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

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc

@@ -123,7 +123,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h

@@ -102,7 +102,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -173,7 +173,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;

src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc

@@ -121,7 +121,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h

@@ -101,7 +101,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -172,7 +172,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc

@@ -110,7 +110,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h

@@ -96,7 +96,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -156,7 +156,7 @@ private:
     unsigned int vector_length_;
     unsigned int code_length_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -154,7 +154,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h

@@ -100,7 +100,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -171,7 +171,7 @@ private:
     bool use_CFAR_algorithm_flag_;
     bool acquire_pilot_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -187,7 +187,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     channel_ = 0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     // temporary buffers that we can delete
     delete[] code;
     delete fft_if;

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -99,7 +99,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_fpga_->set_channel_fsm(channel_fsm);
@@ -157,7 +157,7 @@ private:
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     bool acquire_pilot_;
     uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
     std::string dump_filename_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc

@@ -111,7 +111,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h

@@ -96,7 +96,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -155,7 +155,7 @@ private:
     unsigned int code_length_;
     //unsigned int satellite_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc

@@ -144,7 +144,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h

@@ -97,7 +97,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -159,7 +159,7 @@ private:
     unsigned int code_length_;
     bool bit_transition_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc

@@ -114,7 +114,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h

@@ -96,7 +96,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -157,7 +157,7 @@ private:
     unsigned int vector_length_;
     unsigned int code_length_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc

@@ -119,7 +119,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h

@@ -97,7 +97,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -160,7 +160,7 @@ private:
     unsigned int code_length_;
     bool bit_transition_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -152,7 +152,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h

@@ -88,7 +88,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -169,7 +169,7 @@ private:
     unsigned int vector_length_;
     unsigned int code_length_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
     unsigned int sampled_ms_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -189,7 +189,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
     channel_ = 0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     // temporary buffers that we can delete
     delete[] code;
     delete fft_if;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -101,7 +101,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_fpga_->set_channel_fsm(channel_fsm);
@@ -176,7 +176,7 @@ private:
     bool acq_iq_;
 
     uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
     unsigned int in_streams_;

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc

@@ -125,7 +125,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

@@ -98,7 +98,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -162,7 +162,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc

@@ -124,7 +124,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h

@@ -98,7 +98,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -162,7 +162,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -147,7 +147,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h

@@ -104,7 +104,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -174,7 +174,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc

@@ -97,7 +97,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h

@@ -97,7 +97,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -152,7 +152,7 @@ private:
     std::string item_type_;
     unsigned int vector_length_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -169,7 +169,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     channel_ = 0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     // temporary buffers that we can delete
     delete[] code;
     delete fft_if;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h

@@ -103,7 +103,7 @@ public:
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_fpga_->set_channel_fsm(channel_fsm);
@@ -160,7 +160,7 @@ private:
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
     Gnss_Synchro* gnss_synchro_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc

@@ -89,7 +89,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h

@@ -97,7 +97,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -149,7 +149,7 @@ private:
     unsigned int vector_length_;
     //unsigned int satellite_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc

@@ -105,7 +105,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h

@@ -96,7 +96,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -154,7 +154,7 @@ private:
     unsigned int code_length_;
     bool bit_transition_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc

@@ -137,7 +137,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h

@@ -98,7 +98,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -160,7 +160,7 @@ private:
     unsigned int code_length_;
     bool bit_transition_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc

@@ -99,7 +99,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h

@@ -97,7 +97,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_cc_->set_channel_fsm(channel_fsm);
@@ -158,7 +158,7 @@ private:
     unsigned int vector_length_;
     unsigned int code_length_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -151,7 +151,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
     if (in_streams_ > 1)
         {

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -101,7 +101,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -171,7 +171,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -161,7 +161,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     channel_ = 0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
 
     threshold_ = 0.0;
 }

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h

@@ -100,7 +100,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_fpga_->set_channel_fsm(channel_fsm);
@@ -158,7 +158,7 @@ private:
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     std::string item_type_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -147,7 +147,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -101,7 +101,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_->set_channel_fsm(channel_fsm);
@@ -170,7 +170,7 @@ private:
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -172,7 +172,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     channel_ = 0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
-    channel_fsm_ = nullptr;
+    
     // temporary buffers that we can delete
     delete[] code;
     delete fft_if;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -101,7 +101,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) override
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
     {
         channel_fsm_ = channel_fsm;
         acquisition_fpga_->set_channel_fsm(channel_fsm);
@@ -159,7 +159,7 @@ private:
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     std::string item_type_;
     uint32_t channel_;
-    std::shared_ptr<ChannelFsm> channel_fsm_;
+    std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
     std::string dump_filename_;

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h

@@ -100,7 +100,7 @@ private:
         int doppler_offset);
     float estimate_input_power(gr_complex* in);
 
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     int64_t d_fs_in;
     int d_samples_per_ms;
     int d_sampled_ms;
@@ -216,7 +216,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h

@@ -118,7 +118,7 @@ private:
     int32_t d_state;
     bool d_dump;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     std::string d_dump_filename;
 
 public:
@@ -186,7 +186,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -429,10 +429,11 @@ void pcps_acquisition::send_positive_acquisition()
                << ", magnitude " << d_mag
                << ", input signal power " << d_input_power;
     d_positive_acq = 1;
-    if (d_channel_fsm)
+
+    if (!d_channel_fsm.expired())
         {
             //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
-            d_channel_fsm->Event_valid_acquisition();
+            d_channel_fsm.lock()->Event_valid_acquisition();
         }
     else
         {

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -124,7 +124,7 @@ private:
     int64_t d_old_freq;
     int32_t d_state;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     uint32_t d_doppler_step;
     float d_doppler_center_step_two;
     uint32_t d_num_noncoherent_integrations_counter;
@@ -213,7 +213,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h

@@ -122,7 +122,7 @@ private:
     int d_n_samples_in_buffer;
     bool d_dump;
     unsigned int d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
 
     std::string d_dump_filename;
 
@@ -189,7 +189,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -111,7 +111,7 @@ private:
     float d_test_statistics;
     int32_t d_state;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     uint32_t d_doppler_step;
     uint32_t d_doppler_max;
     uint32_t d_fft_size;
@@ -190,7 +190,7 @@ public:
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h

@@ -138,7 +138,7 @@ private:
     int32_t d_well_count;
     bool d_dump;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     std::string d_dump_filename;
 
 public:
@@ -199,7 +199,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h

@@ -117,7 +117,7 @@ private:
     int32_t d_state;
     bool d_dump;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     std::string d_dump_filename;
 
 public:
@@ -186,7 +186,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h

@@ -162,7 +162,7 @@ private:
     cl::CommandQueue* d_cl_queue;
     clFFT_Plan d_cl_fft_plan;
     cl_int d_cl_fft_batch_size;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     int d_opencl;
 
 public:
@@ -230,7 +230,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h

@@ -151,7 +151,7 @@ private:
     int32_t d_state;
     bool d_dump;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     std::string d_dump_filename;
 
 public:
@@ -219,7 +219,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h

@@ -134,7 +134,7 @@ private:
     int32_t d_state;
     bool d_dump;
     uint32_t d_channel;
-    std::shared_ptr<ChannelFsm> d_channel_fsm;
+    std::weak_ptr<ChannelFsm> d_channel_fsm;
     std::string d_dump_filename;
 
 public:
@@ -202,7 +202,7 @@ public:
     /*!
       * \brief Set channel fsm associated to this acquisition instance
       */
-    inline void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm)
+    inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
         d_channel_fsm = channel_fsm;
     }

src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc

@@ -114,7 +114,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
                 }
         }
     T_rx_TOW_ms = 0U;
-    T_rx_TOW_offset_ms = 0U;
+    T_rx_step_ms = 20;  //read from config at the adapter GNSS-SDR.observable_interval_ms!!
     T_rx_TOW_set = false;
 
     // rework
@@ -443,38 +443,39 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
     //2. If the TOW is set, it must be incremented by the desired receiver time step.
     //   the time step must match the observables timer block (connected to the las input channel)
     std::vector<Gnss_Synchro>::const_iterator it;
-    //    if (!T_rx_TOW_set)
+    if (!T_rx_TOW_set)
-    //        {
-    //uint32_t TOW_ref = std::numeric_limits<uint32_t>::max();
-    uint32_t TOW_ref = 0U;
-    for (it = data.cbegin(); it != data.cend(); it++)
         {
-            if (it->Flag_valid_word)
+            //uint32_t TOW_ref = std::numeric_limits<uint32_t>::max();
+            uint32_t TOW_ref = 0U;
+            for (it = data.cbegin(); it != data.cend(); it++)
                 {
-                    if (it->TOW_at_current_symbol_ms > TOW_ref)
+                    if (it->Flag_valid_word)
                         {
-                            TOW_ref = it->TOW_at_current_symbol_ms;
+                            if (it->TOW_at_current_symbol_ms > TOW_ref)
-                            T_rx_TOW_set = true;
+                                {
+                                    TOW_ref = it->TOW_at_current_symbol_ms;
+                                    T_rx_TOW_set = true;
+                                }
                         }
                 }
+            T_rx_TOW_ms = TOW_ref - (TOW_ref % 20);
+        }
+    else
+        {
+            T_rx_TOW_ms += T_rx_step_ms;  //the tow time step increment must match the ref time channel step
+            //todo: check what happens during the week rollover
+            if (T_rx_TOW_ms >= 604800000)
+                {
+                    T_rx_TOW_ms = T_rx_TOW_ms % 604800000;
+                }
         }
-    T_rx_TOW_ms = TOW_ref;
-    //}
-    //    else
-    //        {
-    //            T_rx_TOW_ms += T_rx_step_ms;
-    //            //todo: check what happens during the week rollover
-    //            if (T_rx_TOW_ms >= 604800000)
-    //                {
-    //                    T_rx_TOW_ms = T_rx_TOW_ms % 604800000;
-    //                }
-    //        }
-    //    std::cout << "T_rx_TOW_ms: " << T_rx_TOW_ms << std::endl;
 }
 
 
 void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
 {
+    //    std::cout.precision(17);
+    //    std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
     std::vector<Gnss_Synchro>::iterator it;
     for (it = data.begin(); it != data.end(); it++)
         {
@@ -486,13 +487,21 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
                     it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
                     it->Flag_valid_pseudorange = true;
                     // debug code
-                    // std::cout.precision(17);
+                    //
-                    // std::cout << "[" << it->Channel_ID << "] interp_TOW_ms: " << it->interp_TOW_ms << std::endl;
+                    //                    std::cout << "[" << it->Channel_ID << "] interp_TOW_ms: " << it->interp_TOW_ms << std::endl;
-                    // std::cout << "[" << it->Channel_ID << "] Diff T_rx_TOW_ms - interp_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) - it->interp_TOW_ms << std::endl;
+                    //                    std::cout << "[" << it->Channel_ID << "] Diff T_rx_TOW_ms - interp_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) - it->interp_TOW_ms << std::endl;
-                    // std::cout << "[" << it->Channel_ID << "] Pseudorange_m: " << it->Pseudorange_m << std::endl;
                 }
         }
-    // usleep(1000);
+
+    //    for (it = data.begin(); it != data.end(); it++)
+    //        {
+    //            if (it->Flag_valid_word)
+    //                {
+    //                    std::cout << "[" << it->Channel_ID << "] Pseudorange_m: " << it->Pseudorange_m << std::endl;
+    //                }
+    //        }
+    //    std::cout << std::endl;
+    //    usleep(1000);
 }
 
 
@@ -548,7 +557,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
             for (uint32_t n = 0; n < d_nchannels_out; n++)
                 {
                     Gnss_Synchro interpolated_gnss_synchro{};
-                    if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + T_rx_TOW_offset_ms * T_rx_clock_step_samples))
+                    if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
                         {
                             // Produce an empty observation
                             interpolated_gnss_synchro = Gnss_Synchro();
@@ -564,49 +573,10 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
                         }
                     epoch_data.push_back(interpolated_gnss_synchro);
                 }
-            if (n_valid > 0)
-                {
-                    update_TOW(epoch_data);
-                    int tow_inc_loop_count = 0;
-                    while (T_rx_TOW_ms % 20 != 0 and tow_inc_loop_count < 20)
-                        {
-                            tow_inc_loop_count++;
-                            T_rx_TOW_offset_ms++;
-                            T_rx_TOW_offset_ms = T_rx_TOW_offset_ms % 20;
-                            //check if effectively the receiver TOW is now multiple of 20 ms
-                            n_valid = 0;
-                            epoch_data.clear();
-                            for (uint32_t n = 0; n < d_nchannels_out; n++)
-                                {
-                                    Gnss_Synchro interpolated_gnss_synchro{};
-                                    if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + T_rx_TOW_offset_ms * T_rx_clock_step_samples))
-                                        {
-                                            // Produce an empty observation
-                                            interpolated_gnss_synchro = Gnss_Synchro();
-                                            interpolated_gnss_synchro.Flag_valid_pseudorange = false;
-                                            interpolated_gnss_synchro.Flag_valid_word = false;
-                                            interpolated_gnss_synchro.Flag_valid_acquisition = false;
-                                            interpolated_gnss_synchro.fs = 0;
-                                            interpolated_gnss_synchro.Channel_ID = n;
-                                        }
-                                    else
-                                        {
-                                            n_valid++;
-                                        }
-                                    epoch_data.push_back(interpolated_gnss_synchro);
-                                }
-                            update_TOW(epoch_data);
-                            // debug code:
-                            // if (T_rx_TOW_ms % 20 != 0)
-                            //     {
-                            //         std::cout << "Warning: RX TOW is not multiple of 20 ms\n";
-                            //     }
-                            // std::cout << "T_rx_TOW_ms=" << T_rx_TOW_ms << " T_rx_TOW_offset_ms=" << T_rx_TOW_offset_ms << " ->" << T_rx_TOW_ms % 20 << std::endl;
-                        }
-                }
 
             if (n_valid > 0)
                 {
+                    update_TOW(epoch_data);
                     compute_pranges(epoch_data);
                 }
 

src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h

@@ -83,7 +83,7 @@ private:
     //rx time follow GPST
     bool T_rx_TOW_set;
     uint32_t T_rx_TOW_ms;
-    uint32_t T_rx_TOW_offset_ms;
+    uint32_t T_rx_step_ms;
     bool d_dump;
     bool d_dump_mat;
     uint32_t d_nchannels_in;

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -560,9 +560,6 @@ void dll_pll_veml_tracking::start_tracking()
     d_carrier_phase_rate_step_rad = 0.0;
     d_carr_ph_history.clear();
     d_code_ph_history.clear();
-    // DLL/PLL filter initialization
-    d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz));  // initialize the carrier filter
-    d_code_loop_filter.initialize();                                                 // initialize the code filter
 
     if (systemName == "GPS" and signal_type == "1C")
         {
@@ -732,8 +729,14 @@ void dll_pll_veml_tracking::start_tracking()
 
     d_current_correlation_time_s = d_code_period;
 
+
+    // Initialize tracking  ==========================================
+    d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
     d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_hz);
     d_code_loop_filter.set_update_interval(d_code_period);
+    // DLL/PLL filter initialization
+    d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz));  // initialize the carrier filter
+    d_code_loop_filter.initialize();                                                 // initialize the code filter
 
     // DEBUG OUTPUT
     std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;

src/core/interfaces/acquisition_interface.h

@@ -58,7 +58,7 @@ class AcquisitionInterface : public GNSSBlockInterface
 public:
     virtual void set_gnss_synchro(Gnss_Synchro* gnss_synchro) = 0;
     virtual void set_channel(unsigned int channel_id) = 0;
-    virtual void set_channel_fsm(std::shared_ptr<ChannelFsm> channel_fsm) = 0;
+    virtual void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) = 0;
     virtual void set_threshold(float threshold) = 0;
     virtual void set_doppler_max(unsigned int doppler_max) = 0;
     virtual void set_doppler_step(unsigned int doppler_step) = 0;

src/core/receiver/gnss_flowgraph.cc

@@ -246,8 +246,8 @@ void GNSSFlowgraph::connect()
                                 {
                                     // Connect the multichannel signal source to multiple signal conditioners
                                     // GNURADIO max_streams=-1 means infinite ports!
-                                    LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
+                                    DLOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
-                                    LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
+                                    DLOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
 
                                     if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
                                         {
@@ -443,10 +443,26 @@ void GNSSFlowgraph::connect()
                                                 {
                                                     // create a FIR low pass filter
                                                     std::vector<float> taps;
+
+                                                    //                                                    float beta = 7.0;
+                                                    //                                                    float halfband = 0.5;
+                                                    //                                                    float fractional_bw = 0.4;
+                                                    //                                                    float rate = 1.0 / static_cast<float>(decimation);
+                                                    //
+                                                    //                                                    float trans_width = rate * (halfband - fractional_bw);
+                                                    //                                                    float mid_transition_band = rate * halfband - trans_width / 2.0;
+                                                    //
+                                                    //                                                    taps = gr::filter::firdes::low_pass(1.0,
+                                                    //                                                        1.0,
+                                                    //                                                        mid_transition_band,
+                                                    //                                                        trans_width,
+                                                    //                                                        gr::filter::firdes::win_type::WIN_KAISER,
+                                                    //                                                        beta);
+
                                                     taps = gr::filter::firdes::low_pass(1.0,
                                                         fs,
                                                         acq_fs / 2.1,
-                                                        acq_fs / 10,
+                                                        acq_fs / 2,
                                                         gr::filter::firdes::win_type::WIN_HAMMING);
 
                                                     gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);