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

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -154,6 +154,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
     channel_ = 0;
     threshold_ = 0.0;
     doppler_step_ = 0;
+    doppler_center_ = 0;
     gnss_synchro_ = nullptr;
 
     if (in_streams_ > 1)
@@ -211,6 +212,13 @@ void GalileoE1PcpsAmbiguousAcquisition::set_doppler_step(unsigned int doppler_st
     acquisition_->set_doppler_step(doppler_step_);
 }
 
+void GalileoE1PcpsAmbiguousAcquisition::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_->set_doppler_center(doppler_center_);
+}
+
 
 void GalileoE1PcpsAmbiguousAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h

@@ -123,6 +123,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -176,6 +181,7 @@ private:
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
+    int doppler_center_;
     unsigned int sampled_ms_;
     unsigned int max_dwells_;
     int64_t fs_in_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -152,6 +152,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
     channel_ = 0;
     threshold_ = 0.0;
     doppler_step_ = 0;
+    doppler_center_ = 0;
     gnss_synchro_ = nullptr;
 
     if (in_streams_ > 1)
@@ -208,6 +209,12 @@ void GalileoE5aPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
     acquisition_->set_doppler_step(doppler_step_);
 }
 
+void GalileoE5aPcpsAcquisition::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_->set_doppler_center(doppler_center_);
+}
 
 void GalileoE5aPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h

@@ -111,6 +111,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -169,6 +174,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
+    unsigned int doppler_center_;
     unsigned int sampled_ms_;
     unsigned int max_dwells_;
     unsigned int in_streams_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -148,6 +148,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
     channel_ = 0;
     threshold_ = 0.0;
     doppler_step_ = 0;
+    doppler_center_ = 0;
     gnss_synchro_ = nullptr;
 
     if (in_streams_ > 1)
@@ -200,6 +201,12 @@ void GpsL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
     acquisition_->set_doppler_step(doppler_step_);
 }
 
+void GpsL1CaPcpsAcquisition::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_->set_doppler_center(doppler_center_);
+}
 
 void GpsL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h

@@ -127,6 +127,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -179,6 +184,7 @@ private:
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
+    unsigned int doppler_center_;
     unsigned int sampled_ms_;
     unsigned int max_dwells_;
     int64_t fs_in_;

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -151,6 +151,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     channel_ = 0;
     threshold_ = 0.0;
     doppler_step_ = 0;
+    doppler_center_ = 0;
     gnss_synchro_ = nullptr;
 
     num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
@@ -210,6 +211,12 @@ void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
     acquisition_->set_doppler_step(doppler_step_);
 }
 
+void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_->set_doppler_center(doppler_center_);
+}
 
 void GpsL2MPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -124,6 +124,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -176,6 +181,7 @@ private:
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
+    unsigned int doppler_center_;
     unsigned int max_dwells_;
     int64_t fs_in_;
     bool dump_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -147,6 +147,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
     channel_ = 0;
     threshold_ = 0.0;
     doppler_step_ = 0;
+    doppler_center_ = 0;
     gnss_synchro_ = nullptr;
 
     if (in_streams_ > 1)
@@ -205,6 +206,12 @@ void GpsL5iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
     acquisition_->set_doppler_step(doppler_step_);
 }
 
+void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_->set_doppler_center(doppler_center_);
+}
 
 void GpsL5iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -124,6 +124,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -176,6 +181,7 @@ private:
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
+    unsigned int doppler_center_;
     unsigned int max_dwells_;
     int64_t fs_in_;
     bool dump_;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -48,7 +48,6 @@
 #else
 #include <boost/filesystem/path.hpp>
 #endif
-#include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
 #include <pmt/pmt.h>        // for from_long
@@ -90,7 +89,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
     d_active = false;
     d_positive_acq = 0;
     d_state = 0;
-    d_old_freq = 0LL;
+    d_doppler_bias = 0;
     d_num_noncoherent_integrations_counter = 0U;
     d_consumed_samples = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
     if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
@@ -107,6 +106,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
     d_num_doppler_bins = 0U;
     d_threshold = 0.0;
     d_doppler_step = 0U;
+    d_doppler_center = 0U;
     d_doppler_center_step_two = 0.0;
     d_test_statistics = 0.0;
     d_channel = 0U;
@@ -215,8 +215,6 @@ void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
 
 void pcps_acquisition::set_local_code(std::complex<float>* code)
 {
-    // reset the intermediate frequency
-    d_old_freq = 0LL;
     // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
     if (is_fdma())
         {
@@ -253,17 +251,19 @@ void pcps_acquisition::set_local_code(std::complex<float>* code)
 
 bool pcps_acquisition::is_fdma()
 {
+    // reset the intermediate frequency
+    d_doppler_bias = 0;
     // Dealing with FDMA system
     if (strcmp(d_gnss_synchro->Signal, "1G") == 0)
         {
-            d_old_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            d_doppler_bias = static_cast<int32_t>(DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN));
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_doppler_bias << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     if (strcmp(d_gnss_synchro->Signal, "2G") == 0)
         {
-            d_old_freq += DFRQ2_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
+            d_doppler_bias += static_cast<int32_t>(DFRQ2_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN));
-            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
+            LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_doppler_bias << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
     return false;
@@ -318,14 +318,10 @@ void pcps_acquisition::init()
 
     for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
-            for (uint32_t k = 0; k < d_fft_size; k++)
+            std::fill(d_magnitude_grid[doppler_index].begin(), d_magnitude_grid[doppler_index].end(), 0.0);
-                {
-                    d_magnitude_grid[doppler_index][k] = 0.0;
-                }
-            int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
-            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_old_freq + doppler);
         }
 
+    update_grid_doppler_wipeoffs();
     d_worker_active = false;
 
     if (d_dump)
@@ -341,8 +337,8 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
 {
     for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
-            int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
+            int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_center + d_doppler_step * doppler_index;
-            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_old_freq + doppler);
+            update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_doppler_bias + doppler);
         }
 }
 
@@ -394,7 +390,8 @@ void pcps_acquisition::send_positive_acquisition()
                << ", code phase " << d_gnss_synchro->Acq_delay_samples
                << ", doppler " << d_gnss_synchro->Acq_doppler_hz
                << ", magnitude " << d_mag
-               << ", input signal power " << d_input_power;
+               << ", input signal power " << d_input_power
+               << ", Assist doppler_center " << d_doppler_center;
     d_positive_acq = 1;
 
     if (!d_channel_fsm.expired())
@@ -552,7 +549,7 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
     indext = index_time;
     if (!d_step_two)
         {
-            doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
+            doppler = -static_cast<int32_t>(doppler_max) + d_doppler_center + doppler_step * static_cast<int32_t>(index_doppler);
         }
     else
         {
@@ -590,7 +587,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
 
     if (!d_step_two)
         {
-            doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
+            doppler = -static_cast<int32_t>(doppler_max) + d_doppler_center + doppler_step * static_cast<int32_t>(index_doppler);
         }
     else
         {

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -55,6 +55,7 @@
 #include "acq_conf.h"
 #include "channel_fsm.h"
 #include <armadillo>
+#include <glog/logging.h>
 #include <gnuradio/block.h>
 #include <gnuradio/fft/fft.h>
 #include <gnuradio/gr_complex.h>     // for gr_complex
@@ -188,6 +189,21 @@ public:
         d_doppler_step = doppler_step;
     }
 
+    /*!
+     * \brief Set Doppler center frequency for the grid search. It will refresh the Doppler grid.
+     * \param doppler_center - Frequency center of the search grid [Hz].
+     */
+    inline void set_doppler_center(int32_t doppler_center)
+    {
+        gr::thread::scoped_lock lock(d_setlock);  // require mutex with work function called by the scheduler
+        if (doppler_center != d_doppler_center)
+            {
+                DLOG(INFO) << " Doppler assistance for Channel: " << d_channel << " => Doppler: " << doppler_center << "[Hz]";
+                d_doppler_center = doppler_center;
+                update_grid_doppler_wipeoffs();
+            }
+    }
+
     void set_resampler_latency(uint32_t latency_samples);
 
     /*!
@@ -211,6 +227,8 @@ private:
     uint32_t d_channel;
     uint32_t d_samplesPerChip;
     uint32_t d_doppler_step;
+    int32_t d_doppler_center;
+    int32_t d_doppler_bias;
     uint32_t d_num_noncoherent_integrations_counter;
     uint32_t d_fft_size;
     uint32_t d_consumed_samples;
@@ -220,7 +238,6 @@ private:
     uint32_t d_buffer_count;
     uint64_t d_sample_counter;
     int64_t d_dump_number;
-    int64_t d_old_freq;
     float d_threshold;
     float d_mag;
     float d_input_power;

src/algorithms/channel/adapters/channel.cc

@@ -232,6 +232,10 @@ void Channel::stop_channel()
 }
 
 
+void Channel::assist_acquisition_doppler(double Carrier_Doppler_hz)
+{
+    acq_->set_doppler_center(static_cast<int>(Carrier_Doppler_hz));
+}
 void Channel::start_acquisition()
 {
     std::lock_guard<std::mutex> lk(mx);

src/algorithms/channel/adapters/channel.h

@@ -87,6 +87,8 @@ public:
     void stop_channel() override;                               //!< Stop the State Machine
     void set_signal(const Gnss_Signal& gnss_signal_) override;  //!< Sets the channel GNSS signal
 
+    void assist_acquisition_doppler(double Carrier_Doppler_hz) override;
+
     inline std::shared_ptr<AcquisitionInterface> acquisition() { return acq_; }
     inline std::shared_ptr<TrackingInterface> tracking() { return trk_; }
     inline std::shared_ptr<TelemetryDecoderInterface> telemetry() { return nav_; }

src/core/interfaces/acquisition_interface.h

@@ -62,6 +62,10 @@ public:
     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;
+    virtual void set_doppler_center(int doppler_center __attribute__((unused)))
+    {
+        return;
+    }
     virtual void init() = 0;
     virtual void set_local_code() = 0;
     virtual void set_state(int state) = 0;

src/core/interfaces/channel_interface.h

@@ -57,6 +57,7 @@ public:
     virtual gr::basic_block_sptr get_right_block() = 0;
     virtual Gnss_Signal get_signal() const = 0;
     virtual void start_acquisition() = 0;
+    virtual void assist_acquisition_doppler(double Carrier_Doppler_hz) = 0;
     virtual void stop_channel() = 0;
     virtual void set_signal(const Gnss_Signal&) = 0;
 };

src/core/receiver/gnss_flowgraph.cc

@@ -1163,7 +1163,24 @@ void GNSSFlowgraph::remove_signal(const Gnss_Signal& gs)
             break;
         }
 }
-
+//project Doppler from primary frequency to secondary frequency
+double GNSSFlowgraph::project_doppler(std::string searched_signal, double primary_freq_doppler_hz)
+{
+    switch (mapStringValues_[searched_signal])
+        {
+        case evGPS_L5:
+            return (primary_freq_doppler_hz / FREQ1) * FREQ5;
+            break;
+        case evGAL_5X:
+            return (primary_freq_doppler_hz / FREQ1) * FREQ5;
+            break;
+        case evGPS_2S:
+            return (primary_freq_doppler_hz / FREQ1) * FREQ2;
+            break;
+        default:
+            return primary_freq_doppler_hz;
+        }
+}
 
 void GNSSFlowgraph::acquisition_manager(unsigned int who)
 {
@@ -1186,10 +1203,11 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
                     bool assistance_available = false;
                     bool start_acquisition = false;
                     Gnss_Signal gnss_signal;
-                    if (sat_ == 0)
-                        {
                     float estimated_doppler;
                     double RX_time;
+
+                    if (sat_ == 0)
+                        {
                             gnss_signal = search_next_signal(channels_[current_channel]->get_signal().get_signal_str(),
                                 true,
                                 is_primary_freq,
@@ -1198,12 +1216,6 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
                                 RX_time);
                             channels_[current_channel]->set_signal(gnss_signal);
                             start_acquisition = is_primary_freq or assistance_available or !configuration_->property("GNSS-SDR.assist_dual_frequency_acq", false);
-                            // if (assistance_available)
-                            //     {
-                            //         std::cout << "Channel " << current_channel
-                            //                   << " assistance available for " << channels_[current_channel]->get_signal().get_satellite()
-                            //                   << ", Signal " << channels_[current_channel]->get_signal().get_signal_str() << std::endl;
-                            //     }
                         }
                     else
                         {
@@ -1217,6 +1229,15 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
                             DLOG(INFO) << "Channel " << current_channel
                                        << " Starting acquisition " << channels_[current_channel]->get_signal().get_satellite()
                                        << ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
+                            if (assistance_available == true and configuration_->property("GNSS-SDR.assist_dual_frequency_acq", false))
+                                {
+                                    channels_[current_channel]->assist_acquisition_doppler(project_doppler(channels_[current_channel]->get_signal().get_signal_str(), estimated_doppler));
+                                }
+                            else
+                                {
+                                    //set Doppler center to 0 Hz
+                                    channels_[current_channel]->assist_acquisition_doppler(0);
+                                }
 #ifndef ENABLE_FPGA
                             channels_[current_channel]->start_acquisition();
 #else
@@ -1232,11 +1253,6 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
                                        << " secondary frequency acquisition assistance not available in "
                                        << channels_[current_channel]->get_signal().get_satellite()
                                        << ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
-
-                            // std::cout << "Channel " << current_channel
-                            //           << " secondary frequency acquisition assistance not available in "
-                            //           << channels_[current_channel]->get_signal().get_satellite()
-                            //           << ", Signal " << channels_[current_channel]->get_signal().get_signal_str() << std::endl;
                         }
                 }
             DLOG(INFO) << "Channel " << current_channel << " in state " << channels_state_[current_channel];
@@ -1272,6 +1288,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
 
     std::lock_guard<std::mutex> lock(signal_list_mutex);
     DLOG(INFO) << "Received " << what << " from " << who;
+    Gnss_Signal gs = channels_[who]->get_signal();
     unsigned int sat = 0;
     if (who < 200)
         {
@@ -1287,12 +1304,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
     switch (what)
         {
         case 0:
-            DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
+            DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
-            if (sat == 0)
-                {
-                    Gnss_Signal gs = channels_[who]->get_signal();
-                    push_back_signal(gs);
-                }
             channels_state_[who] = 0;
             if (acq_channels_count_ > 0)
                 {
@@ -1300,11 +1312,16 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
                 }
             // call the acquisition manager to assign new satellite and start next acquisition (if required)
             acquisition_manager(who);
+            //push back the old signal AFTER assigning a new one to avoid selecting the same signal
+            if (sat == 0)
+                {
+                    push_back_signal(gs);
+                }
             break;
         case 1:
-            DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite();
+            DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << gs.get_satellite();
             // If the satellite is in the list of available ones, remove it.
-            remove_signal(channels_[who]->get_signal());
+            remove_signal(gs);
 
             channels_state_[who] = 2;
             if (acq_channels_count_ > 0)
@@ -1316,13 +1333,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
             break;
 
         case 2:
-            DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite();
+            DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << gs.get_satellite();
             if (acq_channels_count_ < max_acq_channels_)
                 {
                     // try to acquire the same satellite
                     channels_state_[who] = 1;
                     acq_channels_count_++;
-                    DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
+                    DLOG(INFO) << "Channel " << who << " Starting acquisition " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
 #ifndef ENABLE_FPGA
                     channels_[who]->start_acquisition();
 #else
@@ -1917,7 +1934,6 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
                                         {
                                             estimated_doppler = current_status.second->Carrier_Doppler_hz;
                                             RX_time = current_status.second->RX_time;
-                                            // std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
                                             // 3. return the GPS L2 satellite and remove it from list
                                             result = *it2;
                                             if (pop)

src/core/receiver/gnss_flowgraph.h

@@ -181,6 +181,7 @@ private:
     void push_back_signal(const Gnss_Signal& gs);
     void remove_signal(const Gnss_Signal& gs);
 
+    double project_doppler(std::string searched_signal, double primary_freq_doppler_hz);
     bool connected_;
     bool running_;
     int sources_count_;