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## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
Next release will have several improvements, addition of new features and bug fixes in many dimensions:
Next release will have several improvements in different dimensions, addition of new features and bug fixes:
### Improvements in Accuracy:
- Part of the RTKLIB core libraries has been integrated into GNSS-SDR. There is now a single PVT block implementation which makes use of RTKLIB to deliver PVT solutions, including Single and PPP navigation modes.
- Fixed CN0 estimation for other correlation times than 1 ms.
- Improved computation of tracking parameters and GNSS observables.
- Other minor bug fixes.
### Improvements in Availability:
- Internal Finite State Machines rewritten for improved continuity in delivering position fixes. This fixes a bug that was stalling the receiver after about six hours of continuous operation.
- Redesign of the time counter for enhanced continuity.
- Improved acquisition and tracking sensibility.
- Other minor bug fixes.
### Improvements in Efficiency:
- Added the possibility of non-blocking acquisition, which works well when using real-time data from a RF front-end.
- Complex codes have been replaced by real codes, alleviating the computational burden.
- Added the possibility of non-blocking acquisition, which works well when using real-time data from an RF front-end.
- Complex local codes have been replaced by real codes, alleviating the computational burden.
- New kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
- Some AVX2 kernels added to the volk_gnsssdr library.
- Several performance improvements.
- Some AVX2 implementations added to the volk_gnsssdr library.
- Improvement in C++ usage: Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
- A number of code optimizations here and there.
### Improvements in Flexibility:
- A number of new parameters have been exposed in the configuration.
- Possibility to choose Pilot or Data tracking where available.
- A number of new parameters have been exposed to the configuration system.
- Possibility to choose Pilot or Data component for tracking of GPS L5 and Galileo E5a signals.
- Enabled extended coherent integration times.
- Some configuration parameters can now be overridden by commandline flags for easier use in scripts.
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- Added the GLONASS L1 SP receiver chain.
- Added the GLONASS L2 SP receiver chain.
- Improvements in the Galileo E5a and GPS L2C receiver chains.
- Added four more signal sources: "Fmcomms2_Signal_Source", "Plutosdr_Signal Source", "Spir_GSS6450_File_Signal_Source" and "Labsat_Signal_Source".
- Updated list of available GNSS satellites.
- Added four more signal sources: "Fmcomms2_Signal_Source", "Plutosdr_Signal Source", "Spir_GSS6450_File_Signal_Source" and "Labsat_Signal_Source". Documented in https://gnss-sdr.org/docs/sp-blocks/signal-source/
- Improved support for BladeRF, HackRF and RTL-SDR front-ends.
- Added tools for the interaction with front-ends based on the AD9361 chipset.
- Intermediate results are now saved in .mat binary format, readable from Matlab/Octave and from Python via h5py.
- Added the GPX output format.
- Fixed a bug in the format of NMEA sentences when latitude or longitude minutes were >10
- Improvements in the RTCM server.
- Improvements in the generation of RINEX files.
- Fixed a bug in the format of NMEA sentences when latitude or longitude minutes were >10.
- Improvements in the RTCM server stability.
- Improvements in the correctness of generated RINEX files.
### Improvements in Maintainability:
- C-style casts have been replaced by C++ casts. C-style casts are difficult to search for. C++ casts provide compile time checking ability and express programmers' intent better, so they are safer and clearer.
- The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class.
- Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
- Improved control over minimum required versions for core dependencies.
- Automated code formating with clang-format.
- Application of the coding style guide in several source files, improving readability.
- The software builds with C++11, C++14 and C++17 standards.
- Setup of a Continuous Integration system that checks building in a wide range of Linux distributions.
- Setup of a Continuous Integration system that checks building and runs QA code in a wide range of GNU/Linux distributions (ArchLinux, CentOS, Debian, Fedora, OpenSUSE, Ubuntu) and releases. See https://gitlab.com/gnss-sdr/gnss-sdr
- Creation of multi-system processing blocks, drastically reducing code duplication and maintainability time.
- Automated code formatting with clang-format. This tool is widely available and easy to integrate into many code editors, and it also can be used from the command line. It cuts time spent on adhering to the project's code formatting style.
- Improvement in C++ usage: C-style casts have been replaced by C++ casts. C-style casts are difficult to search for. C++ casts provide compile time checking ability and express programmers' intent better, so they are safer and clearer.
- Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
- Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
- Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
### Improvements in Portability:
- The <ctime> library has been replaced by the more modern and portable <chrono>.
- The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
- C++ libraries preferred over C libraries (e.g., <cctype> instead of <type.h>).
- A number of unused includes have been removed.
- The software can now be built using GCC or LLVM/Clang compilers on GNU/Linux.
- Several CMake scripts improvements, more verbose outputs in case of errors. Building configuration has been documented in https://gnss-sdr.org/docs/tutorials/configuration-options-building-time/
- Improved SDK for cross-compilation in embedded devices. Documented in https://gnss-sdr.org/docs/tutorials/cross-compiling/
- Improved control over minimum required versions for core dependencies.
- The software builds with C++11, C++14 and C++17 standards.
- The software can now be built using GCC >= 4.7.2 or LLVM/Clang >= 3.4.0 compilers on GNU/Linux, and with Clang/AppleClang on MacOS.
- The Ninja build system can be used in replacement of make.
- The volk_gnsssdr library can be built using Python 2.7 or Python 3.6.
- Several CMake scripts improvements.
- BLAS and LAPACK libraries are mandatory on ARM devices.
- The volk_gnsssdr library is now ready for AArch64 NEON instructions.
- Ready for GNU Radio 3.8 C++ API (as per current next branch of GNU Radio upstream repository).
- Improved detection of required and optional dependencies in many GNU/Linux distributions and processor architectures.
- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono>.
- Improvement in C++ usage: The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
- Improvement in C++ usage: C++ libraries preferred over C libraries (e.g., <cctype> instead of <ctype.h>, <cmath> instead of <math.h>).
- Fixes required by Debian packaging.
- Fixes required by Macports packaging.
- A downside in portability: BLAS and LAPACK libraries are now required even in ARM devices.
- A downside in portability: the matio library >= 1.5.3 is a new required dependency. If not found, it is downloaded and built automatically at building time, but this requires libtool, automake and hdf5 already installed in the system.
### Improvements in Reliability:
- Introduced 3 new Input Filter implementations for pulsed and narrowband interference mitigation: `Pulse_Blanking_Filter`, `Notch_Filter` and `Notch_Filter_Lite`.
- Enhanced const correctness.
- rand() function replaced by <random> library.
- strlen and strncpy have been replaced by safer C++ counterparts.
- Introduced 3 new Input Filter implementations for pulsed and narrowband interference mitigation: `Pulse_Blanking_Filter`, `Notch_Filter` and `Notch_Filter_Lite`. Documented in https://gnss-sdr.org/docs/sp-blocks/input-filter/
- Improved flow graph stabiliy.
- Introduction of high-integrity C++ practices into the source code and included in the coding style guide. See https://gnss-sdr.org/coding-style/
- Fixed a number of defects detected by Coverity Scan.
- Some destructors have been fixed, avoiding a segmentation fault when exiting the program.
- Introduction of high-integrity C++ practices into the coding style guide.
- Website switched from http to https. Links in source code switched when available.
- Improvement in C++ usage: rand() function replaced by <random> library.
- Improvement in C++ usage: strlen and strncpy have been replaced by safer C++ counterparts.
- Improvement in C++ usage: Some destructors have been fixed, avoiding segmentation faults when exiting the program.
- Website switched from http to https. Links in the source tree switched when available.
### Improvements in Reproducibility:
- Setup of a Continuous Reproducibility system at GitLab for the automatic reproduction of experiments. The concept was introduced in https://ieeexplore.ieee.org/document/8331069/
- Setup of a Continuous Reproducibility system at GitLab for the automatic reproduction of experiments. The concept was introduced in https://ieeexplore.ieee.org/document/8331069/ Example added in the src/utils/reproducibility/ieee-access18/ folder.
- Fixes of Lintian warnings related to build reproducibility.
### Improvements in Scalability:
- Improvements in multi-system, multi-band receiver configurations. The receiver now accepts any number of channels in the three available bands.
- Improvements in multi-system, multi-band receiver configurations. The receiver now accepts any number of channels and systems in the three available bands.
- All possible combinations of signals and integration times are now accepted by the Observables block.
### Improvements in Testability:
- Several Unit Tests added.
- Several Unit Tests added. Documentation of testing concepts and available tests at https://gnss-sdr.org/docs/tutorials/testing-software-receiver/
- Receiver channels can now be fixed to a given satellite.
- Improved CTest support in volk_gnsssdr.
### Improvements in Usability:
- All Observables block implementations have been collapsed in a universal implementation for all kinds of GNSS signals, making it easier to configure.
- All PVT block implementations have been collapsed in a universal implementation for all kinds of GNSS signals, making it easier to configure.
- All Observables block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
- All PVT block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user.
- Updated and improved documentation.
- Updated and improved documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
- Improved documentation of required dependency packages in several GNU/Linux distributions.
- Parameter names with the same role have been harmonized within different block implementations.
- Added a chnagelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
- Added colors to the commandline user interface.
- Updated manfiles.
See the definitions of concepts and metrics at https://gnss-sdr.org/design-forces/