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

src/algorithms/libs/gnss_sdr_flags.cc

@@ -67,9 +67,12 @@ DEFINE_int32(cn0_samples, 20, "Number of correlator outputs used for CN0 estimat
 
 DEFINE_int32(cn0_min, 25, "Minimum valid CN0 (in dB-Hz).");
 
-DEFINE_int32(max_lock_fail, 50, "Maximum number of lock failures before dropping a satellite.");
+DEFINE_int32(max_carrier_lock_fail, 10000, "Maximum number of carrier lock failures before dropping a satellite.");
 
-DEFINE_double(carrier_lock_th, 0.85, "Carrier lock threshold (in rad).");
+DEFINE_int32(max_lock_fail, 50, "Maximum number of code lock failures before dropping a satellite.");
+
+//cos(2xError_angle)=0.7 -> Error_angle=22 deg
+DEFINE_double(carrier_lock_th, 0.7, "Carrier lock threshold (in rad).");
 
 DEFINE_string(RINEX_version, "-", "If defined, specifies the RINEX version (2.11 or 3.02). Overrides the configuration file.");
 

src/algorithms/libs/gnss_sdr_flags.h

@@ -50,7 +50,8 @@ DECLARE_int32(doppler_step);  //!< If defined, sets the frequency step in the se
 // Declare flags for tracking blocks
 DECLARE_int32(cn0_samples);            //!< Number of correlator outputs used for CN0 estimation.
 DECLARE_int32(cn0_min);                //!< Minimum valid CN0 (in dB-Hz).
-DECLARE_int32(max_lock_fail);     //!< Maximum number of lock failures before dropping a satellite.
+DECLARE_int32(max_lock_fail);          //!< Maximum number of code lock failures before dropping a satellite.
+DECLARE_int32(max_carrier_lock_fail);  //!< Maximum number of carrier lock failures before dropping a satellite.
 DECLARE_double(carrier_lock_th);       //!< Carrier lock threshold (in rad).
 DECLARE_double(dll_bw_hz);             //!< Bandwidth of the DLL low pass filter, in Hz (overrides the configuration file).
 DECLARE_double(pll_bw_hz);             //!< Bandwidth of the PLL low pass filter, in Hz (overrides the configuration file).

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc

@@ -97,7 +97,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
                 d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
                 CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
                 DataLength = (CodeLength / nn) - mm;
-                d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_PART_SYMBOLS * 30;  //rise alarm 30 seconds without valid tlm
+                d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30;  //rise alarm 60 seconds without valid tlm
 
                 break;
             }
@@ -127,7 +127,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
                                 d_secondary_code_samples[i] = -1;
                             }
                     }
-                d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_FNAV_SYMBOLS_PER_PAGE * 30;  //rise alarm 30 seconds without valid tlm
+                d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_PAGE * 10;  //rise alarm 100 seconds without valid tlm
                 break;
             }
         default:
@@ -452,8 +452,10 @@ void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite
 
 void galileo_telemetry_decoder_gs::reset()
 {
+    gr::thread::scoped_lock lock(d_setlock);
     d_last_valid_preamble = d_sample_counter;
     d_sent_tlm_failed_msg = false;
+    d_stat = 0;
     DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
 }
 
@@ -501,11 +503,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
     d_flag_preamble = false;
 
     // check if there is a problem with the telemetry of the current satellite
-    if (d_stat < 1 and d_sent_tlm_failed_msg == false)
+    if (d_sent_tlm_failed_msg == false)
         {
             if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
                 {
                     int message = 1;  //bad telemetry
+                    DLOG(INFO) << "sent msg sat " << this->d_satellite;
                     this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
                     d_sent_tlm_failed_msg = true;
                 }

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc

@@ -430,7 +430,14 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
                             {
                                 DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite;
                                 d_preamble_index = d_sample_counter;  // record the preamble sample stamp
-                                if (corr_value < 0) flag_PLL_180_deg_phase_locked = true;
+                                if (corr_value < 0)
+                                    {
+                                        flag_PLL_180_deg_phase_locked = true;
+                                    }
+                                else
+                                    {
+                                        flag_PLL_180_deg_phase_locked = false;
+                                    }
                                 d_stat = 2;
                             }
                         else

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc

@@ -64,7 +64,7 @@ gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
     this->message_port_register_out(pmt::mp("telemetry_to_trk"));
     d_last_valid_preamble = 0;
     d_sent_tlm_failed_msg = false;
-    d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 5;  //rise alarm if 5 consecutive subframes have no valid CRC
+    d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 20;  //rise alarm if 20 consecutive subframes have no valid CRC
 
     // initialize internal vars
     d_dump = dump;

src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc

@@ -113,8 +113,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
@@ -152,30 +151,12 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
     trk_param.system = 'C';
     char sig_[3] = "B1";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+
-    if (FLAGS_cn0_samples != 20)
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-        {
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-            cn0_samples = FLAGS_cn0_samples;
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-        }
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-    trk_param.cn0_samples = cn0_samples;
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    int cn0_min = configuration->property(role + ".cn0_min", 25);
-    if (FLAGS_cn0_min != 25)
-        {
-            cn0_min = FLAGS_cn0_min;
-        }
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50)
-        {
-            max_lock_fail = FLAGS_max_lock_fail;
-        }
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
-    if (FLAGS_carrier_lock_th != 0.85)
-        {
-            carrier_lock_th = FLAGS_carrier_lock_th;
-        }
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc

@@ -108,8 +108,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
@@ -147,18 +146,11 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
     trk_param.system = 'C';
     char sig_[3] = "B3";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-    if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-    trk_param.cn0_samples = cn0_samples;
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-    int cn0_min = configuration->property(role + ".cn0_min", 25);
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-    if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
-    if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc

@@ -128,8 +128,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
@@ -162,30 +161,11 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
     trk_param.system = 'E';
     char sig_[3] = "1B";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-    if (FLAGS_cn0_samples != 20)
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-        {
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-            cn0_samples = FLAGS_cn0_samples;
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-        }
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    trk_param.cn0_samples = cn0_samples;
-    int cn0_min = configuration->property(role + ".cn0_min", 25);
-    if (FLAGS_cn0_min != 25)
-        {
-            cn0_min = FLAGS_cn0_min;
-        }
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50)
-        {
-            max_lock_fail = FLAGS_max_lock_fail;
-        }
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
-    if (FLAGS_carrier_lock_th != 0.85)
-        {
-            carrier_lock_th = FLAGS_carrier_lock_th;
-        }
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc

@@ -123,8 +123,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
     trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
@@ -135,7 +134,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
     int vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS));
     trk_param.vector_length = vector_length;
     int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
-    float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
+    float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
     trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
     bool track_pilot = configuration->property(role + ".track_pilot", false);
     if (extend_correlation_symbols < 1)
@@ -159,30 +158,11 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
     trk_param.system = 'E';
     char sig_[3] = "5X";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-    if (FLAGS_cn0_samples != 20)
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-        {
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-            cn0_samples = FLAGS_cn0_samples;
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-        }
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    trk_param.cn0_samples = cn0_samples;
-    int cn0_min = configuration->property(role + ".cn0_min", 25);
-    if (FLAGS_cn0_min != 25)
-        {
-            cn0_min = FLAGS_cn0_min;
-        }
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50)
-        {
-            max_lock_fail = FLAGS_max_lock_fail;
-        }
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
-    if (FLAGS_carrier_lock_th != 0.85)
-        {
-            carrier_lock_th = FLAGS_carrier_lock_th;
-        }
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc

@@ -129,8 +129,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
     trk_param.early_late_space_chips = early_late_space_chips;
@@ -165,30 +164,11 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
     trk_param.system = 'G';
     char sig_[3] = "1C";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-    if (FLAGS_cn0_samples != 20)
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-        {
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-            cn0_samples = FLAGS_cn0_samples;
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-        }
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    trk_param.cn0_samples = cn0_samples;
-    int cn0_min = configuration->property(role + ".cn0_min", 30);
-    if (FLAGS_cn0_min != 25)
-        {
-            cn0_min = FLAGS_cn0_min;
-        }
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50)
-        {
-            max_lock_fail = FLAGS_max_lock_fail;
-        }
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.80);
-    if (FLAGS_carrier_lock_th != 0.85)
-        {
-            carrier_lock_th = FLAGS_carrier_lock_th;
-        }
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc

@@ -117,8 +117,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
     trk_param.vector_length = vector_length;
@@ -141,30 +140,11 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
     trk_param.system = 'G';
     char sig_[3] = "2S";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-    if (FLAGS_cn0_samples != 20)
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-        {
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-            cn0_samples = FLAGS_cn0_samples;
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-        }
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    trk_param.cn0_samples = cn0_samples;
-    int cn0_min = configuration->property(role + ".cn0_min", 25);
-    if (FLAGS_cn0_min != 25)
-        {
-            cn0_min = FLAGS_cn0_min;
-        }
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50)
-        {
-            max_lock_fail = FLAGS_max_lock_fail;
-        }
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
-    if (FLAGS_carrier_lock_th != 0.85)
-        {
-            carrier_lock_th = FLAGS_carrier_lock_th;
-        }
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc

@@ -130,13 +130,12 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
     trk_param.enable_fll_pull_in = enable_fll_pull_in;
     float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
     trk_param.fll_bw_hz = fll_bw_hz;
-    float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
+    trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
-    trk_param.pull_in_time_s = pull_in_time_s;
 
     int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_HZ) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
     trk_param.vector_length = vector_length;
     int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
-    float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
+    float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
     trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
     bool track_pilot = configuration->property(role + ".track_pilot", false);
     if (extend_correlation_symbols < 1)
@@ -160,30 +159,12 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
     trk_param.system = 'G';
     char sig_[3] = "L5";
     std::memcpy(trk_param.signal, sig_, 3);
-    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
+
-    if (FLAGS_cn0_samples != 20)
+    trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
-        {
+    trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
-            cn0_samples = FLAGS_cn0_samples;
+    trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
-        }
+    trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
-    trk_param.cn0_samples = cn0_samples;
+    trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
-    int cn0_min = configuration->property(role + ".cn0_min", 25);
-    if (FLAGS_cn0_min != 25)
-        {
-            cn0_min = FLAGS_cn0_min;
-        }
-    trk_param.cn0_min = cn0_min;
-    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
-    if (FLAGS_max_lock_fail != 50)
-        {
-            max_lock_fail = FLAGS_max_lock_fail;
-        }
-    trk_param.max_lock_fail = max_lock_fail;
-    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.75);
-    if (FLAGS_carrier_lock_th != 0.85)
-        {
-            carrier_lock_th = FLAGS_carrier_lock_th;
-        }
-    trk_param.carrier_lock_th = carrier_lock_th;
 
     //################# MAKE TRACKING GNURadio object ###################
     if (item_type == "gr_complex")

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -99,6 +99,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
     this->set_msg_handler(pmt::mp("telemetry_to_trk"), boost::bind(&dll_pll_veml_tracking::msg_handler_telemetry_to_trk, this, _1));
 
     // initialize internal vars
+    d_dll_filt_history.set_capacity(2000);
     d_veml = false;
     d_cloop = true;
     d_pull_in_transitory = true;
@@ -449,6 +450,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
     d_carrier_lock_test = 1.0;
     d_CN0_SNV_dB_Hz = 0.0;
     d_carrier_lock_fail_counter = 0;
+    d_code_lock_fail_counter = 0;
     d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
     d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
     d_cn0_smoother = Exponential_Smoother();
@@ -456,6 +458,13 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
         {
             d_cn0_smoother.set_samples_for_initialization(200 / static_cast<int>(d_code_period * 1000.0));
         }
+
+    d_carrier_lock_test_smoother = Exponential_Smoother();
+    d_carrier_lock_test_smoother.set_alpha(0.002);
+    d_carrier_lock_test_smoother.set_min_value(-1.0);
+    d_carrier_lock_test_smoother.set_offset(0.0);
+    d_carrier_lock_test_smoother.set_samples_for_initialization(25);
+
     d_acquisition_gnss_synchro = nullptr;
     d_channel = 0;
     d_acq_code_phase_samples = 0.0;
@@ -517,6 +526,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_dump = false;
                 }
         }
+    d_corrected_doppler = false;
 }
 
 
@@ -545,7 +555,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
                             {
                                 DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
                                 gr::thread::scoped_lock lock(d_setlock);
-                                d_carrier_lock_fail_counter = 10000;  //force loss-of-lock condition
+                                d_carrier_lock_fail_counter = 100000;  //force loss-of-lock condition
                                 break;
                             }
                         default:
@@ -722,6 +732,7 @@ void dll_pll_veml_tracking::start_tracking()
     std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
 
     d_carrier_lock_fail_counter = 0;
+    d_code_lock_fail_counter = 0;
     d_rem_code_phase_samples = 0.0;
     d_rem_carr_phase_rad = 0.0;
     d_rem_code_phase_chips = 0.0;
@@ -762,6 +773,7 @@ void dll_pll_veml_tracking::start_tracking()
     d_cloop = true;
     d_pull_in_transitory = true;
     d_Prompt_circular_buffer.clear();
+    d_corrected_doppler = false;
 }
 
 
@@ -871,11 +883,13 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
     float d_CN0_SNV_dB_Hz_raw = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
     d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
     // Carrier lock indicator
-    d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
+    d_carrier_lock_test = d_carrier_lock_test_smoother.smooth(carrier_lock_detector(d_Prompt_buffer, 1));
+    //d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
     // Loss of lock detection
     if (!d_pull_in_transitory)
         {
-            if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
+            //d_carrier_lock_test < d_carrier_lock_threshold or
+            if (d_carrier_lock_test < d_carrier_lock_threshold)
                 {
                     d_carrier_lock_fail_counter++;
                 }
@@ -886,13 +900,28 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
                             d_carrier_lock_fail_counter--;
                         }
                 }
+
+            if (d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
+                {
+                    d_code_lock_fail_counter++;
                 }
-    if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail)
+            else
+                {
+                    if (d_code_lock_fail_counter > 0)
+                        {
+                            d_code_lock_fail_counter--;
+                        }
+                }
+        }
+    if (d_carrier_lock_fail_counter > trk_parameters.max_carrier_lock_fail or d_code_lock_fail_counter > trk_parameters.max_code_lock_fail)
         {
             std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
-            LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+            LOG(INFO) << "Loss of lock in channel " << d_channel
+                      << " (carrier_lock_fail_counter:" << d_carrier_lock_fail_counter
+                      << " code_lock_fail_counter : " << d_code_lock_fail_counter << ")";
             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
             d_carrier_lock_fail_counter = 0;
+            d_code_lock_fail_counter = 0;
             return false;
         }
     return true;
@@ -990,9 +1019,25 @@ void dll_pll_veml_tracking::run_dll_pll()
         }
     // Code discriminator filter
     d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips);  // [chips/second]
-
     // New code Doppler frequency estimation
     d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips;
+
+    // Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler
+    if (d_pull_in_transitory == false and d_corrected_doppler == false)
+        {
+            d_dll_filt_history.push_back(static_cast<float>(d_code_error_filt_chips));
+            if (d_dll_filt_history.full())
+                {
+                    float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0) / static_cast<float>(d_dll_filt_history.capacity());
+                    if (fabs(avg_code_error_chips_s) > 1.0)
+                        {
+                            float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
+                            LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
+                            d_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz);
+                            d_corrected_doppler = true;
+                        }
+                }
+        }
 }
 
 
@@ -1578,6 +1623,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
             if (trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
                 {
                     d_pull_in_transitory = false;
+                    d_carrier_lock_fail_counter = 0;
+                    d_code_lock_fail_counter = 0;
                 }
         }
     switch (d_state)
@@ -1611,8 +1658,9 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                 d_state = 2;
                 d_sample_counter += samples_offset;  // count for the processed samples
                 d_cn0_smoother.reset();
+                d_carrier_lock_test_smoother.reset();
 
-                DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
+                LOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
                 DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
                            << ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
 
@@ -1647,6 +1695,9 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
 
                         // enable write dump file this cycle (valid DLL/PLL cycle)
                         log_data(false);
+
+                        if (!d_pull_in_transitory)
+                            {
                                 if (d_secondary)
                                     {
                                         // ####### SECONDARY CODE LOCK #####
@@ -1707,7 +1758,11 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                                     {
                                         next_state = true;
                                     }
-
+                            }
+                        else
+                            {
+                                next_state = false;  //keep in state 2 during pull-in transitory
+                            }
                         // ########### Output the tracking results to Telemetry block ##########
                         if (interchange_iq)
                             {
@@ -1842,7 +1897,6 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                         d_extend_correlation_symbols_count = 0;
                         d_state = 4;
                     }
-                log_data(true);
                 break;
             }
         case 4:  // narrow tracking

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h

@@ -113,6 +113,8 @@ private:
     int32_t d_preamble_length_symbols;
     boost::circular_buffer<float> d_symbol_history;
 
+    // dll filter buffer
+    boost::circular_buffer<float> d_dll_filt_history;
     // tracking state machine
     int32_t d_state;
 
@@ -170,6 +172,7 @@ private:
 
     // tracking vars
     bool d_pull_in_transitory;
+    bool d_corrected_doppler;
     double d_current_correlation_time_s;
     double d_carr_phase_error_hz;
     double d_carr_freq_error_hz;
@@ -193,13 +196,14 @@ private:
     // CN0 estimation and lock detector
     int32_t d_cn0_estimation_counter;
     int32_t d_carrier_lock_fail_counter;
+    int32_t d_code_lock_fail_counter;
     double d_carrier_lock_test;
     double d_CN0_SNV_dB_Hz;
     double d_carrier_lock_threshold;
     boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
     gr_complex *d_Prompt_buffer;
     Exponential_Smoother d_cn0_smoother;
-
+    Exponential_Smoother d_carrier_lock_test_smoother;
     // file dump
     std::ofstream d_dump_file;
     std::string d_dump_filename;

src/algorithms/tracking/libs/dll_pll_conf.cc

@@ -31,6 +31,7 @@
 
 
 #include "dll_pll_conf.h"
+#include "gnss_sdr_flags.h"
 #include <cstring>
 
 Dll_Pll_Conf::Dll_Pll_Conf()
@@ -45,7 +46,7 @@ Dll_Pll_Conf::Dll_Pll_Conf()
     dump_filename = std::string("./dll_pll_dump.dat");
     enable_fll_pull_in = false;
     enable_fll_steady_state = false;
-    pull_in_time_s = 2;
+    pull_in_time_s = 10;
     fll_filter_order = 1;
     pll_filter_order = 3;
     dll_filter_order = 2;
@@ -61,11 +62,12 @@ Dll_Pll_Conf::Dll_Pll_Conf()
     early_late_space_narrow_chips = 0.1;
     very_early_late_space_narrow_chips = 0.1;
     extend_correlation_symbols = 5;
-    cn0_samples = 20;
+    cn0_samples = FLAGS_cn0_samples;
-    carrier_lock_det_mav_samples = 20;
+    carrier_lock_det_mav_samples = FLAGS_cn0_samples;
-    cn0_min = 25;
+    cn0_min = FLAGS_cn0_min;
-    max_lock_fail = 50;
+    max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
-    carrier_lock_th = 0.85;
+    max_code_lock_fail = FLAGS_max_lock_fail;
+    carrier_lock_th = FLAGS_carrier_lock_th;
     track_pilot = false;
     system = 'G';
     char sig_[3] = "1C";

src/algorithms/tracking/libs/dll_pll_conf.h

@@ -69,7 +69,8 @@ public:
     int32_t cn0_samples;
     int32_t carrier_lock_det_mav_samples;
     int32_t cn0_min;
-    int32_t max_lock_fail;
+    int32_t max_code_lock_fail;
+    int32_t max_carrier_lock_fail;
     uint32_t smoother_length;
     double carrier_lock_th;
     bool track_pilot;