_preamble_index;
-                    if (abs(preamble_diff - 6000) < 1)
-                        {
-                            d_GPS_FSM.Event_gps_word_preamble();
-                            d_flag_preamble = true;
-                            d_preamble_index = d_sample_counter;  //record the preamble sample stamp (t_P)
-                            d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
-                            d_frame_bit_index = 7;
-                            if (!d_flag_frame_sync)
-                                {
-                            	//send asynchronous message to tracking to inform of frame sync and extend correlation time
-                                pmt::pmt_t value = pmt::from_long(d_preamble_index-1);
-                                this->message_port_pub(pmt::mp("preamble_index"),value);
+    if (abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
+    {
+    	if (d_stat == 0)
+    	{
+    		d_GPS_FSM.Event_gps_word_preamble();
+    		d_preamble_index = d_sample_counter;//record the preamble sample stamp
+    		std::cout  << "Preamble detection for SAT " << this->d_satellite;
+    		d_symbol_accumulator = 0; //sync the symbol to bits integrator
+    		d_symbol_accumulator_counter = 0;
+    		d_frame_bit_index = 7;
+    		d_stat = 1; // enter into frame pre-detection status
+    	}
+    	else if (d_stat == 1) //check 6 seconds of preamble separation
+    	{
+    		preamble_diff = d_sample_counter - d_preamble_index;
+    		if (abs(preamble_diff - 6000) < 1)
+    		{
+    			std::cout  <<"preamble! corr lenght="<<in[0]->correlation_length_ms<<std::endl;
+    			d_GPS_FSM.Event_gps_word_preamble();
+    			d_flag_preamble = true;
+    			d_preamble_index = d_sample_counter;  //record the preamble sample stamp (t_P)
+    			d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
+    			d_frame_bit_index = 7;
+    			if (!d_flag_frame_sync)
+    			{
+    				//send asynchronous message to tracking to inform of frame sync and extend correlation time
+    				pmt::pmt_t value = pmt::from_long(d_preamble_index-2);
+    				this->message_port_pub(pmt::mp("preamble_index"),value);
 
-                                    d_flag_frame_sync = true;
-                                    if (corr_value < 0)
-                                        {
-                                            flag_PLL_180_deg_phase_locked = true; //PLL is locked to opposite phase!
-                                            DLOG(INFO)  << " PLL in opposite phase for Sat "<< this->d_satellite.get_PRN();
-                                        }
-                                    else
-                                        {
-                                            flag_PLL_180_deg_phase_locked = false;
-                                        }
-                                    DLOG(INFO)  << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
-                                }
-                        }
-                }
-        }
-    else
-        {
-            if (d_stat == 1)
-                {
-                    preamble_diff = d_sample_counter - d_preamble_index;
-                    if (preamble_diff > 6001)
-                        {
-                            DLOG(INFO)  << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff;
-                            d_stat = 0; //lost of frame sync
-                            d_flag_frame_sync = false;
-                            flag_TOW_set = false;
-                        }
-                }
-        }
+    				d_flag_frame_sync = true;
+    				if (corr_value < 0)
+    				{
+    					flag_PLL_180_deg_phase_locked = true; //PLL is locked to opposite phase!
+    					std::cout  << " PLL in opposite phase for Sat "<< this->d_satellite.get_PRN();
+    				}
+    				else
+    				{
+    					flag_PLL_180_deg_phase_locked = false;
+    				}
+    				std::cout  << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
+    			}
+    		}else{
+    			if (preamble_diff > 6001)
+    			{
+    				std::cout  << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff;
+    				d_stat = 0; //lost of frame sync
+    				d_flag_frame_sync = false;
+    				flag_TOW_set = false;
+    			}
+    		}
+    	}
+    }
 
     //******* SYMBOL TO BIT *******
-    if (in[0][d_samples_per_bit*8 - 1].Flag_valid_symbol_output==true)
+    if (in[0]->Flag_valid_symbol_output==true)
     {
-	    if (in[0][d_samples_per_bit*8 - 1].symbol_integration_enabled==true)
-	    {
-	    	// extended correlation to bit period is enabled in tracking!
-	    	// 1 symbol = 1 bit
-		    d_symbol_accumulator = in[0][d_samples_per_bit*8 - 1].Prompt_I; // accumulate the input value in d_symbol_accumulator
-	    	d_symbol_accumulator_counter=20;
-	    }else{
-	    	// 20 symbols = 1 bit: do symbols integration in telemetry decoder
-		    d_symbol_accumulator += in[0][d_samples_per_bit*8 - 1].Prompt_I; // accumulate the input value in d_symbol_accumulator
-	    	d_symbol_accumulator_counter++;
-	    }
+		// extended correlation to bit period is enabled in tracking!
+		d_symbol_accumulator += in[0]->Prompt_I; // accumulate the input value in d_symbol_accumulator
+		d_symbol_accumulator_counter+=in[0]->correlation_length_ms;
     }
 
     if (d_symbol_accumulator_counter == 20 )
@@ -342,8 +329,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
                 {
                     d_GPS_frame_4bytes <<= 1; //shift 1 bit left the telemetry word
                 }
-
-
         }
     // output the frame
     consume_each(1); //one by one
@@ -381,8 +366,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
 
     if (flag_PLL_180_deg_phase_locked == true)
         {
-            //correct the accumulated phase for the costas loop phase shift, if required
-            current_synchro_data.Carrier_phase_rads += GPS_PI;
+			//correct the accumulated phase for the costas loop phase shift, if required
+			current_synchro_data.Carrier_phase_rads += GPS_PI;
         }
 
     if(d_dump == true)
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
index bd6713ff4..303684fe1 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
@@ -85,7 +85,7 @@ public:
      * \brief Function which tells the scheduler how many input items
      *        are required to produce noutput_items output items.
      */
-    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+    //void forecast (int noutput_items, gr_vector_int &ninput_items_required);
 
 private:
     friend gps_l1_ca_telemetry_decoder_cc_sptr
@@ -107,6 +107,7 @@ private:
     bool d_flag_frame_sync;
 
     // symbols
+    std::deque<double> d_symbol_history;
     double d_symbol_accumulator;
     short int d_symbol_accumulator_counter;
 
@@ -138,10 +139,6 @@ private:
 
     double d_TOW_at_Preamble;
     double d_TOW_at_current_symbol;
-    std::deque<double> d_symbol_TOW_queue_s;
-    // Doppler and Phase accumulator queue for interpolation in Observables
-    std::deque<double> d_carrier_doppler_queue_hz;
-    std::deque<double> d_acc_carrier_phase_queue_rads;
 
     double Prn_timestamp_at_preamble_ms;
     bool flag_TOW_set;
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 4377c55f6..7dbe01681 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -347,6 +347,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                     d_pull_in = false;
                     // Fill the acquisition data
                     current_synchro_data = *d_acquisition_gnss_synchro;
+    	            current_synchro_data.correlation_length_ms=1;
+    	            current_synchro_data.Flag_valid_symbol_output = false;
                     *out[0] = current_synchro_data;
                     consume_each(samples_offset); //shift input to perform alignment with local replica
                     d_symbol_counter++;
@@ -361,13 +363,13 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
             multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,in);
             multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad, d_carrier_phase_step_rad, d_rem_code_phase_chips, d_code_phase_step_chips, d_correlation_length_samples);
 
-            // ####### 20ms coherent intergration extension (experimental)
-            // keep the last 40 symbols (2 bits to detect transitions)
+            // ####### coherent intergration extension
+            // keep the last symbols
             d_E_history.push_back(d_correlator_outs[0]); // save early output
             d_P_history.push_back(d_correlator_outs[1]); // save prompt output
             d_L_history.push_back(d_correlator_outs[2]); // save late output
 
-            if (d_P_history.size()>d_extend_correlation_ms)
+            if (static_cast<int>(d_P_history.size())>d_extend_correlation_ms)
             {
             	d_E_history.pop_front();
             	d_P_history.pop_front();
@@ -382,7 +384,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 				{
 					// compute coherent integration and enable tracking loop
 		            // perform coherent integration using correlator output history
-					//gr_complex d_correlator_outs_2[3];
 					//std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
                     d_correlator_outs[0]=gr_complex(0.0,0.0);
 				    d_correlator_outs[1]=gr_complex(0.0,0.0);
@@ -402,14 +403,11 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 		            		std::cout<<"dll="<<d_dll_bw_hz<<" dll_n="<<d_dll_bw_narrow_hz<<" pll="<<d_pll_bw_hz<<" pll_n="<<d_pll_bw_narrow_hz<<std::endl;
 
 		            }
-					current_synchro_data.symbol_integration_enabled=true;
 					// UPDATE INTEGRATION TIME
 	            	CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms)*GPS_L1_CA_CODE_PERIOD;
-
 					enable_dll_pll=true;
 
 				}else{
-					current_synchro_data.symbol_integration_enabled=false;
 					if(d_preamble_synchronized==true)
 					{
 						// continue extended coherent correlation
@@ -434,6 +432,10 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 						//remnant code phase [chips]
 						d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
 
+						// UPDATE ACCUMULATED CARRIER PHASE
+						CORRECTED_INTEGRATION_TIME_S=(static_cast<double>(d_correlation_length_samples)/static_cast<double>(d_fs_in));
+						d_acc_carrier_phase_cycles -= d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S;
+
 						// disable tracking loop and inform telemetry decoder
 						enable_dll_pll=false;
 					}else{
@@ -444,13 +446,11 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					}
 				}
 			}else{
-				current_synchro_data.symbol_integration_enabled=false;
 	            // UPDATE INTEGRATION TIME
 	            CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
 	            enable_dll_pll=true;
 			}
 
-            // ###### end 20ms correlation extension
 
 			if (enable_dll_pll==true)
 			{
@@ -498,7 +498,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 				d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; //round to a discrete samples
 				d_rem_code_phase_samples=d_rem_code_phase_samples-d_rem_code_phase_integer_samples;
 
-				// UPDATE REMNANT CARRIER PHASE
+				// UPDATE ACCUMULATED CARRIER PHASE
 				CORRECTED_INTEGRATION_TIME_S=(static_cast<double>(d_correlation_length_samples)/static_cast<double>(d_fs_in));
 				//remnant carrier phase [rad]
 				d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI);
@@ -527,13 +527,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					{
 						d_cn0_estimation_counter = 0;
 						// Code lock indicator
-						if (current_synchro_data.symbol_integration_enabled==false)
-						{
-							d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
-						}else{
-							d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS*d_extend_correlation_ms);
-						}
-							// Carrier lock indicator
+						d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
+						// Carrier lock indicator
 						d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
 						// Loss of lock detection
 						if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
@@ -569,6 +564,12 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 	            current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
 	            current_synchro_data.Flag_valid_pseudorange = false;
 	            current_synchro_data.Flag_valid_symbol_output = true;
+	            if (d_preamble_synchronized==true)
+	            {
+	            	current_synchro_data.correlation_length_ms=d_extend_correlation_ms;
+	            }else{
+	            	current_synchro_data.correlation_length_ms=1;
+	            }
 	            *out[0] = current_synchro_data;
 			}else{
 				//todo: fill synchronization data to produce output while coherent integration is running
@@ -579,10 +580,16 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 	            current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
 	            // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
 	            current_synchro_data.Code_phase_secs = 0;
-	            current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; // todo: project the acc carrier phase
+	            current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
 	            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
 	            current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
 	            current_synchro_data.Flag_valid_pseudorange = false;
+	            if (d_preamble_synchronized==true)
+	            {
+	            	current_synchro_data.correlation_length_ms=d_extend_correlation_ms;
+	            }else{
+	            	current_synchro_data.correlation_length_ms=1;
+	            }
 	            *out[0] = current_synchro_data;
 			}
 
@@ -597,7 +604,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                         {
                             d_last_seg = floor(d_sample_counter / d_fs_in);
                             std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
-                            std::cout  << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                            DLOG(INFO)  << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
                                               << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
                             //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
                         }
@@ -607,7 +614,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
                     if (floor(d_sample_counter / d_fs_in) != d_last_seg)
                         {
                             d_last_seg = floor(d_sample_counter / d_fs_in);
-                            std::cout  << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+                            DLOG(INFO)  << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
                                                << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
                         }
                 }
diff --git a/src/core/system_parameters/GPS_L1_CA.h b/src/core/system_parameters/GPS_L1_CA.h
index bbe96db49..26920175a 100644
--- a/src/core/system_parameters/GPS_L1_CA.h
+++ b/src/core/system_parameters/GPS_L1_CA.h
@@ -74,6 +74,7 @@ const int GPS_L1_CA_HISTORY_DEEP = 100;
 
 #define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
 const int GPS_CA_PREAMBLE_LENGTH_BITS = 8;
+const int GPS_CA_PREAMBLE_LENGTH_SYMBOLS = 160;
 const int GPS_CA_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
 const int GPS_CA_TELEMETRY_SYMBOLS_PER_BIT = 20;
 const int GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND*20;   //!< NAV message bit rate [symbols/s]
diff --git a/src/core/system_parameters/gnss_synchro.h b/src/core/system_parameters/gnss_synchro.h
index d70c21b1b..5aea0d21b 100644
--- a/src/core/system_parameters/gnss_synchro.h
+++ b/src/core/system_parameters/gnss_synchro.h
@@ -61,7 +61,7 @@ public:
     double Tracking_timestamp_secs; //!< Set by Tracking processing block
     bool Flag_valid_tracking;
     bool Flag_valid_symbol_output;
-    bool symbol_integration_enabled; //!< Set by Tracking processing block
+    int correlation_length_ms; //!< Set by Tracking processing block
 
     //Telemetry Decoder
     double Prn_timestamp_ms;             //!< Set by Telemetry Decoder processing block

From 083350bd61b6729cc2224813ac6b35b72941cbd7 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Fri, 18 Mar 2016 17:36:29 +0100
Subject: [PATCH 6/9] Refactoring of GPS L1 CA telemetry decoder. PVT is not
 yet fully tested

---
 conf/gnss-sdr_Hybrid_gr_complex.conf          | 12 ++-
 conf/gnss-sdr_Hybrid_nsr.conf                 | 15 ++-
 .../gps_l1_ca_telemetry_decoder_cc.cc         | 99 +++++++++----------
 .../gps_l1_ca_telemetry_decoder_cc.h          |  1 +
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc    | 19 ++--
 src/core/system_parameters/GPS_L1_CA.h        |  1 +
 6 files changed, 75 insertions(+), 72 deletions(-)

diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf
index 2a0a57c97..bb5b4031c 100644
--- a/conf/gnss-sdr_Hybrid_gr_complex.conf
+++ b/conf/gnss-sdr_Hybrid_gr_complex.conf
@@ -240,14 +240,20 @@ Tracking_1C.dump=true
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
+;# Extended correlation after telemetry bit synchronization
+;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
+;# Longer integration period require more stable front-end LO
+
+Tracking_1C.extend_correlation_ms=5
+
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=20;
-Tracking_1C.pll_bw_narrow_hz=5;
+Tracking_1C.pll_bw_narrow_hz=10;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
+Tracking_1C.dll_bw_hz=3.0;
 
-Tracking_1C.dll_bw_narrow_hz=1.5;
+Tracking_1C.dll_bw_narrow_hz=2.0;
 
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_1C.fll_bw_hz=2.0;
diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf
index 1609800c9..6cbe05638 100644
--- a/conf/gnss-sdr_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_Hybrid_nsr.conf
@@ -195,11 +195,11 @@ Acquisition_1C.sampled_ms=1
 Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.use_CFAR_algorithm=false;
 ;#threshold: Acquisition threshold
-Acquisition_1C.threshold=40
+Acquisition_1C.threshold=10
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
 ;Acquisition_1C.pfa=0.01
 ;#doppler_max: Maximum expected Doppler shift [Hz]
-Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_max=5000
 ;#doppler_max: Doppler step in the grid search [Hz]
 Acquisition_1C.doppler_step=250
 
@@ -243,11 +243,20 @@ Tracking_1C.dump=true
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
+;# Extended correlation after telemetry bit synchronization
+;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
+;# Longer integration period require more stable front-end LO
+
+Tracking_1C.extend_correlation_ms=1
+
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=40;
+Tracking_1C.pll_bw_narrow_hz=20;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.5;
+Tracking_1C.dll_bw_hz=2.0;
+
+Tracking_1C.dll_bw_narrow_hz=2.0;
 
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_1C.fll_bw_hz=2.0;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index 97db35e1f..8fa708d74 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@@ -36,6 +36,7 @@
 
 #include "gps_l1_ca_telemetry_decoder_cc.h"
 #include <iostream>
+#include <bitset>
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
 #include <pmt/pmt.h>
@@ -58,20 +59,6 @@ gps_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, boost::shared_ptr<
 }
 
 
-
-//void gps_l1_ca_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
-//{
-//    if (noutput_items != 0)
-//        {
-//            for (unsigned i = 0; i < 3; i++)
-//                {
-//                    ninput_items_required[i] = d_samples_per_bit * 8; //set the required sample history
-//                }
-//        }
-//}
-
-
-
 gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
         Gnss_Satellite satellite,
         boost::shared_ptr<gr::msg_queue> queue,
@@ -94,14 +81,14 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
 
     memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
 
-    // preamble bits to sampled symbols
+    // preamble bits to sampled symbols (reversed)
     d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_BITS * d_samples_per_bit);
     int n = 0;
     for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
         {
             for (unsigned int j = 0; j < d_samples_per_bit; j++)
                 {
-                    if (d_preambles_bits[i] == 1)
+                    if (d_preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS-i-1] == 1)
                         {
                             d_preambles_symbols[n] = 1;
                         }
@@ -181,39 +168,44 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
     // ########### Output the tracking data to navigation and PVT ##########
     const Gnss_Synchro **in = (const Gnss_Synchro **)  &input_items[0]; //Get the input samples pointer
 
-    // keep the last valid symbols
+    // record last symbols (clipped to +1,-1) and its correlation length to perform preamble correlation
     if (in[0]->Flag_valid_symbol_output==true)
     {
-    	d_symbol_history.push_back(in[0]->Prompt_I);
+    	d_symbol_history.push_front(in[0]->Prompt_I);
+    	d_correlation_length_ms_history.push_front(in[0]->correlation_length_ms);
         if (static_cast<int>(d_symbol_history.size())>GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
         {
-        	d_symbol_history.pop_front();
+        	d_symbol_history.pop_back();
+        	d_correlation_length_ms_history.pop_back();
         }
 
 		if (d_symbol_history.size()==GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
 		{
-			//******* preamble correlation ********
-			int current_symbol_index=0;
-			for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS/in[0]->correlation_length_ms; i++)
-				{
-					current_symbol_index=i*in[0]->correlation_length_ms;//+static_cast<int>(floor(in[0]->correlation_length_ms/2));
-					if (d_symbol_history.at(i) < 0)	// symbols clipping
-						{
-							//symbol weight expansion using the current tracking correlation length
-							corr_value -= d_preambles_symbols[current_symbol_index]*in[0]->correlation_length_ms;
-						}
-					else
-						{
-							//symbol weight expansion using the current tracking correlation length
-							corr_value += d_preambles_symbols[current_symbol_index]*in[0]->correlation_length_ms;
-						}
-				}
+
+			//******* preamble correlation (in reverse order due to the variable correlator length)
+			int input_symbol_index=0;
+			int preamble_index=0;
+			do{
+				if (d_symbol_history.at(input_symbol_index) < 0)	// symbols clipping
+					{
+						//symbol weight expansion using its tracking correlation length
+						corr_value -= d_preambles_symbols[preamble_index]*d_correlation_length_ms_history.at(input_symbol_index);
+					}
+				else
+					{
+						//symbol weight expansion using its tracking correlation length
+						corr_value += d_preambles_symbols[preamble_index]*d_correlation_length_ms_history.at(input_symbol_index);
+					}
+				preamble_index+=d_correlation_length_ms_history.at(input_symbol_index);
+				input_symbol_index++;
+			}while(preamble_index<GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
+
 		}
-		if (abs(corr_value)>120)
-			{
-				std::cout<<abs(corr_value)<<std::endl;
-			}
+
     }
+
+    consume_each(1); //always consume one by one tracking output
+
     d_flag_preamble = false;
 
     //******* frame sync ******************
@@ -223,45 +215,46 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
     	{
     		d_GPS_FSM.Event_gps_word_preamble();
     		d_preamble_index = d_sample_counter;//record the preamble sample stamp
-    		std::cout  << "Preamble detection for SAT " << this->d_satellite;
+    		DLOG(INFO)  << "Preamble detection for SAT " << this->d_satellite <<" d_sample_counter="<<d_sample_counter<<std::endl;
     		d_symbol_accumulator = 0; //sync the symbol to bits integrator
-    		d_symbol_accumulator_counter = 0;
+    		d_symbol_accumulator_counter = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT-in[0]->correlation_length_ms;
     		d_frame_bit_index = 7;
     		d_stat = 1; // enter into frame pre-detection status
     	}
     	else if (d_stat == 1) //check 6 seconds of preamble separation
     	{
     		preamble_diff = d_sample_counter - d_preamble_index;
-    		if (abs(preamble_diff - 6000) < 1)
+    		if (abs(preamble_diff - GPS_SUBFRAME_MS) < 1)
     		{
-    			std::cout  <<"preamble! corr lenght="<<in[0]->correlation_length_ms<<std::endl;
+    			//DLOG(INFO)<<"preamble! corr lenght="<<in[0]->correlation_length_ms<<" d_sample_counter="<<d_sample_counter<<std::endl;
     			d_GPS_FSM.Event_gps_word_preamble();
     			d_flag_preamble = true;
     			d_preamble_index = d_sample_counter;  //record the preamble sample stamp (t_P)
     			d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
+        		d_symbol_accumulator_counter = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT-in[0]->correlation_length_ms;
     			d_frame_bit_index = 7;
     			if (!d_flag_frame_sync)
     			{
     				//send asynchronous message to tracking to inform of frame sync and extend correlation time
-    				pmt::pmt_t value = pmt::from_long(d_preamble_index-2);
+    				pmt::pmt_t value = pmt::from_long(d_preamble_index-1);
     				this->message_port_pub(pmt::mp("preamble_index"),value);
 
     				d_flag_frame_sync = true;
     				if (corr_value < 0)
     				{
     					flag_PLL_180_deg_phase_locked = true; //PLL is locked to opposite phase!
-    					std::cout  << " PLL in opposite phase for Sat "<< this->d_satellite.get_PRN();
+    					DLOG(INFO)  << " PLL in opposite phase for Sat "<< this->d_satellite.get_PRN();
     				}
     				else
     				{
     					flag_PLL_180_deg_phase_locked = false;
     				}
-    				std::cout  << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
+    				DLOG(INFO)  << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
     			}
     		}else{
-    			if (preamble_diff > 6001)
+    			if (preamble_diff > GPS_SUBFRAME_MS+1)
     			{
-    				std::cout  << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff;
+    				DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff<<" d_sample_counter="<<d_sample_counter<<std::endl;
     				d_stat = 0; //lost of frame sync
     				d_flag_frame_sync = false;
     				flag_TOW_set = false;
@@ -278,7 +271,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
 		d_symbol_accumulator_counter+=in[0]->correlation_length_ms;
     }
 
-    if (d_symbol_accumulator_counter == 20 )
+    if (d_symbol_accumulator_counter >= GPS_CA_TELEMETRY_SYMBOLS_PER_BIT )
         {
 			if (d_symbol_accumulator > 0)
 				{ //symbol to bit
@@ -288,8 +281,9 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
 			d_symbol_accumulator_counter = 0;
             //******* bits to words ******
             d_frame_bit_index++;
-            if (d_frame_bit_index == 30)
+            if (d_frame_bit_index == GPS_WORD_BITS)
                 {
+                //std::cout<<"word bits = "<<std::bitset<32>(d_GPS_frame_4bytes)<<std::endl;
                     d_frame_bit_index = 0;
                     // parity check
                     // Each word in wordbuff is composed of:
@@ -331,7 +325,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
                 }
         }
     // output the frame
-    consume_each(1); //one by one
     Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
     //1. Copy the current tracking output
     current_synchro_data = in[0][0];
@@ -419,7 +412,7 @@ void gps_l1_ca_telemetry_decoder_cc::set_decimation(int decimation)
 void gps_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
 {
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    LOG(INFO) << "Setting decoder Finite State Machine to satellite "  << d_satellite;
+    DLOG(INFO) << "Setting decoder Finite State Machine to satellite "  << d_satellite;
     d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
     DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
 }
@@ -442,7 +435,7 @@ void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
                             d_dump_filename.append(".dat");
                             d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
+                            DLOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
                                       << " Log file: " << d_dump_filename.c_str();
                     }
                     catch (std::ifstream::failure e)
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
index 303684fe1..519c6bebc 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
@@ -108,6 +108,7 @@ private:
 
     // symbols
     std::deque<double> d_symbol_history;
+    std::deque<int> d_correlation_length_ms_history;
     double d_symbol_accumulator;
     short int d_symbol_accumulator_counter;
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 7dbe01681..79f675778 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -90,7 +90,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::forecast (int noutput_items,
 void gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg)
 {
   //pmt::print(msg);
-  DLOG(INFO) << "Extended correlation for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)<< std::endl;
+  DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)<< std::endl;
   if (d_enable_extended_integration==false) //avoid re-setting preamble indicator
   {
 	  d_preamble_index=pmt::to_long(msg);
@@ -380,7 +380,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 			if (d_enable_extended_integration==true)
 			{
 				long int symbol_diff=d_symbol_counter-d_preamble_index;
-				if (symbol_diff % d_extend_correlation_ms == 0)
+				if (symbol_diff>0 and symbol_diff % d_extend_correlation_ms == 0)
 				{
 					// compute coherent integration and enable tracking loop
 		            // perform coherent integration using correlator output history
@@ -400,7 +400,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 							d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
 							d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
 		            		d_preamble_synchronized=true;
-		            		std::cout<<"dll="<<d_dll_bw_hz<<" dll_n="<<d_dll_bw_narrow_hz<<" pll="<<d_pll_bw_hz<<" pll_n="<<d_pll_bw_narrow_hz<<std::endl;
+		            		std::cout<<"Enabled extended correlator for CH "<< d_channel <<" : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+		            				<<" dll_narrow_bw="<<d_dll_bw_narrow_hz<<" pll_narrow_bw="<<d_pll_bw_narrow_hz<<std::endl;
 
 		            }
 					// UPDATE INTEGRATION TIME
@@ -411,8 +412,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 					if(d_preamble_synchronized==true)
 					{
 						// continue extended coherent correlation
-						//TODO: Take into account the extended correlation to update the accumulated carrier phase for carrier phase observables!!
-
 						//remnant carrier phase [rads]
 						d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
 
@@ -572,8 +571,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 	            }
 	            *out[0] = current_synchro_data;
 			}else{
-				//todo: fill synchronization data to produce output while coherent integration is running
-	            current_synchro_data.Flag_valid_symbol_output = false;
 	            current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
 	            current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
 	            // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
@@ -584,12 +581,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 	            current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
 	            current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
 	            current_synchro_data.Flag_valid_pseudorange = false;
-	            if (d_preamble_synchronized==true)
-	            {
-	            	current_synchro_data.correlation_length_ms=d_extend_correlation_ms;
-	            }else{
-	            	current_synchro_data.correlation_length_ms=1;
-	            }
+	            current_synchro_data.Flag_valid_symbol_output = false;
+	            current_synchro_data.correlation_length_ms=1;
 	            *out[0] = current_synchro_data;
 			}
 
diff --git a/src/core/system_parameters/GPS_L1_CA.h b/src/core/system_parameters/GPS_L1_CA.h
index 26920175a..2ae6ddf9a 100644
--- a/src/core/system_parameters/GPS_L1_CA.h
+++ b/src/core/system_parameters/GPS_L1_CA.h
@@ -82,6 +82,7 @@ const int GPS_WORD_LENGTH = 4;                      //!< CRC + GPS WORD (-2 -1 0
 const int GPS_SUBFRAME_LENGTH = 40;                 //!< GPS_WORD_LENGTH x 10 = 40 bytes
 const int GPS_SUBFRAME_BITS = 300;                  //!< Number of bits per subframe in the NAV message [bits]
 const int GPS_SUBFRAME_SECONDS = 6;                 //!< Subframe duration [seconds]
+const int GPS_SUBFRAME_MS = 6000;                 //!< Subframe duration [seconds]
 const int GPS_WORD_BITS = 30;                       //!< Number of bits per word in the NAV message [bits]
 
 // GPS NAVIGATION MESSAGE STRUCTURE

From 500dc59516a64448fecf0fabea2fd1c7fcfbe8ae Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 22 Mar 2016 18:07:12 +0100
Subject: [PATCH 7/9] Release candidate of the GPS L1 C/A telemetry decoder
 supporting variable tracking correlation length

---
 conf/gnss-sdr_Hybrid_gr_complex.conf          |   8 +-
 conf/gnss-sdr_Hybrid_nsr.conf                 |   4 +-
 src/algorithms/channel/adapters/channel.cc    |   2 +-
 .../gps_l1_ca_telemetry_decoder_cc.cc         | 148 +++++++-----------
 .../gps_l1_ca_telemetry_decoder_cc.h          |   7 +-
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc    |  14 +-
 .../gps_l1_ca_dll_pll_c_aid_tracking_cc.h     |   3 +-
 7 files changed, 69 insertions(+), 117 deletions(-)

diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf
index bb5b4031c..213710eaf 100644
--- a/conf/gnss-sdr_Hybrid_gr_complex.conf
+++ b/conf/gnss-sdr_Hybrid_gr_complex.conf
@@ -244,14 +244,14 @@ Tracking_1C.dump_filename=../data/epl_tracking_ch_
 ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
 ;# Longer integration period require more stable front-end LO
 
-Tracking_1C.extend_correlation_ms=5
+Tracking_1C.extend_correlation_ms=10
 
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=20;
-Tracking_1C.pll_bw_narrow_hz=10;
+Tracking_1C.pll_bw_hz=40;
+Tracking_1C.pll_bw_narrow_hz=25;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=3.0;
+Tracking_1C.dll_bw_hz=2.0;
 
 Tracking_1C.dll_bw_narrow_hz=2.0;
 
diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf
index 6cbe05638..b9dcfebab 100644
--- a/conf/gnss-sdr_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_Hybrid_nsr.conf
@@ -238,7 +238,7 @@ Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
 
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=true
+Tracking_1C.dump=false
 
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
@@ -251,7 +251,7 @@ Tracking_1C.extend_correlation_ms=1
 
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_1C.pll_bw_hz=40;
-Tracking_1C.pll_bw_narrow_hz=20;
+Tracking_1C.pll_bw_narrow_hz=40;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_1C.dll_bw_hz=2.0;
diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc
index 30d851505..34eb9711d 100644
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@ -126,7 +126,7 @@ void Channel::connect(gr::top_block_sptr top_block)
     top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
     DLOG(INFO) << "tracking -> telemetry_decoder";
 
-    top_block->msg_connect(nav_->get_left_block(),pmt::mp("preamble_index"),trk_->get_right_block(),pmt::mp("preamble_index"));
+    top_block->msg_connect(nav_->get_left_block(),pmt::mp("preamble_timestamp_s"),trk_->get_right_block(),pmt::mp("preamble_timestamp_s"));
     DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";
 
     connected_ = true;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index 8fa708d74..e66fe7e1f 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@@ -29,17 +29,10 @@
  * -------------------------------------------------------------------------
  */
 
-/*!
- * \todo Clean this code and move the telemetry definitions to GPS_L1_CA system definitions file
- */
-
-
 #include "gps_l1_ca_telemetry_decoder_cc.h"
 #include <iostream>
-#include <bitset>
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
-#include <pmt/pmt.h>
 #include <glog/logging.h>
 #include "control_message_factory.h"
 #include "gnss_synchro.h"
@@ -49,15 +42,17 @@
 #endif
 
 using google::LogMessage;
-/*!
- * \todo name and move the magic numbers to GPS_L1_CA.h
- */
+
 gps_l1_ca_telemetry_decoder_cc_sptr
 gps_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, boost::shared_ptr<gr::msg_queue> queue, bool dump)
 {
     return gps_l1_ca_telemetry_decoder_cc_sptr(new gps_l1_ca_telemetry_decoder_cc(satellite, queue, dump));
 }
 
+void gps_l1_ca_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
+{
+	ninput_items_required[0] = GPS_CA_PREAMBLE_LENGTH_SYMBOLS; //set the required sample history
+}
 
 gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
         Gnss_Satellite satellite,
@@ -66,29 +61,25 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
         gr::block("gps_navigation_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
         gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
 {
-	// create asynchronous message ports
-	this->message_port_register_out(pmt::mp("preamble_index"));
-
+	this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
     // initialize internal vars
     d_queue = queue;
     d_dump = dump;
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    d_samples_per_bit = ( GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS ) / GPS_CA_TELEMETRY_RATE_BITS_SECOND;
-    //d_preamble_duration_seconds = (1.0 / GPS_CA_TELEMETRY_RATE_BITS_SECOND) * GPS_CA_PREAMBLE_LENGTH_BITS;
-    //std::cout<<"d_preamble_duration_seconds="<<d_preamble_duration_seconds<<"\r\n";
+
     // set the preamble
     unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
 
     memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
 
-    // preamble bits to sampled symbols (reversed)
-    d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_BITS * d_samples_per_bit);
+    // preamble bits to sampled symbols
+    d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
     int n = 0;
     for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
         {
-            for (unsigned int j = 0; j < d_samples_per_bit; j++)
+            for (unsigned int j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
                 {
-                    if (d_preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS-i-1] == 1)
+                    if (d_preambles_bits[i] == 1)
                         {
                             d_preambles_symbols[n] = 1;
                         }
@@ -99,10 +90,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
                     n++;
                 }
         }
-    d_sample_counter = 0;
-    //d_preamble_code_phase_seconds = 0;
     d_stat = 0;
-    d_preamble_index = 0;
     d_symbol_accumulator = 0;
     d_symbol_accumulator_counter = 0;
     d_frame_bit_index = 0;
@@ -121,7 +109,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
     d_channel = 0;
     Prn_timestamp_at_preamble_ms = 0.0;
     flag_PLL_180_deg_phase_locked = false;
-    //set_history(d_samples_per_bit*8); // At least a history of 8 bits are needed to correlate with the preamble
 }
 
 
@@ -131,8 +118,6 @@ gps_l1_ca_telemetry_decoder_cc::~gps_l1_ca_telemetry_decoder_cc()
     d_dump_file.close();
 }
 
-
-
 bool gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(unsigned int gpsword)
 {
     unsigned int d1, d2, d3, d4, d5, d6, d7, t, parity;
@@ -160,52 +145,29 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
         gr_vector_const_void_star &input_items,	gr_vector_void_star &output_items)
 {
     int corr_value = 0;
-    int preamble_diff = 0;
+    int preamble_diff_ms = 0;
 
     Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
-    d_sample_counter++; //count for the processed samples
 
     // ########### Output the tracking data to navigation and PVT ##########
     const Gnss_Synchro **in = (const Gnss_Synchro **)  &input_items[0]; //Get the input samples pointer
 
-    // record last symbols (clipped to +1,-1) and its correlation length to perform preamble correlation
-    if (in[0]->Flag_valid_symbol_output==true)
-    {
-    	d_symbol_history.push_front(in[0]->Prompt_I);
-    	d_correlation_length_ms_history.push_front(in[0]->correlation_length_ms);
-        if (static_cast<int>(d_symbol_history.size())>GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
+    //******* preamble correlation ********
+    for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
         {
-        	d_symbol_history.pop_back();
-        	d_correlation_length_ms_history.pop_back();
-        }
-
-		if (d_symbol_history.size()==GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
-		{
-
-			//******* preamble correlation (in reverse order due to the variable correlator length)
-			int input_symbol_index=0;
-			int preamble_index=0;
-			do{
-				if (d_symbol_history.at(input_symbol_index) < 0)	// symbols clipping
+			if (in[0][i].Flag_valid_symbol_output==true)
+			{
+				if (in[0][i].Prompt_I < 0)	// symbols clipping
 					{
-						//symbol weight expansion using its tracking correlation length
-						corr_value -= d_preambles_symbols[preamble_index]*d_correlation_length_ms_history.at(input_symbol_index);
+						corr_value -= d_preambles_symbols[i]*in[0][i].correlation_length_ms;
 					}
 				else
 					{
-						//symbol weight expansion using its tracking correlation length
-						corr_value += d_preambles_symbols[preamble_index]*d_correlation_length_ms_history.at(input_symbol_index);
+						corr_value += d_preambles_symbols[i]*in[0][i].correlation_length_ms;
 					}
-				preamble_index+=d_correlation_length_ms_history.at(input_symbol_index);
-				input_symbol_index++;
-			}while(preamble_index<GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
-
-		}
-
-    }
-
-    consume_each(1); //always consume one by one tracking output
-
+			}
+        	if (corr_value>=GPS_CA_PREAMBLE_LENGTH_SYMBOLS) break;
+        }
     d_flag_preamble = false;
 
     //******* frame sync ******************
@@ -214,30 +176,28 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
     	if (d_stat == 0)
     	{
     		d_GPS_FSM.Event_gps_word_preamble();
-    		d_preamble_index = d_sample_counter;//record the preamble sample stamp
-    		DLOG(INFO)  << "Preamble detection for SAT " << this->d_satellite <<" d_sample_counter="<<d_sample_counter<<std::endl;
-    		d_symbol_accumulator = 0; //sync the symbol to bits integrator
-    		d_symbol_accumulator_counter = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT-in[0]->correlation_length_ms;
-    		d_frame_bit_index = 7;
+            d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;//record the preamble sample stamp
+    		DLOG(INFO)  << "Preamble detection for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs="<<round(in[0][0].Tracking_timestamp_secs * 1000.0) <<std::endl;
+    		 //sync the symbol to bits integrator
+    		d_symbol_accumulator = 0;
+    		d_symbol_accumulator_counter = 0;
+    		d_frame_bit_index = 0;
     		d_stat = 1; // enter into frame pre-detection status
     	}
     	else if (d_stat == 1) //check 6 seconds of preamble separation
     	{
-    		preamble_diff = d_sample_counter - d_preamble_index;
-    		if (abs(preamble_diff - GPS_SUBFRAME_MS) < 1)
+            preamble_diff_ms = round((in[0][0].Tracking_timestamp_secs - d_preamble_time_seconds)*1000.0);
+    		if (abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1)
     		{
-    			//DLOG(INFO)<<"preamble! corr lenght="<<in[0]->correlation_length_ms<<" d_sample_counter="<<d_sample_counter<<std::endl;
+    			DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite  << "in[0][0].Tracking_timestamp_secs="<<round(in[0][0].Tracking_timestamp_secs * 1000.0) <<std::endl;
     			d_GPS_FSM.Event_gps_word_preamble();
     			d_flag_preamble = true;
-    			d_preamble_index = d_sample_counter;  //record the preamble sample stamp (t_P)
-    			d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
-        		d_symbol_accumulator_counter = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT-in[0]->correlation_length_ms;
-    			d_frame_bit_index = 7;
+    			d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;//record the PRN start sample index associated to the preamble
     			if (!d_flag_frame_sync)
     			{
     				//send asynchronous message to tracking to inform of frame sync and extend correlation time
-    				pmt::pmt_t value = pmt::from_long(d_preamble_index-1);
-    				this->message_port_pub(pmt::mp("preamble_index"),value);
+    				pmt::pmt_t value = pmt::from_double(d_preamble_time_seconds-0.001);
+    				this->message_port_pub(pmt::mp("preamble_timestamp_s"),value);
 
     				d_flag_frame_sync = true;
     				if (corr_value < 0)
@@ -252,9 +212,9 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
     				DLOG(INFO)  << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
     			}
     		}else{
-    			if (preamble_diff > GPS_SUBFRAME_MS+1)
+    			if (preamble_diff_ms > GPS_SUBFRAME_MS+1)
     			{
-    				DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff<<" d_sample_counter="<<d_sample_counter<<std::endl;
+    				DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff_ms= " << preamble_diff_ms<<std::endl;
     				d_stat = 0; //lost of frame sync
     				d_flag_frame_sync = false;
     				flag_TOW_set = false;
@@ -264,26 +224,25 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
     }
 
     //******* SYMBOL TO BIT *******
-    if (in[0]->Flag_valid_symbol_output==true)
+
+    if (in[0][0].Flag_valid_symbol_output==true)
     {
 		// extended correlation to bit period is enabled in tracking!
-		d_symbol_accumulator += in[0]->Prompt_I; // accumulate the input value in d_symbol_accumulator
-		d_symbol_accumulator_counter+=in[0]->correlation_length_ms;
+		d_symbol_accumulator += in[0][0].Prompt_I; // accumulate the input value in d_symbol_accumulator
+		d_symbol_accumulator_counter+=in[0][0].correlation_length_ms;
     }
-
-    if (d_symbol_accumulator_counter >= GPS_CA_TELEMETRY_SYMBOLS_PER_BIT )
+    if (d_symbol_accumulator_counter == 20)
         {
-			if (d_symbol_accumulator > 0)
-				{ //symbol to bit
-					d_GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
-				}
-			d_symbol_accumulator = 0;
-			d_symbol_accumulator_counter = 0;
+            if (d_symbol_accumulator > 0)
+                { //symbol to bit
+                    d_GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
+                }
+            d_symbol_accumulator = 0;
+            d_symbol_accumulator_counter = 0;
             //******* bits to words ******
             d_frame_bit_index++;
-            if (d_frame_bit_index == GPS_WORD_BITS)
+            if (d_frame_bit_index == 30)
                 {
-                //std::cout<<"word bits = "<<std::bitset<32>(d_GPS_frame_4bytes)<<std::endl;
                     d_frame_bit_index = 0;
                     // parity check
                     // Each word in wordbuff is composed of:
@@ -325,6 +284,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
                 }
         }
     // output the frame
+    consume_each(1); //one by one
     Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
     //1. Copy the current tracking output
     current_synchro_data = in[0][0];
@@ -359,8 +319,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
 
     if (flag_PLL_180_deg_phase_locked == true)
         {
-			//correct the accumulated phase for the costas loop phase shift, if required
-			current_synchro_data.Carrier_phase_rads += GPS_PI;
+            //correct the accumulated phase for the costas loop phase shift, if required
+            current_synchro_data.Carrier_phase_rads += GPS_PI;
         }
 
     if(d_dump == true)
@@ -376,7 +336,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
                     tmp_double = d_TOW_at_Preamble;
                     d_dump_file.write((char*)&tmp_double, sizeof(double));
             }
-            catch (std::ifstream::failure e)
+            catch (const std::ifstream::failure & e)
             {
                     LOG(WARNING) << "Exception writing observables dump file " << e.what();
             }
@@ -412,7 +372,7 @@ void gps_l1_ca_telemetry_decoder_cc::set_decimation(int decimation)
 void gps_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
 {
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    DLOG(INFO) << "Setting decoder Finite State Machine to satellite "  << d_satellite;
+    LOG(INFO) << "Setting decoder Finite State Machine to satellite "  << d_satellite;
     d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
     DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
 }
@@ -435,7 +395,7 @@ void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
                             d_dump_filename.append(".dat");
                             d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            DLOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
+                            LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
                                       << " Log file: " << d_dump_filename.c_str();
                     }
                     catch (std::ifstream::failure e)
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
index 519c6bebc..67d270b03 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
@@ -85,7 +85,7 @@ public:
      * \brief Function which tells the scheduler how many input items
      *        are required to produce noutput_items output items.
      */
-    //void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
 
 private:
     friend gps_l1_ca_telemetry_decoder_cc_sptr
@@ -100,9 +100,6 @@ private:
     // class private vars
 
     int *d_preambles_symbols;
-    unsigned int d_samples_per_bit;
-    long unsigned int d_sample_counter;
-    long unsigned int d_preamble_index;
     unsigned int d_stat;
     bool d_flag_frame_sync;
 
@@ -134,8 +131,6 @@ private:
     Gnss_Satellite d_satellite;
     int d_channel;
 
-    //std::deque<double> d_prn_start_sample_history;
-
     double d_preamble_time_seconds;
 
     double d_TOW_at_Preamble;
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 79f675778..a15ec033b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -93,7 +93,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t
   DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)<< std::endl;
   if (d_enable_extended_integration==false) //avoid re-setting preamble indicator
   {
-	  d_preamble_index=pmt::to_long(msg);
+	  d_preamble_timestamp_s=pmt::to_double(msg);
 	  d_enable_extended_integration=true;
 	  d_preamble_synchronized=false;
   }
@@ -117,9 +117,9 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
                 gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
 {
 	// create asynchronous message ports
-	this->message_port_register_in(pmt::mp("preamble_index"));
+	this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
 
-	this->set_msg_handler(pmt::mp("preamble_index"),
+	this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
 			boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
 
 
@@ -173,8 +173,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
 
     // sample synchronization
     d_sample_counter = 0; //(from trk to tlm)
-    // symbol synchronization (from tlm to trk)
-    d_symbol_counter =0;
+
     //d_sample_counter_seconds = 0;
     d_acq_sample_stamp = 0;
 
@@ -351,7 +350,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
     	            current_synchro_data.Flag_valid_symbol_output = false;
                     *out[0] = current_synchro_data;
                     consume_each(samples_offset); //shift input to perform alignment with local replica
-                    d_symbol_counter++;
                     return 1;
                 }
 
@@ -379,7 +377,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
             bool enable_dll_pll;
 			if (d_enable_extended_integration==true)
 			{
-				long int symbol_diff=d_symbol_counter-d_preamble_index;
+				long int symbol_diff=round(1000.0*((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in)-d_preamble_timestamp_s));
 				if (symbol_diff>0 and symbol_diff % d_extend_correlation_ms == 0)
 				{
 					// compute coherent integration and enable tracking loop
@@ -638,6 +636,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
 
             current_synchro_data.System = {'G'};
             current_synchro_data.Flag_valid_pseudorange = false;
+            current_synchro_data.correlation_length_ms=1;
             *out[0] = current_synchro_data;
         }
 
@@ -703,7 +702,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items, gr_vec
         {
             LOG(WARNING) << "noutput_items = 0";
         }
-    d_symbol_counter++;
     return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
 }
 
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
index 6183a2f28..c32f94ea7 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -174,8 +174,7 @@ private:
     std::deque<gr_complex> d_E_history;
     std::deque<gr_complex> d_P_history;
     std::deque<gr_complex> d_L_history;
-    long int d_preamble_index;
-    long int d_symbol_counter;
+    double d_preamble_timestamp_s;
     int d_extend_correlation_ms;
     bool d_enable_extended_integration;
     bool d_preamble_synchronized;

From e37824787e5fc2d00460ae302886949cdc614816 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 29 Mar 2016 18:12:59 +0200
Subject: [PATCH 8/9] Adding RX clock offset [s] storage in LS PVT class member

---
 src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 11 ++++++-----
 src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc  | 17 +++++++++--------
 src/algorithms/PVT/libs/hybrid_ls_pvt.cc     | 16 ++++++----------
 src/algorithms/PVT/libs/pvt_solution.h       |  7 ++++---
 4 files changed, 25 insertions(+), 26 deletions(-)

diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
index 23ff0ef2c..5a7bb82b2 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
@@ -57,7 +57,7 @@ galileo_e1_ls_pvt::galileo_e1_ls_pvt(int nchannels, std::string dump_filename, b
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
                     }
-                    catch (std::ifstream::failure e)
+                    catch (const std::ifstream::failure &e)
                     {
                             LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
                     }
@@ -164,7 +164,7 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
             DLOG(INFO) << "obs="<< obs;
             DLOG(INFO) << "W=" << W;
 
-            mypos = galileo_e1_ls_pvt::leastSquarePos(satpos, obs, W);
+            mypos = leastSquarePos(satpos, obs, W);
 
             // Compute Gregorian time
             utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
@@ -176,7 +176,8 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
 
             DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos;
 
-            galileo_e1_ls_pvt::cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
+            cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
+            d_rx_dt_m = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
             //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
             if (d_height_m > 50000)
                 {
@@ -185,10 +186,10 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
                 }
             DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
                       << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
-                      << " [deg], Height= " << d_height_m << " [m]";
+                      << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
 
             // ###### Compute DOPs ########
-            galileo_e1_ls_pvt::compute_DOP();
+            compute_DOP();
 
             // ######## LOG FILE #########
             if(d_flag_dump_enabled == true)
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
index 6b1ba45f3..67dac54c0 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -58,7 +58,7 @@ gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels, std::string dump_filename, boo
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
                     }
-                    catch (std::ifstream::failure e)
+                    catch (const std::ifstream::failure &e)
                     {
                             LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
                     }
@@ -167,11 +167,12 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
             DLOG(INFO) << "obs=" << obs;
             DLOG(INFO) << "W=" << W;
 
-            mypos = gps_l1_ca_ls_pvt::leastSquarePos(satpos, obs, W);
-
+            mypos = leastSquarePos(satpos, obs, W);
             DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z) = " << mypos;
 
-            gps_l1_ca_ls_pvt::cart2geo(mypos(0), mypos(1), mypos(2), 4);
+            cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
+
+            d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
 
             //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
             if (d_height_m > 50000)
@@ -188,10 +189,10 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
 
             LOG(INFO) << "(new)Position at " << boost::posix_time::to_simple_string(p_time)
             << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
-            << " [deg], Height= " << d_height_m << " [m]";
+            << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
 
             // ###### Compute DOPs ########
-            gps_l1_ca_ls_pvt::compute_DOP();
+            compute_DOP();
 
             // ######## LOG FILE #########
             if(d_flag_dump_enabled == true)
@@ -225,14 +226,14 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
                             tmp_double = d_height_m;
                             d_dump_file.write((char*)&tmp_double, sizeof(double));
                     }
-                    catch (std::ifstream::failure e)
+                    catch (const std::ifstream::failure &e)
                     {
                             LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
                     }
                 }
 
             // MOVING AVERAGE PVT
-            gps_l1_ca_ls_pvt::pos_averaging(flag_averaging);
+            pos_averaging(flag_averaging);
         }
     else
         {
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index e5e332ace..f3892bc7f 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -239,8 +239,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
             DLOG(INFO) << "obs="<< obs;
             DLOG(INFO) << "W=" << W;
 
-            mypos = hybrid_ls_pvt::leastSquarePos(satpos, obs, W);
-
+            mypos = leastSquarePos(satpos, obs, W);
+            d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
             // Compute GST and Gregorian time
             if( GST != 0.0)
                 {
@@ -257,24 +257,20 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
             d_position_UTC_time = p_time;
             DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
 
-            hybrid_ls_pvt::cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
+            cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
             //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
             if (d_height_m > 50000)
                 {
                     b_valid_position = false;
                     LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
                     << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
-                    << " [deg], Height= " << d_height_m << " [m]";
-
-                    //std::cout << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
-                    //          << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
-                    //          << " [deg], Height= " << d_height_m << " [m]" << std::endl;
+                    << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << mypos(3) << " [s]";
                     return false;
                 }
 
             LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
             << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
-            << " [deg], Height= " << d_height_m << " [m]";
+            << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
 
             // ###### Compute DOPs ########
             hybrid_ls_pvt::compute_DOP();
@@ -318,7 +314,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
                 }
 
             // MOVING AVERAGE PVT
-            hybrid_ls_pvt::pos_averaging(flag_averaging);
+            pos_averaging(flag_averaging);
         }
     else
         {
diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h
index 456f7da56..1825e6d87 100644
--- a/src/algorithms/PVT/libs/pvt_solution.h
+++ b/src/algorithms/PVT/libs/pvt_solution.h
@@ -48,9 +48,10 @@ class Pvt_Solution
 public:
     Pvt_Solution();
 
-    double d_latitude_d;
-    double d_longitude_d;
-    double d_height_m;
+    double d_latitude_d; //!< RX position Latitude WGS84 [deg]
+    double d_longitude_d; //!< RX position Longitude WGS84 [deg]
+    double d_height_m; //!< RX position height WGS84 [m]
+    double d_rx_dt_m; //!< RX time offset [s]
 
     boost::posix_time::ptime d_position_UTC_time;
 

From d15066fda6bb2dc121936fc855d85ce7d9c454d5 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 29 Mar 2016 18:40:00 +0200
Subject: [PATCH 9/9] Bug fix in Hybrid PVT date/time computation. Removed the
 obsolete GPS L1 Optim tracking block

---
 conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf  |   1 -
 conf/gnss-sdr_GPS_L1_USRP_realtime.conf       |   2 +-
 .../gnss-sdr_GPS_L1_gr_complex_optim_trk.conf | 283 --------
 conf/gnss-sdr_GPS_L1_ishort.conf              |  87 +++
 conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf    |   2 +-
 conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf     |   2 +-
 src/algorithms/PVT/libs/hybrid_ls_pvt.cc      |   9 +-
 .../tracking/adapters/CMakeLists.txt          |   1 -
 .../gps_l1_ca_dll_pll_optim_tracking.cc       | 159 -----
 .../gps_l1_ca_dll_pll_optim_tracking.h        | 119 ----
 .../tracking/gnuradio_blocks/CMakeLists.txt   |   1 -
 .../gps_l1_ca_dll_pll_optim_tracking_cc.cc    | 654 ------------------
 .../gps_l1_ca_dll_pll_optim_tracking_cc.h     | 181 -----
 src/core/receiver/gnss_block_factory.cc       |  13 -
 14 files changed, 95 insertions(+), 1419 deletions(-)
 delete mode 100644 conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf
 create mode 100644 conf/gnss-sdr_GPS_L1_ishort.conf
 delete mode 100644 src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc
 delete mode 100644 src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h
 delete mode 100644 src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
 delete mode 100644 src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h

diff --git a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
index dfac84864..17d1ad4a4 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
@@ -299,7 +299,6 @@ Acquisition_GPS.max_dwells=1
 ;######### TRACKING GLOBAL CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
-;Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
 Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
 Tracking_GPS.item_type=gr_complex
diff --git a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
index d52ce19c9..7f0ce9063 100644
--- a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf
@@ -299,7 +299,7 @@ Acquisition_GPS.max_dwells=1
 ;######### TRACKING GLOBAL CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
-Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
+Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
 Tracking_GPS.item_type=gr_complex
 
diff --git a/conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf b/conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf
deleted file mode 100644
index 6462bc465..000000000
--- a/conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf
+++ /dev/null
@@ -1,283 +0,0 @@
-; Default configuration file
-; You can define your own receiver and invoke it by doing
-; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
-;
-
-[GNSS-SDR]
-
-;######### GLOBAL OPTIONS ##################
-;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
-GNSS-SDR.internal_fs_hz=4000000
-
-;######### CONTROL_THREAD CONFIG ############
-ControlThread.wait_for_flowgraph=false
-
-;######### SIGNAL_SOURCE CONFIG ############
-;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
-SignalSource.implementation=File_Signal_Source
-
-;#filename: path to file with the captured GNSS signal samples to be processed
-SignalSource.filename=../data/agilent_cap2.dat
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-SignalSource.item_type=gr_complex
-
-;#sampling_frequency: Original Signal sampling frequency in [Hz]
-SignalSource.sampling_frequency=4000000
-
-;#freq: RF front-end center frequency in [Hz]
-SignalSource.freq=1575420000
-
-;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
-SignalSource.samples=250000000
-
-;#repeat: Repeat the processing file. Disable this option in this version
-SignalSource.repeat=false
-
-;#dump: Dump the Signal source data to a file. Disable this option in this version
-SignalSource.dump=false
-
-SignalSource.dump_filename=../data/signal_source.dat
-
-
-;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
-; it helps to not overload the CPU, but the processing time will be longer.
-SignalSource.enable_throttle_control=false
-
-
-;######### SIGNAL_CONDITIONER CONFIG ############
-;## It holds blocks to change data type, filter and resample input data.
-
-;#implementation: Use [Pass_Through] or [Signal_Conditioner]
-;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
-;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
-;SignalConditioner.implementation=Signal_Conditioner
-SignalConditioner.implementation=Pass_Through
-
-;######### DATA_TYPE_ADAPTER CONFIG ############
-;## Changes the type of input data. Please disable it in this version.
-;#implementation: [Pass_Through] disables this block
-DataTypeAdapter.implementation=Pass_Through
-
-;######### INPUT_FILTER CONFIG ############
-;## Filter the input data. Can be combined with frequency translation for IF signals
-
-;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
-;#[Pass_Through] disables this block
-;#[Fir_Filter] enables a FIR Filter
-;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
-
-;InputFilter.implementation=Fir_Filter
-;InputFilter.implementation=Freq_Xlating_Fir_Filter
-InputFilter.implementation=Pass_Through
-
-;#dump: Dump the filtered data to a file.
-InputFilter.dump=false
-
-;#dump_filename: Log path and filename.
-InputFilter.dump_filename=../data/input_filter.dat
-
-;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
-;#These options are based on parameters of gnuradio's function: gr_remez.
-;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
-
-;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
-InputFilter.input_item_type=gr_complex
-
-;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
-InputFilter.output_item_type=gr_complex
-
-;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
-InputFilter.taps_item_type=float
-
-;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
-InputFilter.number_of_taps=5
-
-;#number_of _bands: Number of frequency bands in the filter.
-InputFilter.number_of_bands=2
-
-;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
-;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
-;#The number of band_begin and band_end elements must match the number of bands
-
-InputFilter.band1_begin=0.0
-InputFilter.band1_end=0.45
-InputFilter.band2_begin=0.55
-InputFilter.band2_end=1.0
-
-;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
-;#The number of ampl_begin and ampl_end elements must match the number of bands
-
-InputFilter.ampl1_begin=1.0
-InputFilter.ampl1_end=1.0
-InputFilter.ampl2_begin=0.0
-InputFilter.ampl2_end=0.0
-
-;#band_error: weighting applied to each band (usually 1).
-;#The number of band_error elements must match the number of bands
-InputFilter.band1_error=1.0
-InputFilter.band2_error=1.0
-
-;#filter_type: one of "bandpass", "hilbert" or "differentiator"
-InputFilter.filter_type=bandpass
-
-;#grid_density: determines how accurately the filter will be constructed.
-;The minimum value is 16; higher values are slower to compute the filter.
-InputFilter.grid_density=16
-
-;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
-;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
-
-InputFilter.sampling_frequency=4000000
-InputFilter.IF=0
-
-
-
-;######### RESAMPLER CONFIG ############
-;## Resamples the input data.
-
-;#implementation: Use [Pass_Through] or [Direct_Resampler]
-;#[Pass_Through] disables this block
-;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
-;Resampler.implementation=Direct_Resampler
-Resampler.implementation=Pass_Through
-
-;#dump: Dump the resamplered data to a file.
-Resampler.dump=false
-;#dump_filename: Log path and filename.
-Resampler.dump_filename=../data/resampler.dat
-
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Resampler.item_type=gr_complex
-
-;#sample_freq_in: the sample frequency of the input signal
-Resampler.sample_freq_in=8000000
-
-;#sample_freq_out: the desired sample frequency of the output signal
-Resampler.sample_freq_out=4000000
-
-_1C
-;######### CHANNELS GLOBAL CONFIG ############
-;#count: Number of available GPS satellite channels.
-Channels_1C.count=8
-;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
-Channels.in_acquisition=1
-;#signal:
-;#if the option is disabled by default is assigned "1C" GPS L1 C/A
-Channel.signal=1C
-
-
-;######### ACQUISITION GLOBAL CONFIG ############
-;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
-Acquisition_1C.dump=false
-;#filename: Log path and filename
-Acquisition_1C.dump_filename=./acq_dump.dat
-;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
-Acquisition_1C.item_type=gr_complex
-;#if: Signal intermediate frequency in [Hz]
-Acquisition_1C.if=0
-;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
-Acquisition_1C.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
-;#threshold: Acquisition threshold
-Acquisition_1C.threshold=0.008
-;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-;Acquisition_1C.pfa=0.01
-;#doppler_max: Maximum expected Doppler shift [Hz]
-Acquisition_1C.doppler_max=10000
-;#doppler_max: Doppler step in the grid search [Hz]
-Acquisition_1C.doppler_step=500
-
-
-
-;######### TRACKING GLOBAL CONFIG ############
-;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
-Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
-;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
-Tracking_1C.item_type=gr_complex
-
-;#sampling_frequency: Signal Intermediate Frequency in [Hz]
-Tracking_1C.if=0
-
-;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
-Tracking_1C.dump=false
-
-;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
-Tracking_1C.dump_filename=./tracking_ch_
-
-;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=50.0;
-
-;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=2.0;
-
-;#fll_bw_hz: FLL loop filter bandwidth [Hz]
-Tracking_1C.fll_bw_hz=10.0;
-
-;#order: PLL/DLL loop filter order [2] or [3]
-Tracking_1C.order=3;
-
-;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
-Tracking_1C.early_late_space_chips=0.5;
-
-;######### TELEMETRY DECODER GPS CONFIG ############
-;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
-TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
-TelemetryDecoder_1C.dump=false
-;#decimation factor
-TelemetryDecoder_1C.decimation_factor=1;
-
-;######### OBSERVABLES CONFIG ############
-;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
-Observables.implementation=GPS_L1_CA_Observables
-
-;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
-Observables.dump=false
-
-;#dump_filename: Log path and filename.
-Observables.dump_filename=./observables.dat
-
-
-;######### PVT CONFIG ############
-;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
-PVT.implementation=GPS_L1_CA_PVT
-
-;#averaging_depth: Number of PVT observations in the moving average algorithm
-PVT.averaging_depth=100
-
-;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
-PVT.flag_averaging=false
-
-;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
-PVT.output_rate_ms=10
-
-;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
-PVT.display_rate_ms=500
-
-;# KML, GeoJSON, NMEA and RTCM output configuration
-
-;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./PVT
-
-;#nmea_dump_filename: NMEA log path and filename
-PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
-
-;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
-PVT.flag_nmea_tty_port=false;
-
-;#nmea_dump_devname: serial device descriptor for NMEA logging
-PVT.nmea_dump_devname=/dev/pts/4
-
-PVT.flag_rtcm_server=false
-PVT.flag_rtcm_tty_port=false
-PVT.rtcm_dump_devname=/dev/pts/1
-
-;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
-PVT.dump=true
-
-;######### OUTPUT_FILTER CONFIG ############
-;# Receiver output filter: Leave this block disabled in this version
-OutputFilter.implementation=Null_Sink_Output_Filter
-OutputFilter.filename=data/gnss-sdr.dat
-OutputFilter.item_type=gr_complex
diff --git a/conf/gnss-sdr_GPS_L1_ishort.conf b/conf/gnss-sdr_GPS_L1_ishort.conf
new file mode 100644
index 000000000..bbea10058
--- /dev/null
+++ b/conf/gnss-sdr_GPS_L1_ishort.conf
@@ -0,0 +1,87 @@
+; You can define your own receiver and invoke it by doing
+; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
+GNSS-SDR.internal_fs_hz=4000000
+
+;######### CONTROL_THREAD CONFIG ############
+ControlThread.wait_for_flowgraph=false
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/media/javier/SISTEMA/signals/test gestalt 22_1_2016/signal_source_gr_complex_4MSPS.dat
+SignalSource.item_type=gr_complex
+SignalSource.sampling_frequency=4000000
+SignalSource.freq=1575420000
+SignalSource.samples=250000000
+SignalSource.repeat=false
+SignalSource.dump=false
+SignalSource.dump_filename=../data/signal_source.dat
+SignalSource.enable_throttle_control=false
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Pass_Through
+
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels_1C.count=8
+Channels.in_acquisition=1
+Channel.signal=1C
+
+
+;######### ACQUISITION GLOBAL CONFIG ############
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.if=0
+Acquisition_1C.sampled_ms=1
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.threshold=0.006
+;Acquisition_1C.pfa=0.01
+Acquisition_1C.doppler_max=10000
+Acquisition_1C.doppler_step=500
+
+;######### TRACKING GLOBAL CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.if=0
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=../data/epl_tracking_ch_
+Tracking_1C.pll_bw_hz=45.0;
+Tracking_1C.dll_bw_hz=2.0;
+Tracking_1C.order=3;
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
+TelemetryDecoder_1C.decimation_factor=1;
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=GPS_L1_CA_Observables
+Observables.dump=false
+Observables.dump_filename=./observables.dat
+
+
+;######### PVT CONFIG ############
+PVT.implementation=GPS_L1_CA_PVT
+PVT.averaging_depth=100
+PVT.flag_averaging=false
+PVT.output_rate_ms=10
+PVT.display_rate_ms=500
+PVT.dump_filename=./PVT
+PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
+PVT.flag_nmea_tty_port=false;
+PVT.nmea_dump_devname=/dev/pts/4
+PVT.flag_rtcm_server=false
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.dump=false
+
+;######### OUTPUT_FILTER CONFIG ############
+OutputFilter.implementation=Null_Sink_Output_Filter
+OutputFilter.item_type=gr_complex
diff --git a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
index a9f620032..1e3d3b3c3 100644
--- a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
@@ -210,7 +210,7 @@ Acquisition_1C.max_dwells=15
 ;######### TRACKING GLOBAL CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] [GPS_L1_CA_DLL_PLL_Optim_Tracking]
-Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
 Tracking_1C.item_type=gr_complex
 
diff --git a/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
index 296e542b6..181ec894d 100644
--- a/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
+++ b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
@@ -104,7 +104,7 @@ Acquisition_1C.max_dwells=15
 
 
 ;######### TRACKING GLOBAL CONFIG ############
-Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
 Tracking_1C.dump=false
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index f3892bc7f..53ce94002 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -60,7 +60,7 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
                     }
-                    catch (std::ifstream::failure e)
+                    catch (const std::ifstream::failure &e)
                     {
                             LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
                     }
@@ -98,8 +98,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
     int GPS_week = 0;
     double utc = 0.0;
     double GST = 0.0;
-    double utc_tx_corrected = 0.0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s)
-    double TX_time_corrected_s;
+    //double utc_tx_corrected = 0.0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s)
+    double TX_time_corrected_s = 0.0;
     double SV_clock_bias_s = 0.0;
 
     d_flag_averaging = flag_averaging;
@@ -251,7 +251,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
                     utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
                 }
             // get time string Gregorian calendar
-            boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+            double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
+            boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
             // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
             boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
             d_position_UTC_time = p_time;
diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index c02bdde0a..3d146f646 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -25,7 +25,6 @@ set(TRACKING_ADAPTER_SOURCES
      galileo_e1_dll_pll_veml_tracking.cc
      galileo_e1_tcp_connector_tracking.cc
      gps_l1_ca_dll_fll_pll_tracking.cc
-     gps_l1_ca_dll_pll_optim_tracking.cc
      gps_l1_ca_dll_pll_tracking.cc
      gps_l1_ca_dll_pll_c_aid_tracking.cc
      gps_l1_ca_tcp_connector_tracking.cc
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc
deleted file mode 100644
index 14cf004fd..000000000
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc
+++ /dev/null
@@ -1,159 +0,0 @@
-/*!
- * \file gps_l1_ca_dll_pll_optim_tracking.cc
- * \brief  Interface of an adapter of a speed optimized DLL+PLL tracking loop block
- * for GPS L1 C/A to a TrackingInterface
- * \author Javier Arribas, 2012. jarribas(at)cttc.es
- *
- * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
- * - Code Doppler is not compensated in the local replica
- * Code DLL + carrier PLL according to the algorithms described in:
- * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
- * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
- * Approach, Birkha user, 2007
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "gps_l1_ca_dll_pll_optim_tracking.h"
-#include <cmath>
-#include <glog/logging.h>
-#include "GPS_L1_CA.h"
-#include "configuration_interface.h"
-
-using google::LogMessage;
-
-GpsL1CaDllPllOptimTracking::GpsL1CaDllPllOptimTracking(
-        ConfigurationInterface* configuration, std::string role,
-        unsigned int in_streams, unsigned int out_streams,
-        boost::shared_ptr<gr::msg_queue> queue) :
-        role_(role), in_streams_(in_streams), out_streams_(out_streams),
-        queue_(queue)
-{
-    DLOG(INFO) << "role " << role;
-    //################# CONFIGURATION PARAMETERS ########################
-    int fs_in;
-    int vector_length;
-    int f_if;
-    bool dump;
-    std::string dump_filename;
-    std::string item_type;
-    std::string default_item_type = "gr_complex";
-    float pll_bw_hz;
-    float dll_bw_hz;
-    float early_late_space_chips;
-    item_type = configuration->property(role + ".item_type",default_item_type);
-    //vector_length = configuration->property(role + ".vector_length", 2048);
-    fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
-    f_if = configuration->property(role + ".if", 0);
-    dump = configuration->property(role + ".dump", false);
-    pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
-    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
-    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
-    std::string default_dump_filename = "./track_ch";
-    dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
-    vector_length = round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
-
-    //################# MAKE TRACKING GNURadio object ###################
-    if (item_type.compare("gr_complex") == 0)
-        {
-            item_size_ = sizeof(gr_complex);
-            tracking_ = gps_l1_ca_dll_pll_make_optim_tracking_cc(
-                    f_if,
-                    fs_in,
-                    vector_length,
-                    queue_,
-                    dump,
-                    dump_filename,
-                    pll_bw_hz,
-                    dll_bw_hz,
-                    early_late_space_chips);
-        }
-    else
-        {
-            item_size_ = sizeof(gr_complex);
-            LOG(WARNING) << item_type << " unknown tracking item type.";
-        }
-
-    channel_ = 0;
-    channel_internal_queue_ = 0;
-    DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
-}
-
-
-GpsL1CaDllPllOptimTracking::~GpsL1CaDllPllOptimTracking()
-{}
-
-
-void GpsL1CaDllPllOptimTracking::start_tracking()
-{
-    tracking_->start_tracking();
-}
-
-/*
- * Set tracking channel unique ID
- */
-void GpsL1CaDllPllOptimTracking::set_channel(unsigned int channel)
-{
-    channel_ = channel;
-    tracking_->set_channel(channel);
-}
-
-/*
- * Set tracking channel internal queue
- */
-void GpsL1CaDllPllOptimTracking::set_channel_queue(
-        concurrent_queue<int> *channel_internal_queue)
-{
-    channel_internal_queue_ = channel_internal_queue;
-    tracking_->set_channel_queue(channel_internal_queue_);
-}
-
-void GpsL1CaDllPllOptimTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
-{
-    tracking_->set_gnss_synchro(p_gnss_synchro);
-}
-
-void GpsL1CaDllPllOptimTracking::connect(gr::top_block_sptr top_block)
-{
-	if(top_block) { /* top_block is not null */};
-	//nothing to connect, now the tracking uses gr_sync_decimator
-}
-
-void GpsL1CaDllPllOptimTracking::disconnect(gr::top_block_sptr top_block)
-{
-	if(top_block) { /* top_block is not null */};
-	//nothing to disconnect, now the tracking uses gr_sync_decimator
-}
-
-gr::basic_block_sptr GpsL1CaDllPllOptimTracking::get_left_block()
-{
-    return tracking_;
-}
-
-gr::basic_block_sptr GpsL1CaDllPllOptimTracking::get_right_block()
-{
-    return tracking_;
-}
-
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h
deleted file mode 100644
index e9254a283..000000000
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*!
- * \file gps_l1_ca_dll_pll_optim_tracking.h
- * \brief  Interface of an adapter of a speed optimized DLL+PLL tracking loop block
- * for GPS L1 C/A to a TrackingInterface
- * \author Javier Arribas, 2012. jarribas(at)cttc.es
- *
- * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
- * - Code Doppler is not compensated in the local replica
- * Code DLL + carrier PLL according to the algorithms described in:
- * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
- * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
- * Approach, Birkha user, 2007
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
-#define GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
-
-#include <string>
-#include <gnuradio/msg_queue.h>
-#include "tracking_interface.h"
-#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
-
-
-class ConfigurationInterface;
-
-/*!
- * \brief This class implements a code DLL + carrier PLL tracking loop
- */
-class GpsL1CaDllPllOptimTracking : public TrackingInterface
-{
-
-public:
-
-  GpsL1CaDllPllOptimTracking(ConfigurationInterface* configuration,
-            std::string role,
-            unsigned int in_streams,
-            unsigned int out_streams,
-            boost::shared_ptr<gr::msg_queue> queue);
-
-    virtual ~GpsL1CaDllPllOptimTracking();
-
-    std::string role()
-    {
-        return role_;
-    }
-
-    //! Returns "GPS_L1_CA_DLL_PLL_Optim_Tracking"
-    std::string implementation()
-    {
-        return "GPS_L1_CA_DLL_PLL_Optim_Tracking";
-    }
-    size_t item_size()
-    {
-        return item_size_;
-    }
-
-    void connect(gr::top_block_sptr top_block);
-    void disconnect(gr::top_block_sptr top_block);
-    gr::basic_block_sptr get_left_block();
-    gr::basic_block_sptr get_right_block();
-
-
-    /*!
-     * \brief Set tracking channel unique ID
-     */
-    void set_channel(unsigned int channel);
-
-    /*!
-     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
-     * to efficiently exchange synchronization data between acquisition and tracking blocks
-     */
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
-
-    /*!
-     * \brief Set tracking channel internal queue
-     */
-    void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
-
-    void start_tracking();
-
-private:
-
-    gps_l1_ca_dll_pll_optim_tracking_cc_sptr tracking_;
-    size_t item_size_;
-
-    unsigned int channel_;
-
-    std::string role_;
-    unsigned int in_streams_;
-    unsigned int out_streams_;
-    boost::shared_ptr<gr::msg_queue> queue_;
-    concurrent_queue<int> *channel_internal_queue_;
-};
-
-#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index d5bced479..3a583b7b0 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -26,7 +26,6 @@ set(TRACKING_GR_BLOCKS_SOURCES
      galileo_e1_dll_pll_veml_tracking_cc.cc
      galileo_e1_tcp_connector_tracking_cc.cc
      gps_l1_ca_dll_fll_pll_tracking_cc.cc
-     gps_l1_ca_dll_pll_optim_tracking_cc.cc
      gps_l1_ca_dll_pll_tracking_cc.cc
      gps_l1_ca_tcp_connector_tracking_cc.cc
      galileo_e5a_dll_pll_tracking_cc.cc
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
deleted file mode 100644
index 82be30057..000000000
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
+++ /dev/null
@@ -1,654 +0,0 @@
-/*!
- * \file gps_l1_ca_dll_pll_optim_tracking_cc.cc
- * \brief Implementation of a code DLL + carrier PLL tracking block
- * \author Javier Arribas, 2012. jarribas(at)cttc.es
- * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
- * - Code Doppler is not compensated in the local replica
- * Code DLL + carrier PLL according to the algorithms described in:
- * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
- * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
- * Approach, Birkha user, 2007
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
-#include <iostream>
-#include <memory>
-#include <sstream>
-#include <boost/lexical_cast.hpp>
-#include <gnuradio/io_signature.h>
-#include <glog/logging.h>
-#include <volk/volk.h>
-#include "gps_sdr_signal_processing.h"
-#include "tracking_discriminators.h"
-#include "lock_detectors.h"
-#include "GPS_L1_CA.h"
-#include "nco_lib.h"
-#include "control_message_factory.h"
-
-
-
-/*!
- * \todo Include in definition header file
- */
-#define CN0_ESTIMATION_SAMPLES 20
-#define MINIMUM_VALID_CN0 25
-#define MAXIMUM_LOCK_FAIL_COUNTER 50
-#define CARRIER_LOCK_THRESHOLD 0.85
-
-using google::LogMessage;
-
-gps_l1_ca_dll_pll_optim_tracking_cc_sptr
-gps_l1_ca_dll_pll_make_optim_tracking_cc(
-        long if_freq,
-        long fs_in,
-        unsigned int vector_length,
-        boost::shared_ptr<gr::msg_queue> queue,
-        bool dump,
-        std::string dump_filename,
-        float pll_bw_hz,
-        float dll_bw_hz,
-        float early_late_space_chips)
-{
-    return gps_l1_ca_dll_pll_optim_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(if_freq,
-            fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
-}
-
-
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::forecast (int noutput_items,
-        gr_vector_int &ninput_items_required)
-{
-    if (noutput_items != 0)
-        {
-            ninput_items_required[0] = d_gnuradio_forecast_samples; //set the required available samples in each call
-        }
-}
-
-
-
-Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(
-        long if_freq,
-        long fs_in,
-        unsigned int vector_length,
-        boost::shared_ptr<gr::msg_queue> queue,
-        bool dump,
-        std::string dump_filename,
-        float pll_bw_hz,
-        float dll_bw_hz,
-        float early_late_space_chips) :
-        gr::block("Gps_L1_Ca_Dll_Pll_Tracking_cc",
-                  gr::io_signature::make(1, 1, sizeof(gr_complex)),
-                  gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
-{
-    // initialize internal vars
-    d_queue = queue;
-    d_dump = dump;
-    d_if_freq = if_freq;
-    d_fs_in = fs_in;
-    d_vector_length = vector_length;
-    d_gnuradio_forecast_samples = static_cast<int>(d_vector_length) * 2;
-    d_dump_filename = dump_filename;
-
-    // Initialize tracking  ==========================================
-    d_code_loop_filter.set_DLL_BW(dll_bw_hz);
-    d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
-
-    //--- DLL variables --------------------------------------------------------
-    d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
-
-    // Initialization of local code replica
-    // Get space for a vector with the C/A code replica sampled 1x/chip
-    d_ca_code = static_cast<gr_complex*>(volk_malloc((GPS_L1_CA_CODE_LENGTH_CHIPS + 2) * sizeof(gr_complex), volk_get_alignment()));
-
-    // Get space for the resampled early / prompt / late local replicas
-    d_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
-    d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
-    d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
-
-    // space for carrier wipeoff and signal baseband vectors
-    d_carr_sign = static_cast<gr_complex*>(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_get_alignment()));
-
-    // correlator outputs (scalar)
-    d_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
-    d_Prompt = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
-    d_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
-
-    //--- Perform initializations ------------------------------
-    // define initial code frequency basis of NCO
-    d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
-    // define residual code phase (in chips)
-    d_rem_code_phase_samples = 0.0;
-    // define residual carrier phase
-    d_rem_carr_phase_rad = 0.0;
-
-    // sample synchronization
-    d_sample_counter = 0;
-    //d_sample_counter_seconds = 0;
-    d_acq_sample_stamp = 0;
-
-    d_enable_tracking = false;
-    d_pull_in = false;
-    d_last_seg = 0;
-
-    d_current_prn_length_samples = static_cast<int>(d_vector_length);
-
-    // CN0 estimation and lock detector buffers
-    d_cn0_estimation_counter = 0;
-    d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
-    d_carrier_lock_test = 1;
-    d_CN0_SNV_dB_Hz = 0;
-    d_carrier_lock_fail_counter = 0;
-    d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
-
-    systemName["G"] = std::string("GPS");
-
-    d_channel_internal_queue = 0;
-    d_acquisition_gnss_synchro = 0;
-    d_channel = 0;
-    d_acq_code_phase_samples = 0.0;
-    d_acq_carrier_doppler_hz = 0.0;
-    d_carrier_doppler_hz = 0.0;
-    d_acc_carrier_phase_rad = 0.0;
-    d_code_phase_samples = 0.0;
-    d_acc_code_phase_secs = 0.0;
-}
-
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::start_tracking()
-{
-    // correct the code phase according to the delay between acq and trk
-    d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
-    d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
-    d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
-
-    long int acq_trk_diff_samples;
-    double acq_trk_diff_seconds;
-    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
-    LOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
-    acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
-    //doppler effect
-    // Fd=(C/(C+Vr))*F
-    double radial_velocity;
-    radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
-    // new chip and prn sequence periods based on acq Doppler
-    double T_chip_mod_seconds;
-    double T_prn_mod_seconds;
-    double T_prn_mod_samples;
-    d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
-    T_chip_mod_seconds = 1/d_code_freq_chips;
-    T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
-    T_prn_mod_samples = T_prn_mod_seconds * static_cast<float>(d_fs_in);
-    d_current_prn_length_samples = round(T_prn_mod_samples);
-
-    double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
-    double T_prn_true_samples = T_prn_true_seconds * static_cast<float>(d_fs_in);
-    double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
-    double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
-    double corrected_acq_phase_samples, delay_correction_samples;
-    corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<float>(d_fs_in)), T_prn_true_samples);
-    if (corrected_acq_phase_samples < 0)
-        {
-            corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
-        }
-    delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
-    d_acq_code_phase_samples = corrected_acq_phase_samples;
-    d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
-
-    // DLL/PLL filter initialization
-    d_carrier_loop_filter.initialize(); //initialize the carrier filter
-    d_code_loop_filter.initialize();    //initialize the code filter
-
-    // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
-    gps_l1_ca_code_gen_complex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
-    d_ca_code[0] = d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS)];
-    d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) + 1] = d_ca_code[1];
-
-    //******************************************************************************
-    // Experimental: pre-sampled local signal replica at nominal code frequency.
-    // No code doppler correction
-    double tcode_chips;
-    int associated_chip_index;
-    int code_length_chips = static_cast<float>(GPS_L1_CA_CODE_LENGTH_CHIPS);
-    double code_phase_step_chips;
-    int early_late_spc_samples;
-    int epl_loop_length_samples;
-
-    // unified loop for E, P, L code vectors
-    code_phase_step_chips = (static_cast<double>(d_code_freq_chips)) / (static_cast<double>(d_fs_in));
-    tcode_chips = 0;
-
-    // Alternative EPL code generation (40% of speed improvement!)
-    early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
-    epl_loop_length_samples = d_current_prn_length_samples  +early_late_spc_samples*2;
-    for (int i = 0; i < epl_loop_length_samples; i++)
-        {
-            associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
-            d_early_code[i] = d_ca_code[associated_chip_index];
-            tcode_chips = tcode_chips + code_phase_step_chips;
-        }
-
-    memcpy(d_prompt_code, &d_early_code[early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
-    memcpy(d_late_code, &d_early_code[early_late_spc_samples*2], d_current_prn_length_samples* sizeof(gr_complex));
-    //******************************************************************************
-
-    d_carrier_lock_fail_counter = 0;
-    d_rem_code_phase_samples = 0;
-    d_rem_carr_phase_rad = 0;
-    d_acc_carrier_phase_rad = 0;
-
-    d_code_phase_samples = d_acq_code_phase_samples;
-
-    std::string sys_ = &d_acquisition_gnss_synchro->System;
-    sys = sys_.substr(0,1);
-
-    // DEBUG OUTPUT
-    std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
-    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
-
-    // enable tracking
-    d_pull_in = true;
-    d_enable_tracking = true;
-
-    LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
-              << " Code Phase correction [samples]=" << delay_correction_samples
-              << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples << std::endl;
-}
-
-
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::update_local_code()
-{
-    double tcode_chips;
-    double rem_code_phase_chips;
-    int associated_chip_index;
-    int code_length_chips = static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS);
-    double code_phase_step_chips;
-    int early_late_spc_samples;
-    int epl_loop_length_samples;
-
-    // unified loop for E, P, L code vectors
-    code_phase_step_chips = (static_cast<double>(d_code_freq_chips)) / (static_cast<double>(d_fs_in));
-    rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
-    tcode_chips = -rem_code_phase_chips;
-
-    //EPL code generation
-    early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
-    epl_loop_length_samples = d_current_prn_length_samples + early_late_spc_samples*2;
-    for (int i = 0; i < epl_loop_length_samples; i++)
-        {
-            associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
-            d_early_code[i] = d_ca_code[associated_chip_index];
-            tcode_chips = tcode_chips + code_phase_step_chips;
-        }
-
-    memcpy(d_prompt_code, &d_early_code[early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
-    memcpy(d_late_code, &d_early_code[early_late_spc_samples*2], d_current_prn_length_samples* sizeof(gr_complex));
-}
-
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::update_local_carrier()
-{
-    float phase_step_rad;
-    phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
-    fxp_nco(d_carr_sign, d_current_prn_length_samples, d_rem_carr_phase_rad, phase_step_rad);
-}
-
-
-Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc()
-{
-    d_dump_file.close();
-
-    volk_free(d_prompt_code);
-    volk_free(d_late_code);
-    volk_free(d_early_code);
-    volk_free(d_carr_sign);
-    volk_free(d_Early);
-    volk_free(d_Prompt);
-    volk_free(d_Late);
-
-    delete[] d_ca_code;
-    delete[] d_Prompt_buffer;
-}
-
-
-// Tracking signal processing
-int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
-        gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
-{
-    // stream to collect cout calls to improve thread safety
-    std::stringstream tmp_str_stream;
-    double carr_error_hz = 0.0;
-    double carr_error_filt_hz = 0.0;
-    double code_error_chips = 0.0;
-    double code_error_filt_chips = 0.0;
-
-    if (d_enable_tracking == true)
-        {
-            /*
-             * Receiver signal alignment
-             */
-            if (d_pull_in == true)
-                {
-                    int samples_offset;
-                    float acq_trk_shif_correction_samples;
-                    int acq_to_trk_delay_samples;
-                    acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
-                    acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
-                    samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
-                    d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
-                    d_pull_in = false;
-                    consume_each(samples_offset); //shift input to perform alignment with local replica
-                    return 1;
-                }
-            // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
-            Gnss_Synchro current_synchro_data;
-            // Fill the acquisition data
-            current_synchro_data = *d_acquisition_gnss_synchro;
-
-            // Block input data and block output stream pointers
-            const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
-            Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
-
-            // Generate local code and carrier replicas (using \hat{f}_d(k-1))
-            //update_local_code(); //disabled in the speed optimized tracking!
-            update_local_carrier();
-
-            // perform Early, Prompt and Late correlation
-#if USING_VOLK_CW_EPL_CORR_CUSTOM
-            d_correlator.Carrier_wipeoff_and_EPL_volk_custom(d_current_prn_length_samples,
-                    in,
-                    d_carr_sign,
-                    d_early_code,
-                    d_prompt_code,
-                    d_late_code,
-                    d_Early,
-                    d_Prompt,
-                    d_Late);
-#else
-            d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
-                    in,
-                    d_carr_sign,
-                    d_early_code,
-                    d_prompt_code,
-                    d_late_code,
-                    d_Early,
-                    d_Prompt,
-                    d_Late);
-#endif
-            // ################## PLL ##########################################################
-            // PLL discriminator
-            carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / GPS_TWO_PI;
-            // Carrier discriminator filter
-            carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
-            // New carrier Doppler frequency estimation
-            d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
-            // New code Doppler frequency estimation
-            d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
-            //carrier phase accumulator for (K) doppler estimation
-            d_acc_carrier_phase_rad -= GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
-            //remnant carrier phase to prevent overflow in the code NCO
-            d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
-            d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
-
-            // ################## DLL ##########################################################
-            // DLL discriminator
-            code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_Late); //[chips/Ti]
-            // Code discriminator filter
-            code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
-            //Code phase accumulator
-            double code_error_filt_secs;
-            code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
-            d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
-
-            // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
-            // keep alignment parameters for the next input buffer
-            double T_chip_seconds;
-            double T_prn_seconds;
-            double T_prn_samples;
-            double K_blk_samples;
-            // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
-            T_chip_seconds = 1.0 / d_code_freq_chips;
-            T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
-            T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
-            K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
-            d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
-            //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
-
-            // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
-            if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
-                {
-                    // fill buffer with prompt correlator output values
-                    d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
-                    d_cn0_estimation_counter++;
-                }
-            else
-                {
-                    d_cn0_estimation_counter = 0;
-                    // Code lock indicator
-                    d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
-                    // Carrier lock indicator
-                    d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
-                    // Loss of lock detection
-                    if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
-                        {
-                            d_carrier_lock_fail_counter++;
-                        }
-                    else
-                        {
-                            if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
-                        }
-                    if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
-                        {
-                            std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
-                            LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
-                            std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
-                            if (d_queue != gr::msg_queue::sptr())
-                                {
-                                    d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
-                                }
-                            d_carrier_lock_fail_counter = 0;
-                            d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
-                        }
-                }
-            // ########### Output the tracking data to navigation and PVT ##########
-            current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
-            current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
-            // Tracking_timestamp_secs is aligned with the PRN start sample
-            //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
-            current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
-            d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
-            // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
-            current_synchro_data.Code_phase_secs = 0;
-            current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
-            current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
-            current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
-            current_synchro_data.Flag_valid_pseudorange = false;
-            *out[0] = current_synchro_data;
-
-            // ########## DEBUG OUTPUT
-            /*!
-             *  \todo The stop timer has to be moved to the signal source!
-             */
-            if (floor(d_sample_counter / d_fs_in) != d_last_seg)
-                {
-                    d_last_seg = floor(d_sample_counter / d_fs_in);
-
-                    if (d_channel == 0)
-                        {
-                            // debug: Second counter in channel 0
-                            tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
-                            std::cout << tmp_str_stream.rdbuf();
-                            LOG(INFO) << tmp_str_stream.rdbuf();
-                        }
-
-                    tmp_str_stream << "Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-                                   << ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
-                    //std::cout << tmp_str_stream.rdbuf() << std::flush;
-                    LOG(INFO) << tmp_str_stream.rdbuf();
-                    //if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
-                }
-        }
-    else
-        {
-            // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
-            /*!
-             *  \todo The stop timer has to be moved to the signal source!
-             */
-            // stream to collect cout calls to improve thread safety
-            std::stringstream tmp_str_stream;
-            if (floor(d_sample_counter / d_fs_in) != d_last_seg)
-                {
-                    d_last_seg = floor(d_sample_counter / d_fs_in);
-
-                    if (d_channel == 0)
-                        {
-                            // debug: Second counter in channel 0
-                            tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
-                            std::cout << tmp_str_stream.rdbuf() << std::flush;
-                        }
-                }
-            *d_Early = gr_complex(0,0);
-            *d_Prompt = gr_complex(0,0);
-            *d_Late = gr_complex(0,0);
-            Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
-            // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
-            d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
-            *out[0] = *d_acquisition_gnss_synchro;
-        }
-
-    if(d_dump)
-        {
-            // MULTIPLEXED FILE RECORDING - Record results to file
-            float prompt_I;
-            float prompt_Q;
-            float tmp_E, tmp_P, tmp_L;
-            float tmp_float;
-            double tmp_double;
-            prompt_I = (*d_Prompt).real();
-            prompt_Q = (*d_Prompt).imag();
-            tmp_E = std::abs<float>(*d_Early);
-            tmp_P = std::abs<float>(*d_Prompt);
-            tmp_L = std::abs<float>(*d_Late);
-            try
-            {
-                    // EPR
-                    d_dump_file.write((char*)&tmp_E, sizeof(float));
-                    d_dump_file.write((char*)&tmp_P, sizeof(float));
-                    d_dump_file.write((char*)&tmp_L, sizeof(float));
-                    // PROMPT I and Q (to analyze navigation symbols)
-                    d_dump_file.write((char*)&prompt_I, sizeof(float));
-                    d_dump_file.write((char*)&prompt_Q, sizeof(float));
-                    // PRN start sample stamp
-                    //tmp_float=(float)d_sample_counter;
-                    d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
-                    // accumulated carrier phase
-                    tmp_float = d_acc_carrier_phase_rad;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-
-                    // carrier and code frequency
-                    tmp_float = d_carrier_doppler_hz;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-                    tmp_float = d_code_freq_chips;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-
-                    //PLL commands
-                    tmp_float = carr_error_hz;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-                    tmp_float = carr_error_filt_hz;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-
-                    //DLL commands
-                    tmp_float = code_error_chips;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-                    tmp_float = code_error_filt_chips;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-
-                    // CN0 and carrier lock test
-                    tmp_float = d_CN0_SNV_dB_Hz;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-                    tmp_float = d_carrier_lock_test;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-
-                    // AUX vars (for debug purposes)
-                    tmp_float = d_rem_code_phase_samples;
-                    d_dump_file.write((char*)&tmp_float, sizeof(float));
-                    tmp_double = (double)(d_sample_counter + d_current_prn_length_samples);
-                    d_dump_file.write((char*)&tmp_double, sizeof(double));
-            }
-            catch (std::ifstream::failure& e)
-            {
-                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
-            }
-        }
-
-    consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
-    d_sample_counter += d_current_prn_length_samples; //count for the processed samples
-    if((noutput_items == 0) || (ninput_items[0] == 0))
-        {
-            LOG(WARNING) << "noutput_items = 0";
-        }
-    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
-}
-
-
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_channel(unsigned int channel)
-{
-    d_channel = channel;
-    LOG(INFO) << "Tracking Channel set to " << d_channel;
-    // ############# ENABLE DATA FILE LOG #################
-    if (d_dump == true)
-        {
-            if (d_dump_file.is_open() == false)
-                {
-                    try
-                    {
-                            d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
-                            d_dump_filename.append(".dat");
-                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
-                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
-                    }
-                    catch (std::ifstream::failure& e)
-                    {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
-                    }
-                }
-        }
-}
-
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
-{
-    d_channel_internal_queue = channel_internal_queue;
-}
-
-void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
-{
-    d_acquisition_gnss_synchro = p_gnss_synchro;
-
-}
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
deleted file mode 100644
index 8c02abc08..000000000
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
+++ /dev/null
@@ -1,181 +0,0 @@
-/*!
- * \file gps_l1_ca_dll_pll_optim_tracking_cc.h
- * \brief Implementation of a code DLL + carrier PLL tracking block
- * \author Javier Arribas, 2012. jarribas(at)cttc.es
- * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
- * - Code Doppler is not compensated in the local replica
- * Code DLL + carrier PLL according to the algorithms described in:
- * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
- * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
- * Approach, Birkha user, 2007
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
-#define GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
-
-#include <fstream>
-#include <map>
-#include <string>
-#include <gnuradio/block.h>
-#include <gnuradio/msg_queue.h>
-#include "concurrent_queue.h"
-#include "gnss_synchro.h"
-#include "tracking_2nd_DLL_filter.h"
-#include "tracking_2nd_PLL_filter.h"
-#include "correlator.h"
-
-class Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc;
-
-typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc> gps_l1_ca_dll_pll_optim_tracking_cc_sptr;
-
-gps_l1_ca_dll_pll_optim_tracking_cc_sptr gps_l1_ca_dll_pll_make_optim_tracking_cc(long if_freq,
-                                                                                  long fs_in,
-                                                                                  unsigned int vector_length,
-                                                                                  boost::shared_ptr<gr::msg_queue> queue,
-                                                                                  bool dump,
-                                                                                  std::string dump_filename,
-                                                                                  float pll_bw_hz,
-                                                                                  float dll_bw_hz,
-                                                                                  float early_late_space_chips);
-
-
-/*!
- * \brief This class implements a DLL + PLL tracking loop block
- */
-class Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc: public gr::block
-{
-public:
-    ~Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc();
-
-    void set_channel(unsigned int channel);
-    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
-    void start_tracking();
-    void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
-
-    int general_work (int noutput_items, gr_vector_int &ninput_items,
-            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
-
-    void forecast (int noutput_items, gr_vector_int &ninput_items_required);
-private:
-    friend gps_l1_ca_dll_pll_optim_tracking_cc_sptr
-    gps_l1_ca_dll_pll_make_optim_tracking_cc(long if_freq,
-            long fs_in, unsigned
-            int vector_length,
-            boost::shared_ptr<gr::msg_queue> queue,
-            bool dump,
-            std::string dump_filename,
-            float pll_bw_hz,
-            float dll_bw_hz,
-            float early_late_space_chips);
-
-    Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(long if_freq,
-            long fs_in, unsigned
-            int vector_length,
-            boost::shared_ptr<gr::msg_queue> queue,
-            bool dump,
-            std::string dump_filename,
-            float pll_bw_hz,
-            float dll_bw_hz,
-            float early_late_space_chips);
-    void update_local_code();
-    void update_local_carrier();
-
-    // tracking configuration vars
-    boost::shared_ptr<gr::msg_queue> d_queue;
-    concurrent_queue<int> *d_channel_internal_queue;
-    unsigned int d_vector_length;
-    bool d_dump;
-
-    Gnss_Synchro* d_acquisition_gnss_synchro;
-    unsigned int d_channel;
-    int d_last_seg;
-    long d_if_freq;
-    long d_fs_in;
-
-    double d_early_late_spc_chips;
-
-    gr_complex* d_ca_code;
-
-    gr_complex* d_early_code;
-    gr_complex* d_late_code;
-    gr_complex* d_prompt_code;
-    gr_complex* d_carr_sign;
-
-    gr_complex *d_Early;
-    gr_complex *d_Prompt;
-    gr_complex *d_Late;
-
-    // remaining code phase and carrier phase between tracking loops
-    double d_rem_code_phase_samples;
-    double d_rem_carr_phase_rad;
-
-    // PLL and DLL filter library
-    Tracking_2nd_DLL_filter d_code_loop_filter;
-    Tracking_2nd_PLL_filter d_carrier_loop_filter;
-
-    // acquisition
-    double d_acq_code_phase_samples;
-    double d_acq_carrier_doppler_hz;
-    // correlator
-    Correlator d_correlator;
-
-    // tracking vars
-    double d_code_freq_chips;
-    double d_carrier_doppler_hz;
-    double d_acc_carrier_phase_rad;
-    double d_code_phase_samples;
-    double d_acc_code_phase_secs;
-
-    //PRN period in samples
-    int d_current_prn_length_samples;
-
-    //processing samples counters
-    unsigned long int d_sample_counter;
-    unsigned long int d_acq_sample_stamp;
-
-    // CN0 estimation and lock detector
-    int d_cn0_estimation_counter;
-    gr_complex* d_Prompt_buffer;
-    double d_carrier_lock_test;
-    double d_CN0_SNV_dB_Hz;
-    double d_carrier_lock_threshold;
-    int d_carrier_lock_fail_counter;
-
-    // control vars
-    int d_gnuradio_forecast_samples;
-    bool d_enable_tracking;
-    bool d_pull_in;
-
-    // file dump
-    std::string d_dump_filename;
-    std::ofstream d_dump_file;
-
-    std::map<std::string, std::string> systemName;
-    std::string sys;
-};
-
-#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 65aa2f567..2c179db53 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -80,7 +80,6 @@
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
 #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
-#include "gps_l1_ca_dll_pll_optim_tracking.h"
 #include "gps_l1_ca_dll_fll_pll_tracking.h"
 #include "gps_l1_ca_tcp_connector_tracking.h"
 #include "galileo_e1_dll_pll_veml_tracking.h"
@@ -1324,12 +1323,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams, queue));
             block = std::move(block_);
         }
-    else if (implementation.compare("GPS_L1_CA_DLL_PLL_Optim_Tracking") == 0)
-        {
-            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaDllPllOptimTracking(configuration.get(), role, in_streams,
-                    out_streams, queue));
-            block = std::move(block_);
-        }
     else if (implementation.compare("GPS_L1_CA_DLL_FLL_PLL_Tracking") == 0)
         {
             std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaDllFllPllTracking(configuration.get(), role, in_streams,
@@ -1589,12 +1582,6 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
                     out_streams, queue));
             block = std::move(block_);
         }
-    else if (implementation.compare("GPS_L1_CA_DLL_PLL_Optim_Tracking") == 0)
-        {
-            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllOptimTracking(configuration.get(), role, in_streams,
-                    out_streams, queue));
-            block = std::move(block_);
-        }
     else if (implementation.compare("GPS_L1_CA_DLL_FLL_PLL_Tracking") == 0)
         {
             std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllFllPllTracking(configuration.get(), role, in_streams,