diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 26108abcf..ac057c239 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -15,7 +15,7 @@ jobs:
   build-ubuntu:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           sudo apt-get update -y
@@ -39,14 +39,23 @@ jobs:
   build-macos:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           brew update
-          brew install --overwrite python@3.10 python@3.11
-          python3.11 -m pip install mako
-          brew install ninja pkg-config hdf5 automake armadillo lapack \
+          rm /usr/local/bin/2to3 || true
+          rm /usr/local/bin/idle3 || true
+          rm /usr/local/bin/pydoc3 || true
+          rm /usr/local/bin/python3 || true
+          rm /usr/local/bin/python3-config || true
+          rm /usr/local/bin/2to3-3.11 || true
+          rm /usr/local/bin/idle3.11 || true
+          rm /usr/local/bin/pydoc3.11 || true
+          rm /usr/local/bin/python3.11 || true
+          rm /usr/local/bin/python3.11-config || true
+          brew install ninja hdf5 automake armadillo lapack \
           gflags glog gnuradio log4cpp openssl pugixml protobuf
+          pip3 install mako
       - name: configure
         run: cd build && cmake -GNinja ..
       - name: build
@@ -59,14 +68,23 @@ jobs:
   build-macos-xcode:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           brew update
-          brew install --overwrite python@3.10 python@3.11
-          python3.11 -m pip install mako
+          rm /usr/local/bin/2to3 || true
+          rm /usr/local/bin/idle3 || true
+          rm /usr/local/bin/pydoc3 || true
+          rm /usr/local/bin/python3 || true
+          rm /usr/local/bin/python3-config || true
+          rm /usr/local/bin/2to3-3.11 || true
+          rm /usr/local/bin/idle3.11 || true
+          rm /usr/local/bin/pydoc3.11 || true
+          rm /usr/local/bin/python3.11 || true
+          rm /usr/local/bin/python3.11-config || true
           brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog \
           gnuradio log4cpp openssl pugixml protobuf
+          pip3 install mako
       - name: configure
         run: cd build && cmake -GXcode ..
       - name: build
@@ -87,7 +105,7 @@ jobs:
   clang-format:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: run clang-format
         uses: jidicula/clang-format-action@v4.11.0
         with:
@@ -98,14 +116,23 @@ jobs:
   clang-tidy:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           brew update
-          brew install --overwrite python@3.10 python@3.11
-          python3.11 -m pip install mako
+          rm /usr/local/bin/2to3 || true
+          rm /usr/local/bin/idle3 || true
+          rm /usr/local/bin/pydoc3 || true
+          rm /usr/local/bin/python3 || true
+          rm /usr/local/bin/python3-config || true
+          rm /usr/local/bin/2to3-3.11 || true
+          rm /usr/local/bin/idle3.11 || true
+          rm /usr/local/bin/pydoc3.11 || true
+          rm /usr/local/bin/python3.11 || true
+          rm /usr/local/bin/python3.11-config || true
           brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio \
           log4cpp openssl pugixml protobuf
+          pip3 install mako
           ln -s $(brew --prefix llvm)/bin/clang-tidy /usr/local/bin
           ln -s $(brew --prefix llvm)/bin/clang-apply-replacements /usr/local/bin
           ln -s $(brew --prefix llvm)/bin/run-clang-tidy /usr/local/bin
@@ -123,7 +150,7 @@ jobs:
   cpplint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo apt-get install python3-pip && sudo pip3 install cpplint
       - name: run checks
@@ -144,7 +171,7 @@ jobs:
   prettier-markdown:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo npm install --global prettier
       - name: check markdown
@@ -153,7 +180,7 @@ jobs:
   cmakelint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: |
           sudo python -m pip install --upgrade pip
@@ -164,7 +191,7 @@ jobs:
   volk-gnsssdr-windows:
     runs-on: windows-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: actions/setup-python@v4
       - name: Install dependencies
         run: |
@@ -186,7 +213,7 @@ jobs:
   volk-gnsssdr-ubuntu:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo apt install python3-mako liborc-dev
       - name: configure
@@ -201,7 +228,7 @@ jobs:
   volk-gnsssdr-macos:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: pip3 install mako
       - name: configure
@@ -214,7 +241,7 @@ jobs:
   volk-gnsssdr-macos-xcode:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: pip3 install mako
       - name: configure
@@ -229,7 +256,7 @@ jobs:
   shellcheck:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: install dependencies
         run: sudo apt install shellcheck
       - name: check scripts
@@ -238,7 +265,7 @@ jobs:
   REUSE-compliance:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Check REUSE compliance
         uses: docker://fsfe/reuse
         with:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f2a91527b..56aeda777 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 # Build type can still be overridden by setting -DCMAKE_BUILD_TYPE=
 set(CMAKE_BUILD_TYPE "Release" CACHE STRING "")
 
-cmake_minimum_required(VERSION 2.8.12...3.26)
+cmake_minimum_required(VERSION 2.8.12...3.27)
 project(gnss-sdr CXX C)
 
 set(GNSSSDR_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}) # Allows to be a sub-project
@@ -335,12 +335,12 @@ set(GNSSSDR_PYTHON3_MIN_VERSION "3.4")
 ################################################################################
 # Versions to download and build (but not to install system-wide) if not found
 ################################################################################
-set(GNSSSDR_ARMADILLO_LOCAL_VERSION "12.2.x")
+set(GNSSSDR_ARMADILLO_LOCAL_VERSION "12.6.x")
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.6.0")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.23")
 set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "22.4")
-set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.13")
+set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.14")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.13.0")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GNSSTK_LOCAL_VERSION "14.0.0")
@@ -361,6 +361,13 @@ if(CMAKE_VERSION VERSION_LESS "3.0.2")
     set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.4")    # Fix for Ubuntu 14.04
 endif()
 
+if(CMAKE_VERSION VERSION_LESS "3.5")
+    set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.13")
+endif()
+if(CMAKE_VERSION VERSION_LESS "3.4")
+    set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.10")
+endif()
+
 if(CMAKE_CROSSCOMPILING OR CMAKE_VERSION VERSION_LESS "3.13")
     set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "21.12")
 endif()
@@ -1109,7 +1116,7 @@ if(NOT VOLKGNSSSDR_FOUND)
         endif()
     endif()
 
-    if(PYTHONINTERP_FOUND)
+    if(CMAKE_VERSION VERSION_LESS 3.27 AND PYTHONINTERP_FOUND)
         set_package_properties(PythonInterp PROPERTIES
             URL "https://www.python.org/"
             DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: v${PYTHON_VERSION_STRING})"
diff --git a/cmake/Modules/SetupPython.cmake b/cmake/Modules/SetupPython.cmake
index 2260357ce..2dc93b955 100644
--- a/cmake/Modules/SetupPython.cmake
+++ b/cmake/Modules/SetupPython.cmake
@@ -48,9 +48,25 @@ if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         string(FIND "${PYTHON_EXECUTABLE}" "python3" IS_PYTHON3)
         if(IS_PYTHON3 EQUAL -1)
-            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
+            else()
+                set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+                find_package(Python2 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python2_Interpreter_FOUND)
+                set(PYTHON_VERSION_MAJOR "${Python2_VERSION_MAJOR}")
+                set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
+            endif()
         else()
-            find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
+            else()
+                set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+                find_package(Python3 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python3_Interpreter_FOUND)
+                set(PYTHON_VERSION_MAJOR "${Python3_VERSION_MAJOR}")
+                set(PYTHON_VERSION_STRING "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
+            endif()
         endif()
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
@@ -59,11 +75,28 @@ if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
         endif()
     else()
         message(STATUS "PYTHON_EXECUTABLE not set - trying by default python3")
-        set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9)
-        find_package(PythonInterp ${GNSSSDR_PYTHON_MIN3_VERSION})
+        if(CMAKE_VERSION VERSION_LESS "3.24")
+            set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11)
+            find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+        else()
+            find_package(Python COMPONENTS Interpreter)
+            set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+            set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+            set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+        endif()
         if(NOT PYTHONINTERP_FOUND)
             message(STATUS "python3 not found - trying with python2.7")
-            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11)
+                find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+            else()
+                find_package(Python2 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python2_Interpreter_FOUND)
+                set(PYTHON_EXECUTABLE "${Python2_EXECUTABLE}")
+                set(PYTHON_VERSION_MAJOR "${Python2_VERSION_MAJOR}")
+                set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
+            endif()
         endif()
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
@@ -76,13 +109,17 @@ else()
         set(_previous ${CMAKE_FIND_FRAMEWORK})
         set(CMAKE_FIND_FRAMEWORK LAST)
     endif()
+    if(PYTHON_EXECUTABLE)
+        set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+    endif()
     find_package(Python3 COMPONENTS Interpreter)
     if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
         set(CMAKE_FIND_FRAMEWORK ${_previous})
     endif()
     if(Python3_FOUND)
         set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
-        set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
+        set(PYTHON_VERSION_MAJOR "${Python3_VERSION_MAJOR}")
+        set(PYTHON_VERSION_STRING "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
     endif()
@@ -91,16 +128,44 @@ else()
         if(Python2_FOUND)
             set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
             set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
+            set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
             gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
             gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
             gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
         endif()
         if(NOT MAKO_FOUND OR NOT SIX_FOUND)
             unset(PYTHON_EXECUTABLE)
-            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+            else()
+                find_package(Python COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+                set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+                set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+                set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            endif()
             gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
             gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
-            if(PYTHON_VERSION_STRING VERSION_LESS "3.0")
+            if(NOT MAKO_FOUND)
+                unset(PYTHON_EXECUTABLE)
+                unset(PYTHON_VERSION_STRING)
+                unset(PYTHON_VERSION_MAJOR)
+                find_program(PYTHON_EXECUTABLE NAMES python3 python)
+                if(PYTHON_EXECUTABLE)
+                    set(PYTHONINTERP_FOUND TRUE)
+                    execute_process(COMMAND "${PYTHON_EXECUTABLE} --version" OUTPUT_VARIABLE PYTHON_VERSION_STRING_AUX)
+                    string(FIND "${PYTHON_VERSION_STRING_AUX}" " " blank_char_index)
+                    if(blank_char_index GREATER -1)
+                        math(EXPR start_index "${blank_char_index} + 1")
+                        string(SUBSTRING "${PYTHON_VERSION_STRING_AUX}" ${start_index} -1 PYTHON_VERSION_STRING)
+                        string(STRIP ${PYTHON_VERSION_STRING} PYTHON_VERSION_STRING)
+                        string(SUBSTRING "${PYTHON_VERSION_STRING_AUX}" ${start_index} 1 PYTHON_VERSION_MAJOR)
+                        message(STATUS "Found Python: ${PYTHON_EXECUTABLE} (found version: ${PYTHON_VERSION_STRING})")
+                    endif()
+                endif()
+                volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+            endif()
+            if(MAKO_FOUND AND PYTHON_VERSION_STRING VERSION_LESS "3.0")
                 gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
             endif()
         endif()
diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
index 422237dd3..160083a7a 100644
--- a/docs/CHANGELOG.md
+++ b/docs/CHANGELOG.md
@@ -14,7 +14,24 @@ All notable changes to GNSS-SDR will be documented in this file.
 
 ## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
 
-### Improvements in Repeatability
+### Improvements in Interoperability:
+
+- Added a new PVT configuration boolean flag (`flag_geohash_log_out`) that
+  enables or disables the Position Geohash tag output in INFO log files. Set to
+  `false` by default.
+- New fields have been added to the custom output stream defined by
+  `monitor_pvt.proto`:
+  - `utc_time` (a [RFC 3339](https://www.rfc-editor.org/rfc/rfc3339) datetime
+    string),
+  - velocity in the local ENU frame (`vel_e`, `vel_n`, and `vel_u`), in m/s,
+  - the course over ground, `cog`, in degrees,
+  - the status of the Galileo's High Accuracy Service, `galhas_status`:
+    - 0: HAS data not available
+    - 1: HAS Corrections applied
+  - `geohash`, an
+    [encoded geographic location](https://en.wikipedia.org/wiki/Geohash).
+
+### Improvements in Repeatability:
 
 - A Kalman filter is now available in the PVT block, smoothing the outputs of a
   simple Least Squares solution and improving the precision of delivered fixes.
@@ -26,6 +43,21 @@ All notable changes to GNSS-SDR will be documented in this file.
   `PVT.kf_system_ecef_pos_sd_m=0.01`, in [m]; and
   `PVT.kf_system_ecef_vel_sd_ms=0.001`, in [m/s].
 
+### Improvements in Usability:
+
+- The Galileo E1B Reduced CED parameters usage has been set to `false` by
+  default. You can activate its usage with `Galileo_E1B_Telemetry_Decoder=true`
+  in your configuration file.
+- The generation of Galileo E6B observables has been disabled if the user sets
+  `PVT.use_e6_for_pvt=false`, fixing the PVT computation in some multi-band
+  configurations.
+- Fix bug in the custom binary output (`PVT.enable_monitor=true`) output rate.
+  Before this fix, it was outputting data every 20 ms, instead of observing the
+  `PVT.output_rate_ms` setting.
+- Now the program exits properly if a SIGINT signal is received (_e.g._, the
+  user pressing Ctrl+C, or another user application sending an interruption
+  signal).
+
 ## [GNSS-SDR v0.0.18](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.18) - 2023-04-06
 
 [![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.7805514.svg)](https://doi.org/10.5281/zenodo.7805514)
diff --git a/docs/protobuf/monitor_pvt.proto b/docs/protobuf/monitor_pvt.proto
index d8b9d7f54..9b297bae7 100644
--- a/docs/protobuf/monitor_pvt.proto
+++ b/docs/protobuf/monitor_pvt.proto
@@ -7,39 +7,49 @@ package gnss_sdr;
 /* MonitorPvt represents a search query, with pagination options to
  * indicate which results to include in the response. */
 message MonitorPvt {
-uint32 tow_at_current_symbol_ms = 1;  // Time of week of the current symbol, in ms
-uint32 week = 2;  // PVT GPS week
-double rx_time = 3;  // PVT GPS time
-double user_clk_offset = 4;  // User clock offset, in s
+  uint32 tow_at_current_symbol_ms = 1;  // Time of week of the current symbol, in ms
+  uint32 week = 2;                      // PVT GPS week
+  double rx_time = 3;                   // PVT GPS time
+  double user_clk_offset = 4;           // User clock offset, in s
 
-double pos_x = 5;  // Position X component in ECEF, expressed in m
-double pos_y = 6;  // Position Y component in ECEF, expressed in m
-double pos_z = 7;  // Position Z component in ECEF, expressed in m
-double vel_x = 8;  // Velocity X component in ECEF, in m/s
-double vel_y = 9;  // Velocity Y component in ECEF, in m/s
-double vel_z = 10;  // Velocity Z component in ECEF, in m/s
+  double pos_x = 5;  // Position X component in ECEF, expressed in m
+  double pos_y = 6;  // Position Y component in ECEF, expressed in m
+  double pos_z = 7;  // Position Z component in ECEF, expressed in m
+  double vel_x = 8;  // Velocity X component in ECEF, in m/s
+  double vel_y = 9;  // Velocity Y component in ECEF, in m/s
+  double vel_z = 10;  // Velocity Z component in ECEF, in m/s
 
-double cov_xx = 11;  // Position variance in the Y component, in m2
-double cov_yy = 12;  // Position variance in the Y component, in m2
-double cov_zz = 13;  // Position variance in the Z component, in m2
-double cov_xy = 14;  // Position XY covariance, in m2
-double cov_yz = 15;  // Position YZ covariance, in m2
-double cov_zx = 16;  // Position ZX covariance, in m2
+  double cov_xx = 11;  // Position variance in the Y component, in m2
+  double cov_yy = 12;  // Position variance in the Y component, in m2
+  double cov_zz = 13;  // Position variance in the Z component, in m2
+  double cov_xy = 14;  // Position XY covariance, in m2
+  double cov_yz = 15;  // Position YZ covariance, in m2
+  double cov_zx = 16;  // Position ZX covariance, in m2
 
-double latitude = 17;  // Latitude, in deg. Positive: North
-double longitude = 18;  // Longitude, in deg. Positive: East
-double height = 19;  // Height, in m
+  double latitude = 17;   // Latitude, in deg. Positive: North
+  double longitude = 18;  // Longitude, in deg. Positive: East
+  double height = 19;     // Height, in m
 
-uint32 valid_sats = 20;  // Number of valid satellites
-uint32 solution_status = 21;  // RTKLIB solution status
-uint32 solution_type = 22;  // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
-float ar_ratio_factor = 23;  // Ambiguity resolution ratio factor for validation
-float ar_ratio_threshold = 24;  // Ambiguity resolution ratio threshold for validation
+  uint32 valid_sats = 20;         // Number of valid satellites
+  uint32 solution_status = 21;    // RTKLIB solution status
+  uint32 solution_type = 22;      // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
+  float ar_ratio_factor = 23;     // Ambiguity resolution ratio factor for validation
+  float ar_ratio_threshold = 24;  // Ambiguity resolution ratio threshold for validation
 
-double gdop = 25;  // Geometric Dilution of Precision
-double pdop = 26;  // Position (3D) Dilution of Precision
-double hdop = 27;  // Horizontal Dilution of Precision
-double vdop = 28;  // Vertical Dilution of Precision
+  double gdop = 25;  // Geometric Dilution of Precision
+  double pdop = 26;  // Position (3D) Dilution of Precision
+  double hdop = 27;  // Horizontal Dilution of Precision
+  double vdop = 28;  // Vertical Dilution of Precision
 
-double user_clk_drift_ppm = 29;  // User clock drift [ppm]
+  double user_clk_drift_ppm = 29;  // User clock drift [ppm]
+  string utc_time = 30;            // PVT UTC time (rfc 3339 datetime string)
+
+  double vel_e = 31;  // Velocity East component in the local frame, in m/s
+  double vel_n = 32;  // Velocity North component in the local frame, in m/s
+  double vel_u = 33;  // Velocity Up component in the local frame, in m/s
+
+  double cog = 34;  // Course Over Ground, in deg
+
+  uint32 galhas_status = 35;  // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not available
+  string geohash = 36;        // Encoded geographic location. See https://en.wikipedia.org/wiki/Geohash
 }
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 9388354ec..ca234a7a9 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -2458,21 +2458,22 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                             // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
                             // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << '\n';
 
-                            LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
-                                      << " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
-                                      << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
-                            LOG(INFO) << "geohash=" << d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
+                            DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
+                                       << " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
+                                       << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
+
                             /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
-                                         << " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
-                                         << d_user_pvt_solver->get_vdop()
-                                         << " GDOP = " << d_user_pvt_solver->get_gdop() << '\n'; */
+                                 << " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
+                                 << d_user_pvt_solver->get_vdop()
+                                 << " GDOP = " << d_user_pvt_solver->get_gdop() << '\n'; */
                         }
 
                     // PVT MONITOR
-                    if (d_user_pvt_solver->is_valid_position())
+                    if (d_user_pvt_solver->is_valid_position() && flag_compute_pvt_output == true)
                         {
                             const std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_user_pvt_solver->get_monitor_pvt());
-
+                            monitor_pvt->geohash = d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
+                            DLOG(INFO) << "geohash=" << monitor_pvt->geohash;
                             // publish new position to the gnss_flowgraph channel status monitor
                             if (current_RX_time_ms % d_report_rate_ms == 0)
                                 {
diff --git a/src/algorithms/PVT/libs/monitor_pvt.h b/src/algorithms/PVT/libs/monitor_pvt.h
index 18c43229b..e70f681de 100644
--- a/src/algorithms/PVT/libs/monitor_pvt.h
+++ b/src/algorithms/PVT/libs/monitor_pvt.h
@@ -19,6 +19,7 @@
 
 #include <boost/serialization/nvp.hpp>
 #include <cstdint>
+#include <string>
 
 /** \addtogroup PVT
  * \{ */
@@ -63,6 +64,16 @@ public:
     double longitude;
     // GEO user position Height [m]
     double height;
+    // East, Nord, Up (ENU) Velocity [m/s]
+    double vel_e;
+    double vel_n;
+    double vel_u;
+
+    // Course Over Ground (COG) [deg]
+    double cog;
+
+    // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
+    uint32_t galhas_status;
 
     // NUMBER OF VALID SATS
     uint8_t valid_sats;
@@ -84,6 +95,11 @@ public:
     // User clock drift [ppm]
     double user_clk_drift_ppm;
 
+    // PVT UTC Time (rfc 3339 datetime string)
+    std::string utc_time;
+
+    std::string geohash;  // See https://en.wikipedia.org/wiki/Geohash
+
     /*!
      * \brief This member function serializes and restores
      * Monitor_Pvt objects from a byte stream.
@@ -131,6 +147,14 @@ public:
         ar& BOOST_SERIALIZATION_NVP(vdop);
 
         ar& BOOST_SERIALIZATION_NVP(user_clk_drift_ppm);
+        ar& BOOST_SERIALIZATION_NVP(utc_time);
+
+        ar& BOOST_SERIALIZATION_NVP(vel_e);
+        ar& BOOST_SERIALIZATION_NVP(vel_n);
+        ar& BOOST_SERIALIZATION_NVP(vel_u);
+
+        ar& BOOST_SERIALIZATION_NVP(cog);
+        ar& BOOST_SERIALIZATION_NVP(geohash);
     }
 };
 
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 8b9d5b8ee..faf8af5f0 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -1598,7 +1598,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     ecef2pos(pvt_sol.rr, pos.data());
                     ecef2enu(pos.data(), &pvt_sol.rr[3], enuv.data());
                     this->set_speed_over_ground(norm_rtk(enuv.data(), 2));
-                    double new_cog;
+                    double new_cog = -9999.0;  // COG not estimated due to insuficient velocity
                     if (ground_speed_ms >= 1.0)
                         {
                             new_cog = atan2(enuv[0], enuv[1]) * R2D;
@@ -1680,12 +1680,41 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
 
                     this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
 
+                    // ENU vel [m/s]
+                    d_monitor_pvt.vel_e = enuv[0];
+                    d_monitor_pvt.vel_n = enuv[1];
+                    d_monitor_pvt.vel_u = enuv[2];
+
+                    // Course Over Ground (cog) [deg]
+                    d_monitor_pvt.cog = new_cog;
+
+                    // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
+                    if (d_has_obs_corr_map.empty())
+                        {
+                            d_monitor_pvt.galhas_status = 0;
+                        }
+                    else
+                        {
+                            d_monitor_pvt.galhas_status = 1;
+                        }
+
                     const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
 
                     this->set_clock_drift_ppm(clock_drift_ppm);
                     // User clock drift [ppm]
                     d_monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
 
+                    // write UTC time string
+
+                    // Use a facet to display time in a custom format (only hour and minutes).
+                    auto *facet = new boost::posix_time::time_facet();
+                    facet->format("%Y-%m-%dT%H:%M:%S%F");
+                    std::stringstream stream;
+                    stream.imbue(std::locale(std::locale::classic(), facet));
+                    stream << p_time;
+                    stream << 'Z';
+                    d_monitor_pvt.utc_time = stream.str();
+
                     // ######## LOG FILE #########
                     if (d_flag_dump_enabled == true)
                         {
diff --git a/src/algorithms/PVT/libs/serdes_monitor_pvt.h b/src/algorithms/PVT/libs/serdes_monitor_pvt.h
index a792e18d6..f7ac8e72e 100644
--- a/src/algorithms/PVT/libs/serdes_monitor_pvt.h
+++ b/src/algorithms/PVT/libs/serdes_monitor_pvt.h
@@ -112,6 +112,13 @@ public:
         monitor_.set_hdop(monitor->hdop);
         monitor_.set_vdop(monitor->vdop);
         monitor_.set_user_clk_drift_ppm(monitor->user_clk_drift_ppm);
+        monitor_.set_utc_time(monitor->utc_time);
+        monitor_.set_vel_e(monitor->vel_e);
+        monitor_.set_vel_n(monitor->vel_n);
+        monitor_.set_vel_u(monitor->vel_u);
+        monitor_.set_cog(monitor->cog);
+        monitor_.set_galhas_status(monitor->galhas_status);
+        monitor_.set_geohash(monitor->geohash);
 
         monitor_.SerializeToString(&data);
         return data;
@@ -150,6 +157,13 @@ public:
         monitor.hdop = mon.hdop();
         monitor.vdop = mon.vdop();
         monitor.user_clk_drift_ppm = mon.user_clk_drift_ppm();
+        monitor.utc_time = mon.utc_time();
+        monitor.vel_e = mon.vel_e();
+        monitor.vel_n = mon.vel_n();
+        monitor.vel_u = mon.vel_u();
+        monitor.cog = mon.cog();
+        monitor.galhas_status = mon.galhas_status();
+        monitor.geohash = mon.geohash();
 
         return monitor;
     }
diff --git a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
index 926b680e4..20efd8ae3 100644
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
@@ -44,7 +44,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
       out_streams_(out_streams),
       acquire_pilot_(configuration->property(role + ".acquire_pilot", false))
 {
-    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
 
     if (FLAGS_doppler_max != 0)
         {
diff --git a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
index 209ba88d7..597d9975a 100644
--- a/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
@@ -181,9 +181,8 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 4;  // downampling factor in the FPGA
-    static const uint32_t fpga_buff_num = 0;             // L1/E1 band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_buff_num = 0;  // L1/E1 band
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
diff --git a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
index 497da79e9..d049ccd37 100644
--- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
@@ -43,7 +43,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
       acq_pilot_(configuration->property(role + ".acquire_pilot", false)),
       acq_iq_(configuration->property(role + ".acquire_iq", false))
 {
-    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
 
     if (FLAGS_doppler_max != 0)
         {
diff --git a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
index 9f9170c40..a33f6738e 100644
--- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
@@ -188,9 +188,8 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 1;  // downampling factor in the FPGA
-    static const uint32_t fpga_buff_num = 1;             // L5/E5a band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_buff_num = 1;  // L5/E5a band
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc
index f75d29db4..4ec2c5341 100644
--- a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc
@@ -43,7 +43,7 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
       acq_pilot_(configuration->property(role + ".acquire_pilot", false)),
       acq_iq_(configuration->property(role + ".acquire_iq", false))
 {
-    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
     if (FLAGS_doppler_max != 0)
         {
             acq_parameters_.doppler_max = FLAGS_doppler_max;
diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h
index e3c43aeea..33545bd2b 100644
--- a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h
@@ -187,9 +187,8 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 1;  // downampling factor in the FPGA
-    static const uint32_t fpga_buff_num = 1;             // E5b band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_buff_num = 1;  // E5b band
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
diff --git a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
index 5b01d13f4..0b9ae0b9a 100644
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
@@ -43,7 +43,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
 
     DLOG(INFO) << "role " << role;
 
diff --git a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
index addbdd5ec..f187d77c0 100644
--- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
@@ -186,9 +186,8 @@ public:
 private:
     static const uint32_t NUM_PRNs = 32;
 
-    static const uint32_t fpga_downsampling_factor = 4;  // downampling factor in the FPGA
-    static const uint32_t fpga_buff_num = 0;             // L1/E1 band
-    static const uint32_t fpga_blk_exp = 10;             // default block exponent
+    static const uint32_t fpga_buff_num = 0;  // L1/E1 band
+    static const uint32_t fpga_blk_exp = 10;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
diff --git a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
index 30680e011..c74f1275b 100644
--- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
@@ -43,7 +43,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
 
     LOG(INFO) << "role " << role;
 
diff --git a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
index 67f8f621a..d105ea7e2 100644
--- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
@@ -149,9 +149,8 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
-    static const uint32_t fpga_downsampling_factor = 4;  // downampling factor in the FPGA
-    static const uint32_t fpga_buff_num = 0;             // L2 band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_buff_num = 0;  // L2 band
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     static const uint32_t NUM_PRNs = 32;
     static const uint32_t QUANT_BITS_LOCAL_CODE = 16;
diff --git a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
index 269672f65..ebd701840 100644
--- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
+++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
@@ -44,7 +44,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
-    acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
+    acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
 
     LOG(INFO) << "role " << role;
 
diff --git a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
index a2e69c3df..c68cd7bda 100644
--- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
+++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
@@ -186,9 +186,8 @@ public:
 private:
     static const uint32_t NUM_PRNs = 32;
 
-    static const uint32_t fpga_downsampling_factor = 1;  // downampling factor in the FPGA
-    static const uint32_t fpga_buff_num = 1;             // L5/E5a band
-    static const uint32_t fpga_blk_exp = 13;             // default block exponent
+    static const uint32_t fpga_buff_num = 1;  // L5/E5a band
+    static const uint32_t fpga_blk_exp = 13;  // default block exponent
 
     // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
     // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
diff --git a/src/algorithms/acquisition/libs/acq_conf_fpga.cc b/src/algorithms/acquisition/libs/acq_conf_fpga.cc
index 94d9a321f..ac68a92ad 100644
--- a/src/algorithms/acquisition/libs/acq_conf_fpga.cc
+++ b/src/algorithms/acquisition/libs/acq_conf_fpga.cc
@@ -23,7 +23,7 @@
 #include <iostream>
 
 void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration,
-    const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips)
+    const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips)
 {
     // sampling frequency
     const int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
@@ -33,7 +33,8 @@ void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configura
     doppler_max = configuration->property(role + ".doppler_max", doppler_max);
 
     // downsampling factor
-    uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", downs_factor);
+    downsampling_factor = configuration->property(role + ".downsampling_factor", downsampling_factor);
+
     fs_in = fs_in / downsampling_factor;
 
     // code length in samples
diff --git a/src/algorithms/acquisition/libs/acq_conf_fpga.h b/src/algorithms/acquisition/libs/acq_conf_fpga.h
index 5bac585f4..c24cbb031 100644
--- a/src/algorithms/acquisition/libs/acq_conf_fpga.h
+++ b/src/algorithms/acquisition/libs/acq_conf_fpga.h
@@ -35,7 +35,7 @@ class Acq_Conf_Fpga
 public:
     Acq_Conf_Fpga() = default;
 
-    void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips);
+    void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips);
 
     /* PCPS Acquisition configuration */
     std::string device_name = "uio0";
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
index 0a668f741..4235cb586 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
@@ -8,7 +8,7 @@
 ########################################################################
 # Project setup
 ########################################################################
-cmake_minimum_required(VERSION 2.8.12...3.26)
+cmake_minimum_required(VERSION 2.8.12...3.27)
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Choose build type: None Debug Release RelWithDebInfo MinSizeRel")
 project(volk_gnsssdr)
 enable_language(CXX)
diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
index 2fc0819b7..697fe8c3b 100644
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
@@ -52,18 +52,42 @@ set(VOLK_PYTHON3_MIN_VERSION "3.4")
 if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
     if(PYTHON_EXECUTABLE)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
-        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
+        if(CMAKE_VERSION VERSION_LESS "3.24") # For cross-compiling
+            find_package(PythonInterp ${VOLK_PYTHON_MIN3_VERSION} REQUIRED)
+        else()
+            set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+            find_package(Python COMPONENTS Interpreter)
+            set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+            set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+        endif()
         if(PYTHON_VERSION_STRING VERSION_LESS "3.0")
             volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
         endif()
     else()
         message(STATUS "PYTHON_EXECUTABLE not set - trying by default python3")
         message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python to build for python 2.7")
-        set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9)
-        find_package(PythonInterp ${VOLK_PYTHON_MIN3_VERSION})
+        if(CMAKE_VERSION VERSION_LESS "3.24") # For cross-compiling
+            set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11)
+            find_package(PythonInterp ${VOLK_PYTHON_MIN3_VERSION} REQUIRED)
+        else()
+            find_package(Python COMPONENTS Interpreter)
+            set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+            set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+            set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+        endif()
         if(NOT PYTHONINTERP_FOUND)
             message(STATUS "python3 not found - trying with python2.7")
-            find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
+            if(CMAKE_VERSION VERSION_LESS "3.24")
+                find_package(PythonInterp ${VOLK_PYTHON_MIN3_VERSION} REQUIRED)
+            else()
+                find_package(Python2 COMPONENTS Interpreter)
+                set(PYTHONINTERP_FOUND Python2_Interpreter_FOUND)
+                set(PYTHON_VERSION_MAJOR "${Python2_VERSION_MAJOR}")
+                set(PYTHON_EXECUTABLE "${Python2_EXECUTABLE}")
+                set(PYTHON_VERSION_STRING "${Python2_VERSION_MAJOR}.${Python2_VERSION_MINOR}")
+        endif()
             volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
         endif()
     endif()
@@ -71,7 +95,15 @@ if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
 else()
     if(PYTHON_EXECUTABLE)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
-        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
+        if(CMAKE_VERSION VERSION_LESS "3.24")
+            find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
+        else()
+            set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
+            find_package(Python COMPONENTS Interpreter)
+            set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+            set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+            set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+        endif()
         volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
         if(PYTHON_VERSION_STRING VERSION_LESS "3.0")
             volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
@@ -102,8 +134,37 @@ else()
             endif()
             if(NOT MAKO_FOUND OR NOT SIX_FOUND)
                 unset(PYTHON_EXECUTABLE)
-                find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+                if(CMAKE_VERSION VERSION_LESS "3.24")
+                    find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+                else()
+                    find_package(Python COMPONENTS Interpreter)
+                    set(PYTHONINTERP_FOUND Python_Interpreter_FOUND)
+                    set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+                    set(PYTHON_VERSION_MAJOR "${Python_VERSION_MAJOR}")
+                    set(PYTHON_VERSION_STRING "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
+                endif()
                 volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+                if(NOT MAKO_FOUND)
+                    unset(PYTHON_EXECUTABLE)
+                    unset(PYTHON_VERSION_STRING)
+                    find_program(PYTHON_EXECUTABLE NAMES python3 python)
+                    if(PYTHON_EXECUTABLE)
+                        set(PYTHONINTERP_FOUND TRUE)
+                        execute_process(COMMAND ${PYTHON_EXECUTABLE} --version OUTPUT_VARIABLE PYTHON_VERSION_STRING_AUX)
+                        string(FIND "${PYTHON_VERSION_STRING_AUX}" " " blank_char_index)
+                        if(blank_char_index GREATER -1)
+                            math(EXPR start_index "${blank_char_index} + 1")
+                            string(SUBSTRING "${PYTHON_VERSION_STRING_AUX}" ${start_index} -1 PYTHON_VERSION_STRING)
+                            string(STRIP ${PYTHON_VERSION_STRING} PYTHON_VERSION_STRING)
+                            string(SUBSTRING "${PYTHON_VERSION_STRING_AUX}" ${start_index} 1 PYTHON_VERSION_MAJOR)
+                            message(STATUS "Found Python: ${PYTHON_EXECUTABLE} (found version: ${PYTHON_VERSION_STRING})")
+                        endif()
+                        volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+                        if(MAKO_FOUND AND PYTHON_VERSION_STRING VERSION_LESS "3.0")
+                            gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+                        endif()
+                    endif()
+                endif()
             endif()
         endif()
     endif()
@@ -114,6 +175,7 @@ if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
 endif()
 
 
+
 ########################################################################
 # Sets the python installation directory VOLK_PYTHON_DIR
 ########################################################################
diff --git a/src/algorithms/observables/adapters/hybrid_observables.cc b/src/algorithms/observables/adapters/hybrid_observables.cc
index 6413d48a7..fbb6ba2a3 100644
--- a/src/algorithms/observables/adapters/hybrid_observables.cc
+++ b/src/algorithms/observables/adapters/hybrid_observables.cc
@@ -43,6 +43,7 @@ HybridObservables::HybridObservables(const ConfigurationInterface* configuration
     conf.observable_interval_ms = configuration->property("GNSS-SDR.observable_interval_ms", conf.observable_interval_ms);
     conf.enable_carrier_smoothing = configuration->property(role + ".enable_carrier_smoothing", conf.enable_carrier_smoothing);
     conf.always_output_gs = configuration->property("PVT.an_output_enabled", conf.always_output_gs) || configuration->property(role + ".always_output_gs", conf.always_output_gs);
+    conf.enable_E6 = configuration->property("PVT.use_e6_for_pvt", conf.enable_E6);
 
     if (FLAGS_carrier_smoothing_factor == DEFAULT_CARRIER_SMOOTHING_FACTOR)
         {
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
index 6fb36d92c..d32f0ba68 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
@@ -93,7 +93,7 @@ hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_)
 
     d_gnss_synchro_history = std::make_unique<Gnss_circular_deque<Gnss_Synchro>>(1000, d_nchannels_out);
 
-    d_Rx_clock_buffer.set_capacity(std::min(std::max(200U / d_T_rx_step_ms, 3U), 10U));
+    d_Rx_clock_buffer.set_capacity(std::min(std::max(300U / d_T_rx_step_ms, 3U), 20U));
     d_Rx_clock_buffer.clear();
 
     d_channel_last_pll_lock = std::vector<bool>(d_nchannels_out, false);
@@ -720,6 +720,13 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
                     // Push the valid tracking Gnss_Synchros to their corresponding deque
                     if (in[n][m].Flag_valid_word)
                         {
+                            if (std::string(in[n][m].Signal, 2) == std::string("E6"))
+                                {
+                                    if (d_conf.enable_E6 == false)
+                                        {
+                                            continue;
+                                        }
+                                }
                             if (d_gnss_synchro_history->size(n) > 0)
                                 {
                                     // Check if the last Gnss_Synchro comes from the same satellite as the previous ones
diff --git a/src/algorithms/observables/libs/obs_conf.h b/src/algorithms/observables/libs/obs_conf.h
index 22da24476..480a0d888 100644
--- a/src/algorithms/observables/libs/obs_conf.h
+++ b/src/algorithms/observables/libs/obs_conf.h
@@ -41,6 +41,7 @@ public:
     bool always_output_gs{false};
     bool dump{false};
     bool dump_mat{false};
+    bool enable_E6{false};
 };
 
 /** \} */
diff --git a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
index 065838450..0caa240f0 100644
--- a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
@@ -59,26 +59,26 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
       filename0_(configuration->property(role + ".filename", empty_string)),
       rf_gain_rx1_(configuration->property(role + ".gain_rx1", default_manual_gain_rx1)),
       rf_gain_rx2_(configuration->property(role + ".gain_rx2", default_manual_gain_rx2)),
+      scale_dds_dbfs_(configuration->property(role + ".scale_dds_dbfs", -3.0)),
+      phase_dds_deg_(configuration->property(role + ".phase_dds_deg", 0.0)),
+      tx_attenuation_db_(configuration->property(role + ".tx_attenuation_db", default_tx_attenuation_db)),
       freq0_(configuration->property(role + ".freq", 0)),
       freq1_(configuration->property(role + ".freq1", static_cast<uint64_t>(GPS_L5_FREQ_HZ))),
       sample_rate_(configuration->property(role + ".sampling_frequency", default_bandwidth)),
       bandwidth_(configuration->property(role + ".bandwidth", default_bandwidth)),
       samples_to_skip_(0),
       samples_(configuration->property(role + ".samples", static_cast<int64_t>(0))),
+      freq_dds_tx_hz_(configuration->property(role + ".freq_dds_tx_hz", uint64_t(10000))),
+      freq_rf_tx_hz_(configuration->property(role + ".freq_rf_tx_hz", static_cast<uint64_t>(GPS_L1_FREQ_HZ - GPS_L5_FREQ_HZ - freq_dds_tx_hz_))),
+      tx_bandwidth_(configuration->property(role + ".tx_bandwidth", static_cast<uint64_t>(500000))),
       Fpass_(configuration->property(role + ".Fpass", static_cast<float>(0.0))),
       Fstop_(configuration->property(role + ".Fstop", static_cast<float>(0.0))),
       num_freq_bands_(2),
       dma_buff_offset_pos_(0),
-      scale_dds_dbfs_(configuration->property(role + ".scale_dds_dbfs", -3.0)),
-      phase_dds_deg_(configuration->property(role + ".phase_dds_deg", 0.0)),
-      tx_attenuation_db_(configuration->property(role + ".tx_attenuation_db", default_tx_attenuation_db)),
-      freq_dds_tx_hz_(configuration->property(role + ".freq_dds_tx_hz", uint64_t(10000))),
-      freq_rf_tx_hz_(configuration->property(role + ".freq_rf_tx_hz", static_cast<uint64_t>(GPS_L1_FREQ_HZ - GPS_L5_FREQ_HZ - freq_dds_tx_hz_))),
-      tx_bandwidth_(configuration->property(role + ".tx_bandwidth", static_cast<uint64_t>(500000))),
-      item_size_(sizeof(int8_t)),
       in_stream_(in_stream),
       out_stream_(out_stream),
       switch_position_(configuration->property(role + ".switch_position", 0)),
+      item_size_(sizeof(int8_t)),
       enable_dds_lo_(configuration->property(role + ".enable_dds_lo", false)),
       filter_auto_(configuration->property(role + ".filter_auto", false)),
       quadrature_(configuration->property(role + ".quadrature", true)),
@@ -93,11 +93,17 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
       rf_shutdown_(configuration->property(role + ".rf_shutdown", FLAGS_rf_shutdown)),
       repeat_(configuration->property(role + ".repeat", false))
 {
-    const int l1_band = configuration->property("Channels_1C.count", 0) +
-                        configuration->property("Channels_1B.count", 0);
-
     const double seconds_to_skip = configuration->property(role + ".seconds_to_skip", 0.0);
     const size_t header_size = configuration->property(role + ".header_size", 0);
+    const int num_ch_rx1 = configuration->property("Channels_1C.count", 0) +
+                           configuration->property("Channels_1B.count", 0);
+    const int num_ch_rx2 = (configuration->property("Channels_L2.count", 0) > 0) ? configuration->property("Channels_L2.count", 0) : configuration->property("Channels_L5.count", 0) + configuration->property("Channels_5X.count", 0);
+
+    // number of frequency bands
+    if (num_ch_rx2 == 0)
+        {
+            num_freq_bands_ = 1;
+        }
 
     if (freq0_ == 0)
         {
@@ -135,8 +141,7 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
     // if more than one input file are specified then the DMA transfer the samples to both the L1 and the L2/L5 frequency channels.
     if (filename1_.empty())
         {
-            num_freq_bands_ = 1;
-            if (l1_band != 0)
+            if (num_ch_rx1 != 0)
                 {
                     dma_buff_offset_pos_ = 2;
                 }
@@ -160,7 +165,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
     if (find_uio_dev_file_name(device_io_name, switch_device_name, 0) < 0)
         {
             std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << switch_device_name << '\n';
-            item_size_ = 0;
             return;
         }
 
@@ -196,7 +200,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
                     else
                         {
                             std::cerr << "SignalSource: Unable to open the samples file " << filename0_.c_str() << '\n';
-                            item_size_ = 0;
                             return;
                         }
                     std::streamsize ss = std::cout.precision();
@@ -224,7 +227,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
                             else
                                 {
                                     std::cerr << "SignalSource: Unable to open the samples file " << filename1_.c_str() << '\n';
-                                    item_size_ = 0;
                                     return;
                                 }
                             std::streamsize ss = std::cout.precision();
@@ -372,7 +374,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
             catch (const std::runtime_error &e)
                 {
                     std::cerr << "Exception cached when configuring the RX chain: " << e.what() << '\n';
-                    item_size_ = 0;
                     return;
                 }
             // LOCAL OSCILLATOR DDS GENERATOR FOR DUAL FREQUENCY OPERATION
@@ -407,7 +408,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
                     catch (const std::runtime_error &e)
                         {
                             std::cerr << "Exception cached when configuring the TX carrier: " << e.what() << '\n';
-                            item_size_ = 0;
                             return;
                         }
                 }
@@ -424,7 +424,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
             if (find_uio_dev_file_name(device_io_name_buffer_monitor, buffer_monitor_device_name, 0) < 0)
                 {
                     std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << buffer_monitor_device_name << '\n';
-                    item_size_ = 0;
                     return;
                 }
 
@@ -435,25 +434,7 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
     // dynamic bits selection
     if (enable_dynamic_bit_selection_)
         {
-            std::string device_io_name_dyn_bit_sel_0;
-            std::string device_io_name_dyn_bit_sel_1;
-
-            // find the uio device file corresponding to the dynamic bit selector 0 module.
-            if (find_uio_dev_file_name(device_io_name_dyn_bit_sel_0, dyn_bit_sel_device_name, 0) < 0)
-                {
-                    std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << dyn_bit_sel_device_name << '\n';
-                    item_size_ = 0;
-                    return;
-                }
-
-            // find the uio device file corresponding to the dynamic bit selector 1 module.
-            if (find_uio_dev_file_name(device_io_name_dyn_bit_sel_1, dyn_bit_sel_device_name, 1) < 0)
-                {
-                    std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << dyn_bit_sel_device_name << '\n';
-                    item_size_ = 0;
-                    return;
-                }
-            dynamic_bit_selection_fpga = std::make_shared<Fpga_dynamic_bit_selection>(device_io_name_dyn_bit_sel_0, device_io_name_dyn_bit_sel_1);
+            dynamic_bit_selection_fpga = std::make_shared<Fpga_dynamic_bit_selection>(num_freq_bands_);
             thread_dynamic_bit_selection = std::thread([&] { run_dynamic_bit_selection_process(); });
         }
 
diff --git a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
index f16f6f274..a78b1aa00 100644
--- a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
+++ b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
@@ -118,7 +118,6 @@ private:
 
     Concurrent_Queue<pmt::pmt_t> *queue_;
 
-    // Front-end settings
     std::string gain_mode_rx1_;
     std::string gain_mode_rx2_;
     std::string rf_port_select_;
@@ -130,30 +129,31 @@ private:
 
     double rf_gain_rx1_;
     double rf_gain_rx2_;
+    double scale_dds_dbfs_;
+    double phase_dds_deg_;
+    double tx_attenuation_db_;
+
     uint64_t freq0_;  // frequency of local oscillator for ADRV9361-A 0
     uint64_t freq1_;  // frequency of local oscillator for ADRV9361-B (if present)
     uint64_t sample_rate_;
     uint64_t bandwidth_;
     uint64_t samples_to_skip_;
     int64_t samples_;
+    uint64_t freq_dds_tx_hz_;
+    uint64_t freq_rf_tx_hz_;
+    uint64_t tx_bandwidth_;
+
     float Fpass_;
     float Fstop_;
     uint32_t num_freq_bands_;
     uint32_t dma_buff_offset_pos_;
-
-    // DDS configuration for LO generation for external mixer
-    double scale_dds_dbfs_;
-    double phase_dds_deg_;
-    double tx_attenuation_db_;
-    uint64_t freq_dds_tx_hz_;
-    uint64_t freq_rf_tx_hz_;
-    uint64_t tx_bandwidth_;
-    size_t item_size_;
     uint32_t in_stream_;
     uint32_t out_stream_;
     int32_t switch_position_;
-    bool enable_dds_lo_;
 
+    size_t item_size_;
+
+    bool enable_dds_lo_;
     bool filter_auto_;
     bool quadrature_;
     bool rf_dc_;
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_samples.h b/src/algorithms/signal_source/libs/ad936x_iio_samples.h
index 96fd9e6ae..63d30545b 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_samples.h
+++ b/src/algorithms/signal_source/libs/ad936x_iio_samples.h
@@ -18,7 +18,7 @@
 #ifndef SRC_LIBS_ad936x_iio_samples_H_
 #define SRC_LIBS_ad936x_iio_samples_H_
 
-#define IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES 32768
+#define IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES 32768 * 4
 
 #define IIO_INPUTRAMFIFOSIZE 256
 
diff --git a/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc b/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc
index 0e7a5afca..c897e40f5 100644
--- a/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc
+++ b/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc
@@ -2,7 +2,7 @@
  * \file fpga_dynamic_bit_selection.cc
  * \brief Dynamic Bit Selection in the received signal.
  * \authors <ul>
- *    <li> Marc Majoral, 2020. mmajoral(at)cttc.es
+ *    <li> Marc Majoral, 2023. mmajoral(at)cttc.es
  * </ul>
  *
  * Class that controls the Dynamic Bit Selection in the FPGA.
@@ -13,58 +13,52 @@
  * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
  * This file is part of GNSS-SDR.
  *
- * Copyright (C) 2010-2020  (see AUTHORS file for a list of contributors)
+ * Copyright (C) 2010-2023  (see AUTHORS file for a list of contributors)
  * SPDX-License-Identifier: GPL-3.0-or-later
  *
  * -----------------------------------------------------------------------------
  */
 
 #include "fpga_dynamic_bit_selection.h"
+#include "uio_fpga.h"
 #include <glog/logging.h>
 #include <fcntl.h>     // for open, O_RDWR, O_SYNC
 #include <iostream>    // for cout
 #include <sys/mman.h>  // for mmap
 
-Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(const std::string &device_name1, const std::string &device_name2)
+Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(uint32_t num_freq_bands)
+    : d_num_freq_bands(num_freq_bands)
 {
-    // dynamic bits selection corresponding to frequency band 1
-    if ((d_device_descriptor1 = open(device_name1.c_str(), O_RDWR | O_SYNC)) == -1)
+    d_map_base = std::vector<volatile unsigned *>(d_num_freq_bands);
+    d_device_descriptors = std::vector<int>(d_num_freq_bands);
+    d_shift_out_bits = std::vector<uint32_t>(d_num_freq_bands);
+    for (uint32_t k = 0; k < d_num_freq_bands; k++)
         {
-            LOG(WARNING) << "Cannot open deviceio" << device_name1;
+            // find the uio device file corresponding to the dynamic bit selector 0 module.
+            std::string device_name;
+            if (find_uio_dev_file_name(device_name, dyn_bit_sel_device_name, 0) < 0)
+                {
+                    std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << dyn_bit_sel_device_name << '\n';
+                    return;
+                }
+            // dynamic bits selection corresponding to frequency band 1
+            if ((d_device_descriptors[k] = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
+                {
+                    LOG(WARNING) << "Cannot open deviceio" << device_name;
+                }
+            d_map_base[k] = reinterpret_cast<volatile unsigned *>(mmap(nullptr, FPGA_PAGE_SIZE,
+                PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptors[k], 0));
+
+            if (d_map_base[k] == reinterpret_cast<void *>(-1))
+                {
+                    LOG(WARNING) << "Cannot map the FPGA dynamic bit selection module in frequency band 1 into tracking memory";
+                    std::cout << "Could not map dynamic bit selection memory corresponding to frequency band 1.\n";
+                }
+
+            // init bit selection corresopnding to frequency band 1
+            d_shift_out_bits[k] = shift_out_bits_default;
+            d_map_base[k][0] = d_shift_out_bits[k];
         }
-    d_map_base1 = reinterpret_cast<volatile unsigned *>(mmap(nullptr, FPGA_PAGE_SIZE,
-        PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor1, 0));
-
-    if (d_map_base1 == reinterpret_cast<void *>(-1))
-        {
-            LOG(WARNING) << "Cannot map the FPGA dynamic bit selection module in frequency band 1 into tracking memory";
-            std::cout << "Could not map dynamic bit selection memory corresponding to frequency band 1.\n";
-        }
-
-    // dynamic bits selection corresponding to frequency band 2
-    if ((d_device_descriptor2 = open(device_name2.c_str(), O_RDWR | O_SYNC)) == -1)
-        {
-            LOG(WARNING) << "Cannot open deviceio" << device_name2;
-        }
-    d_map_base2 = reinterpret_cast<volatile unsigned *>(mmap(nullptr, FPGA_PAGE_SIZE,
-        PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor2, 0));
-
-    if (d_map_base2 == reinterpret_cast<void *>(-1))
-        {
-            LOG(WARNING) << "Cannot map the FPGA dynamic bit selection module in frequency band 2 into tracking memory";
-            std::cout << "Could not map dynamic bit selection memory corresponding to frequency band 2.\n";
-        }
-
-    // initialize default bit selection
-    shift_out_bits_band1 = shift_out_bits_default;
-    shift_out_bits_band2 = shift_out_bits_default;
-
-    // init bit selection corresopnding to frequency band 1
-    d_map_base1[0] = shift_out_bits_band1;
-
-    // init bit selection corresponding to frequency band 2
-    d_map_base2[0] = shift_out_bits_band2;
-
     DLOG(INFO) << "Dynamic bit selection FPGA class created";
 }
 
@@ -77,65 +71,42 @@ Fpga_dynamic_bit_selection::~Fpga_dynamic_bit_selection()
 
 void Fpga_dynamic_bit_selection::bit_selection()
 {
-    // estimated signal power corresponding to frequency band 1
-    uint32_t rx_signal_power1 = d_map_base1[1];
-    // estimated signal power corresponding to frequency band 2
-    uint32_t rx_signal_power2 = d_map_base2[1];
-
-    // dynamic bit selection corresponding to frequency band 1
-    if (rx_signal_power1 > Power_Threshold_High)
+    for (uint32_t k = 0; k < d_num_freq_bands; k++)
         {
-            if (shift_out_bits_band1 < shift_out_bit_max)
-                {
-                    shift_out_bits_band1 = shift_out_bits_band1 + 1;
-                }
-        }
-    else if (rx_signal_power1 < Power_Threshold_Low)
-        {
-            if (shift_out_bits_band1 > shift_out_bits_min)
-                {
-                    shift_out_bits_band1 = shift_out_bits_band1 - 1;
-                }
-        }
+            // estimated signal power
+            uint32_t rx_signal_power = d_map_base[k][1];
 
-    // dynamic bit selection corresponding to frequency band 2
-    if (rx_signal_power2 > Power_Threshold_High)
-        {
-            if (shift_out_bits_band2 < shift_out_bit_max)
+            // dynamic bit selection
+            if (rx_signal_power > Power_Threshold_High)
                 {
-                    shift_out_bits_band2 = shift_out_bits_band2 + 1;
+                    if (d_shift_out_bits[k] < shift_out_bit_max)
+                        {
+                            d_shift_out_bits[k] = d_shift_out_bits[k] + 1;
+                        }
                 }
-        }
-    else if (rx_signal_power2 < Power_Threshold_Low)
-        {
-            if (shift_out_bits_band2 > shift_out_bits_min)
+            else if (rx_signal_power < Power_Threshold_Low)
                 {
-                    shift_out_bits_band2 = shift_out_bits_band2 - 1;
+                    if (d_shift_out_bits[k] > shift_out_bits_min)
+                        {
+                            d_shift_out_bits[k] = d_shift_out_bits[k] - 1;
+                        }
                 }
+
+            // update bit selection corresopnding to frequency band 1
+            d_map_base[k][0] = d_shift_out_bits[k];
         }
-
-    // update bit selection corresopnding to frequency band 1
-    d_map_base1[0] = shift_out_bits_band1;
-
-    // udpate bit selection corresponding to frequency band 2
-    d_map_base2[0] = shift_out_bits_band2;
 }
 
 
 void Fpga_dynamic_bit_selection::close_devices()
 {
-    auto *aux = const_cast<unsigned *>(d_map_base1);
-    if (munmap(static_cast<void *>(aux), FPGA_PAGE_SIZE) == -1)
+    for (uint32_t k = 0; k < d_num_freq_bands; k++)
         {
-            std::cout << "Failed to unmap memory uio\n";
+            auto *aux = const_cast<unsigned *>(d_map_base[k]);
+            if (munmap(static_cast<void *>(aux), FPGA_PAGE_SIZE) == -1)
+                {
+                    std::cout << "Failed to unmap memory uio\n";
+                }
+            close(d_device_descriptors[k]);
         }
-
-    aux = const_cast<unsigned *>(d_map_base2);
-    if (munmap(static_cast<void *>(aux), FPGA_PAGE_SIZE) == -1)
-        {
-            std::cout << "Failed to unmap memory uio\n";
-        }
-
-    close(d_device_descriptor1);
-    close(d_device_descriptor2);
 }
diff --git a/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.h b/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.h
index 500bb182e..f5454e299 100644
--- a/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.h
+++ b/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.h
@@ -25,6 +25,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <string>
+#include <vector>
 
 /** \addtogroup Signal_Source
  * \{ */
@@ -42,7 +43,7 @@ public:
     /*!
      * \brief Constructor
      */
-    explicit Fpga_dynamic_bit_selection(const std::string& device_name1, const std::string& device_name2);
+    explicit Fpga_dynamic_bit_selection(uint32_t num_freq_bands);
 
     /*!
      * \brief Destructor
@@ -52,12 +53,12 @@ public:
     /*!
      * \brief This function configures the switch in th eFPGA
      */
-    //    void set_switch_position(int32_t switch_position);
     void bit_selection(void);
 
 private:
+    const std::string switch_device_name = std::string("AXIS_Switch_v1_0_0");          // Switch UIO device name
+    const std::string dyn_bit_sel_device_name = std::string("dynamic_bits_selector");  // Switch dhnamic bit selector device name
     static const size_t FPGA_PAGE_SIZE = 0x1000;
-
     static const uint32_t Num_bits_ADC = 12;                                      // Number of bits in the ADC
     static const uint32_t Num_bits_FPGA = 4;                                      // Number of bits after the bit selection
     static const uint32_t shift_out_bits_default = Num_bits_ADC - Num_bits_FPGA;  // take the most significant bits by default
@@ -70,14 +71,11 @@ private:
 
     void close_devices(void);
 
-    uint32_t shift_out_bits_band1;  // number of bits to shift for frequency band 1
-    uint32_t shift_out_bits_band2;  // number of bits to shift for frequency band 2
+    std::vector<volatile unsigned*> d_map_base;
+    std::vector<int> d_device_descriptors;
+    std::vector<uint32_t> d_shift_out_bits;
 
-    volatile unsigned* d_map_base1;  // driver memory map corresponding to frequency band 1
-    int d_device_descriptor1;        // driver descriptor corresponding to frequency band 1
-
-    volatile unsigned* d_map_base2;  // driver memory map corresponding to frequency band 2
-    int d_device_descriptor2;        // driver descriptor corresponding to frequency band 2
+    uint32_t d_num_freq_bands;  // number of frequency bands
 };
 
 
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
index 92e5e4071..cadc48503 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
@@ -33,6 +33,7 @@ GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(
     DLOG(INFO) << "role " << role;
     tlm_parameters_.SetFromConfiguration(configuration, role);
     tlm_parameters_.enable_reed_solomon = configuration->property(role + ".enable_reed_solomon", false);
+    tlm_parameters_.use_ced = configuration->property(role + ".use_reduced_ced", false);
     // make telemetry decoder object
     telemetry_decoder_ = galileo_make_telemetry_decoder_gs(satellite_, tlm_parameters_, 1);  // unified galileo decoder set to INAV (frame_type=1)
     DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
index aaa3bc8f3..9467f3994 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
@@ -105,8 +105,13 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
                       d_enable_reed_solomon_inav(false),
                       d_valid_timetag(false),
                       d_E6_TOW_set(false),
+<<<<<<< HEAD
                       d_there_are_e1_channels(conf.there_are_e1_channels),
                       d_there_are_e6_channels(conf.there_are_e6_channels)
+=======
+                      d_there_are_e6_channels(conf.there_are_e6_channels),
+                      d_use_ced(conf.use_ced)
+>>>>>>> 62a8547e62605a6b9fa6b1e128beceb046bde2dc
 {
     // prevent telemetry symbols accumulation in output buffers
     this->set_max_noutput_items(1);
@@ -450,7 +455,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
     else
         {
             // If we still do not have ephemeris, check if we have a reduced CED
-            if ((d_band == '1') && !d_first_eph_sent && (d_inav_nav.have_new_reduced_ced() == true))
+            if ((d_band == '1') && d_use_ced && !d_first_eph_sent && (d_inav_nav.have_new_reduced_ced() == true))
                 {
                     const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_reduced_ced());
                     std::cout << "New Galileo E1 I/NAV reduced CED message received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
index eee7dd4b4..30564a6f8 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
@@ -153,6 +153,7 @@ private:
     bool d_E6_TOW_set;
     bool d_there_are_e1_channels;
     bool d_there_are_e6_channels;
+    bool d_use_ced;
 };
 
 
diff --git a/src/algorithms/telemetry_decoder/libs/tlm_conf.h b/src/algorithms/telemetry_decoder/libs/tlm_conf.h
index c0e14695c..ecddac37e 100644
--- a/src/algorithms/telemetry_decoder/libs/tlm_conf.h
+++ b/src/algorithms/telemetry_decoder/libs/tlm_conf.h
@@ -44,6 +44,7 @@ public:
     bool enable_navdata_monitor{false};
     bool there_are_e1_channels{false};
     bool there_are_e6_channels{false};
+    bool use_ced{false};
 };
 
 
diff --git a/src/core/libs/gnss_sdr_fpga_sample_counter.cc b/src/core/libs/gnss_sdr_fpga_sample_counter.cc
index a54fd6270..6aa5c44a8 100644
--- a/src/core/libs/gnss_sdr_fpga_sample_counter.cc
+++ b/src/core/libs/gnss_sdr_fpga_sample_counter.cc
@@ -279,7 +279,11 @@ void gnss_sdr_fpga_sample_counter::wait_for_interrupt() const
 
     // enable interrupts
     int32_t reenable = 1;
-    write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
+    const ssize_t nbytes = TEMP_FAILURE_RETRY(write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t)));
+    if (nbytes != sizeof(int32_t))
+        {
+            std::cerr << "Error re-enabling FPGA sample counter interrupt.\n";
+        }
 
     // wait for interrupt
     nb = read(fd, &irq_count, sizeof(irq_count));
diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc
index 18da0e6b0..a6791fd52 100644
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@@ -55,6 +55,7 @@
 #include <algorithm>               // for find, min
 #include <chrono>                  // for milliseconds
 #include <cmath>                   // for floor, fmod, log
+#include <csignal>                 // for signal, SIGINT
 #include <ctime>                   // for time_t, gmtime, strftime
 #include <exception>               // for exception
 #include <iostream>                // for operator<<
@@ -78,9 +79,17 @@ namespace wht = std;
 extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
 extern Concurrent_Queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
 
+ControlThread *ControlThread::me = nullptr;
 
 ControlThread::ControlThread()
 {
+    ControlThread::me = this;
+
+    /* the class will handle signals */
+    signal(SIGINT, ControlThread::handle_signal);
+    signal(SIGTERM, ControlThread::handle_signal);
+    signal(SIGHUP, ControlThread::handle_signal);
+
     if (FLAGS_c == "-")
         {
             configuration_ = std::make_shared<FileConfiguration>(FLAGS_config_file);
@@ -266,6 +275,28 @@ ControlThread::~ControlThread()  // NOLINT(modernize-use-equals-default)
 }
 
 
+void ControlThread::handle_signal(int sig)
+{
+    LOG(INFO) << "GNSS-SDR received " << sig << " OS signal";
+    if (sig == SIGINT || sig == SIGTERM || sig == SIGHUP)
+        {
+            ControlThread::me->control_queue_->push(pmt::make_any(command_event_make(200, 0)));
+            ControlThread::me->stop_ = true;
+
+            // Reset signal handling to default behavior
+            if (sig == SIGINT)
+                {
+                    signal(SIGINT, SIG_DFL);
+                }
+        }
+    else if (sig == SIGCHLD)
+        {
+            LOG(INFO) << "Received SIGCHLD signal";
+            // todo
+        }
+}
+
+
 void ControlThread::telecommand_listener()
 {
     if (telecommand_enabled_)
diff --git a/src/core/receiver/control_thread.h b/src/core/receiver/control_thread.h
index 12f6fbc49..b3340e94b 100644
--- a/src/core/receiver/control_thread.h
+++ b/src/core/receiver/control_thread.h
@@ -54,6 +54,7 @@ class ConfigurationInterface;
 class GNSSFlowgraph;
 class Gnss_Satellite;
 
+
 /*!
  * \brief This class represents the main thread of the application, so the name is ControlThread.
  * This is the GNSS Receiver Control Plane: it connects the flowgraph, starts running it,
@@ -63,6 +64,7 @@ class Gnss_Satellite;
 class ControlThread
 {
 public:
+    static ControlThread *me;
     /*!
      * \brief Default constructor
      */
@@ -122,6 +124,12 @@ public:
     }
 
 private:
+    /*
+     * Callback function for handling signals.
+     * sig   identifier of signal
+     */
+    static void handle_signal(int sig);
+
     void init();
 
     void apply_action(unsigned int what);