[hamradio-commits] [gnss-sdr] 30/149: cleaning includes
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Feb 6 19:42:59 UTC 2016
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit 1c3a9f98ee129b74e2fd47a6fb49dadcdac23172
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Mon Jan 4 23:52:21 2016 +0100
cleaning includes
---
.../galileo_e1_dll_pll_veml_tracking_cc.cc | 1 -
.../galileo_e1_tcp_connector_tracking_cc.cc | 1 -
.../galileo_e5a_dll_pll_tracking_cc.cc | 744 ++++++++++-----------
.../galileo_e5a_dll_pll_tracking_cc.h | 1 -
.../galileo_volk_e1_dll_pll_veml_tracking_cc.cc | 1 -
.../gps_l1_ca_dll_fll_pll_tracking_cc.cc | 4 +-
.../gps_l1_ca_dll_fll_pll_tracking_cc.h | 1 -
.../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc | 1 -
.../gps_l1_ca_dll_pll_c_aid_tracking_cc.h | 1 -
.../gps_l1_ca_dll_pll_optim_tracking_cc.cc | 1 -
.../gps_l1_ca_dll_pll_optim_tracking_cc.h | 1 -
.../gps_l1_ca_dll_pll_tracking_cc.cc | 2 -
.../gps_l1_ca_dll_pll_tracking_cc.h | 1 -
.../gps_l1_ca_dll_pll_tracking_gpu_cc.cc | 1 -
.../gps_l1_ca_dll_pll_tracking_gpu_cc.h | 1 -
.../gps_l1_ca_tcp_connector_tracking_cc.cc | 1 -
.../gps_l1_ca_tcp_connector_tracking_cc.h | 1 -
.../gps_l2_m_dll_pll_tracking_cc.cc | 2 -
18 files changed, 372 insertions(+), 394 deletions(-)
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
index 645ed5d..c2edc6c 100755
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
@@ -44,7 +44,6 @@
#include <gnuradio/fxpt.h> // fixed point sine and cosine
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "galileo_e1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
index d65555c..1b6a5db 100644
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
@@ -46,7 +46,6 @@
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "galileo_e1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
index 1f28e82..e8b53ea 100644
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
@@ -43,7 +43,6 @@
#include <gnuradio/fxpt.h> // fixed point sine and cosine
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "galileo_e5_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
@@ -84,15 +83,15 @@ galileo_e5a_dll_pll_make_tracking_cc(
-void Galileo_E5a_Dll_Pll_Tracking_cc::forecast (int noutput_items,
- gr_vector_int &ninput_items_required)
+void Galileo_E5a_Dll_Pll_Tracking_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
if (noutput_items != 0)
{
- ninput_items_required[0] = static_cast<int>(d_vector_length)*2; //set the required available samples in each call
+ ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
}
}
+
Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc(
long if_freq,
long fs_in,
@@ -211,6 +210,7 @@ Galileo_E5a_Dll_Pll_Tracking_cc::~Galileo_E5a_Dll_Pll_Tracking_cc ()
delete[] d_Prompt_buffer;
}
+
void Galileo_E5a_Dll_Pll_Tracking_cc::start_tracking()
{
/*
@@ -298,6 +298,7 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::start_tracking()
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
+
void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
{
// 1. Transform replica to 1 and -1
@@ -350,6 +351,7 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
}
}
+
void Galileo_E5a_Dll_Pll_Tracking_cc::update_local_code()
{
double tcode_chips;
@@ -424,328 +426,8 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_
*/
switch (d_state)
{
- case 0:
- {
- // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
- /*!
- * \todo The stop timer has to be moved to the signal source!
- */
- // stream to collect cout calls to improve thread safety
- std::stringstream tmp_str_stream;
- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
- {
- d_last_seg = floor(d_sample_counter / d_fs_in);
-
- if (d_channel == 0)
- {
- // debug: Second counter in channel 0
- tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
- std::cout << tmp_str_stream.rdbuf() << std::flush;
- }
- }
- d_Early = gr_complex(0,0);
- d_Prompt = gr_complex(0,0);
- d_Late = gr_complex(0,0);
- d_Prompt_data = gr_complex(0,0);
- d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
-
- *out[0] = *d_acquisition_gnss_synchro;
-
- break;
- }
- case 1:
- {
- int samples_offset;
- double acq_trk_shif_correction_samples;
- int acq_to_trk_delay_samples;
- acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
- acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
- samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
- d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
- DLOG(INFO) << " samples_offset=" << samples_offset;
- d_state = 2; // start in Ti = 1 code, until secondary code lock.
-
- // make an output to not stop the rest of the processing blocks
- current_synchro_data.Prompt_I = 0.0;
- current_synchro_data.Prompt_Q = 0.0;
- current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
- current_synchro_data.Carrier_phase_rads = 0.0;
- current_synchro_data.Code_phase_secs = 0.0;
- current_synchro_data.CN0_dB_hz = 0.0;
- current_synchro_data.Flag_valid_tracking = false;
- current_synchro_data.Flag_valid_pseudorange = false;
-
- *out[0] = current_synchro_data;
- consume_each(samples_offset); //shift input to perform alignment with local replica
- return 1;
- break;
- }
- case 2:
- {
- // Block input data and block output stream pointers
- const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
- gr_complex sec_sign_Q;
- gr_complex sec_sign_I;
- // Secondary code Chip
- if (d_secondary_lock)
- {
-// sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(d_secondary_delay)=='0' ? 1 : -1),0);
-// sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay%Galileo_E5a_I_SECONDARY_CODE_LENGTH)=='0' ? 1 : -1),0);
- sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(d_secondary_delay) == '0' ? -1 : 1), 0);
- sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay % Galileo_E5a_I_SECONDARY_CODE_LENGTH) == '0' ? -1 : 1), 0);
- }
- else
- {
- sec_sign_Q = gr_complex(1.0, 0.0);
- sec_sign_I = gr_complex(1.0, 0.0);
- }
- // Reset integration counter
- if (d_integration_counter == d_current_ti_ms)
- {
- d_integration_counter = 0;
- }
- //Generate local code and carrier replicas (using \hat{f}_d(k-1))
- if (d_integration_counter == 0)
- {
- update_local_code();
- update_local_carrier();
- // Reset accumulated values
- d_Early = gr_complex(0,0);
- d_Prompt = gr_complex(0,0);
- d_Late = gr_complex(0,0);
- }
- gr_complex single_early;
- gr_complex single_prompt;
- gr_complex single_late;
-
- // perform carrier wipe-off and compute Early, Prompt and Late
- // correlation of 1 primary code
- d_correlator.Carrier_wipeoff_and_EPL_volk_IQ(d_current_prn_length_samples,
- in,
- d_carr_sign,
- d_early_code,
- d_prompt_code,
- d_late_code,
- d_prompt_data_code,
- &single_early,
- &single_prompt,
- &single_late,
- &d_Prompt_data);
-
- // Accumulate results (coherent integration since there are no bit transitions in pilot signal)
- d_Early += single_early * sec_sign_Q;
- d_Prompt += single_prompt * sec_sign_Q;
- d_Late += single_late * sec_sign_Q;
- d_Prompt_data *= sec_sign_I;
- d_integration_counter++;
-
- // check for samples consistency (this should be done before in the receiver / here only if the source is a file)
- if (std::isnan((d_Prompt).real()) == true or std::isnan((d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
- {
- const int samples_available = ninput_items[0];
- d_sample_counter = d_sample_counter + samples_available;
- LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
- consume_each(samples_available);
-
- // make an output to not stop the rest of the processing blocks
- current_synchro_data.Prompt_I = 0.0;
- current_synchro_data.Prompt_Q = 0.0;
- current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
- current_synchro_data.Carrier_phase_rads = 0.0;
- current_synchro_data.Code_phase_secs = 0.0;
- current_synchro_data.CN0_dB_hz = 0.0;
- current_synchro_data.Flag_valid_tracking = false;
-
- *out[0] = current_synchro_data;
-
- return 1;
- }
- // ################## PLL ##########################################################
- // PLL discriminator
- if (d_integration_counter == d_current_ti_ms)
- {
- if (d_secondary_lock == true)
- {
- carr_error_hz = pll_four_quadrant_atan(d_Prompt) / GALILEO_PI * 2.0;
- }
- else
- {
- carr_error_hz = pll_cloop_two_quadrant_atan(d_Prompt) / GALILEO_PI * 2.0;
- }
-
- // Carrier discriminator filter
- carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
- // New carrier Doppler frequency estimation
- d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
- // New code Doppler frequency estimation
- d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E5a_CODE_CHIP_RATE_HZ) / Galileo_E5a_FREQ_HZ);
- }
- //carrier phase accumulator for (K) doppler estimation
- d_acc_carrier_phase_rad -= 2*GALILEO_PI * d_carrier_doppler_hz * GALILEO_E5a_CODE_PERIOD;
- //remanent carrier phase to prevent overflow in the code NCO
- d_rem_carr_phase_rad = d_rem_carr_phase_rad + 2.0*GALILEO_PI * d_carrier_doppler_hz * GALILEO_E5a_CODE_PERIOD;
- d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, 2.0*GALILEO_PI);
-
- // ################## DLL ##########################################################
- if (d_integration_counter == d_current_ti_ms)
- {
- // DLL discriminator
- code_error_chips = dll_nc_e_minus_l_normalized(d_Early, d_Late); //[chips/Ti]
- // Code discriminator filter
- code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
- //Code phase accumulator
- d_code_error_filt_secs = (GALILEO_E5a_CODE_PERIOD * code_error_filt_chips) / Galileo_E5a_CODE_CHIP_RATE_HZ; //[seconds]
- }
- d_acc_code_phase_secs = d_acc_code_phase_secs + d_code_error_filt_secs;
-
- // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
- // keep alignment parameters for the next input buffer
- double T_chip_seconds;
- double T_prn_seconds;
- double T_prn_samples;
- double K_blk_samples;
- // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
- T_chip_seconds = 1.0 / d_code_freq_chips;
- T_prn_seconds = T_chip_seconds * Galileo_E5a_CODE_LENGTH_CHIPS;
- T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
- K_blk_samples = T_prn_samples + d_rem_code_phase_samples + d_code_error_filt_secs * static_cast<double>(d_fs_in);
- d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
- d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
-
- // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
- if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES-1)
- {
- // fill buffer with prompt correlator output values
- d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
- d_cn0_estimation_counter++;
- }
- else
- {
- d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
- // ATTEMPT SECONDARY CODE ACQUISITION
- if (d_secondary_lock == false)
- {
- acquire_secondary(); // changes d_secondary_lock and d_secondary_delay
- if (d_secondary_lock == true)
- {
- std::cout << "Secondary code locked." << std::endl;
- d_current_ti_ms = d_ti_ms;
- // Change loop parameters ==========================================
- d_code_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD);
- d_carrier_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD);
- d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
- d_carrier_loop_filter.set_PLL_BW(d_pll_bw_hz);
- }
- else
- {
- std::cout << "Secondary code delay couldn't be resolved." << std::endl;
- d_carrier_lock_fail_counter++;
- if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
- {
- std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
- LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (d_queue != gr::msg_queue::sptr())
- {
- d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
- }
- d_carrier_lock_fail_counter = 0;
- d_state = 0; // TODO: check if disabling tracking is consistent with the channel state machine
- }
- }
- }
- else // Secondary lock achieved, monitor carrier lock.
- {
- // Code lock indicator
- d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in,d_current_ti_ms * Galileo_E5a_CODE_LENGTH_CHIPS);
- // Carrier lock indicator
- d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
- // Loss of lock detection
- if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
- {
- d_carrier_lock_fail_counter++;
- }
- else
- {
- if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
-
- if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
- {
- std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
- LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (d_queue != gr::msg_queue::sptr())
- {
- d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
- }
- d_carrier_lock_fail_counter = 0;
- d_state = 0;
- }
- }
- }
- d_cn0_estimation_counter = 0;
- }
- if (d_secondary_lock && (d_secondary_delay % Galileo_E5a_I_SECONDARY_CODE_LENGTH) == 0)
- {
- d_first_transition = true;
- }
- // ########### Output the tracking data to navigation and PVT ##########
- // The first Prompt output not equal to 0 is synchronized with the transition of a navigation data bit.
- if (d_secondary_lock && d_first_transition)
- {
- current_synchro_data.Prompt_I = static_cast<double>((d_Prompt_data).real());
- current_synchro_data.Prompt_Q = static_cast<double>((d_Prompt_data).imag());
- // Tracking_timestamp_secs is aligned with the PRN start sample
- current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
- // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
- current_synchro_data.Code_phase_secs = 0;
- current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
- current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
- current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
- current_synchro_data.Flag_valid_tracking = false;
-
-
- // ########## DEBUG OUTPUT
- /*!
- * \todo The stop timer has to be moved to the signal source!
- */
- // debug: Second counter in channel 0
- if (d_channel == 0)
- {
- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
- {
- d_last_seg = floor(d_sample_counter / d_fs_in);
- std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
- std::cout << "Galileo E5 Tracking CH " << d_channel << ": Satellite "
- << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz] "<<"Doppler="<<d_carrier_doppler_hz<<" [Hz]"<< std::endl;
- //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
- }
- }
- else
- {
- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
- {
- d_last_seg = floor(d_sample_counter / d_fs_in);
- std::cout << "Galileo E5 Tracking CH " << d_channel << ": Satellite "
- << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
- << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz] "<<"Doppler="<<d_carrier_doppler_hz<<" [Hz]"<< std::endl;
- //std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
- }
- }
-
-
- }
- else
- {
- // make an output to not stop the rest of the processing blocks
- current_synchro_data.Prompt_I = 0.0;
- current_synchro_data.Prompt_Q = 0.0;
- current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
- current_synchro_data.Carrier_phase_rads = 0.0;
- current_synchro_data.Code_phase_secs = 0.0;
- current_synchro_data.CN0_dB_hz = 0.0;
- current_synchro_data.Flag_valid_tracking = false;
-
+ case 0:
+ {
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
/*!
* \todo The stop timer has to be moved to the signal source!
@@ -763,10 +445,327 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
}
- }
- *out[0] = current_synchro_data;
- break;
- }
+ d_Early = gr_complex(0,0);
+ d_Prompt = gr_complex(0,0);
+ d_Late = gr_complex(0,0);
+ d_Prompt_data = gr_complex(0,0);
+ d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
+
+ *out[0] = *d_acquisition_gnss_synchro;
+
+ break;
+ }
+ case 1:
+ {
+ int samples_offset;
+ double acq_trk_shif_correction_samples;
+ int acq_to_trk_delay_samples;
+ acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+ acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
+ samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+ d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
+ DLOG(INFO) << " samples_offset=" << samples_offset;
+ d_state = 2; // start in Ti = 1 code, until secondary code lock.
+
+ // make an output to not stop the rest of the processing blocks
+ current_synchro_data.Prompt_I = 0.0;
+ current_synchro_data.Prompt_Q = 0.0;
+ current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
+ current_synchro_data.Carrier_phase_rads = 0.0;
+ current_synchro_data.Code_phase_secs = 0.0;
+ current_synchro_data.CN0_dB_hz = 0.0;
+ current_synchro_data.Flag_valid_tracking = false;
+ current_synchro_data.Flag_valid_pseudorange = false;
+
+ *out[0] = current_synchro_data;
+ consume_each(samples_offset); //shift input to perform alignment with local replica
+ return 1;
+ break;
+ }
+ case 2:
+ {
+ // Block input data and block output stream pointers
+ const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+ gr_complex sec_sign_Q;
+ gr_complex sec_sign_I;
+ // Secondary code Chip
+ if (d_secondary_lock)
+ {
+ // sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(d_secondary_delay)=='0' ? 1 : -1),0);
+ // sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay%Galileo_E5a_I_SECONDARY_CODE_LENGTH)=='0' ? 1 : -1),0);
+ sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(d_secondary_delay) == '0' ? -1 : 1), 0);
+ sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay % Galileo_E5a_I_SECONDARY_CODE_LENGTH) == '0' ? -1 : 1), 0);
+ }
+ else
+ {
+ sec_sign_Q = gr_complex(1.0, 0.0);
+ sec_sign_I = gr_complex(1.0, 0.0);
+ }
+ // Reset integration counter
+ if (d_integration_counter == d_current_ti_ms)
+ {
+ d_integration_counter = 0;
+ }
+ //Generate local code and carrier replicas (using \hat{f}_d(k-1))
+ if (d_integration_counter == 0)
+ {
+ update_local_code();
+ update_local_carrier();
+ // Reset accumulated values
+ d_Early = gr_complex(0,0);
+ d_Prompt = gr_complex(0,0);
+ d_Late = gr_complex(0,0);
+ }
+ gr_complex single_early;
+ gr_complex single_prompt;
+ gr_complex single_late;
+
+ // perform carrier wipe-off and compute Early, Prompt and Late
+ // correlation of 1 primary code
+ d_correlator.Carrier_wipeoff_and_EPL_volk_IQ(d_current_prn_length_samples,
+ in,
+ d_carr_sign,
+ d_early_code,
+ d_prompt_code,
+ d_late_code,
+ d_prompt_data_code,
+ &single_early,
+ &single_prompt,
+ &single_late,
+ &d_Prompt_data);
+
+ // Accumulate results (coherent integration since there are no bit transitions in pilot signal)
+ d_Early += single_early * sec_sign_Q;
+ d_Prompt += single_prompt * sec_sign_Q;
+ d_Late += single_late * sec_sign_Q;
+ d_Prompt_data *= sec_sign_I;
+ d_integration_counter++;
+
+ // check for samples consistency (this should be done before in the receiver / here only if the source is a file)
+ if (std::isnan((d_Prompt).real()) == true or std::isnan((d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
+ {
+ const int samples_available = ninput_items[0];
+ d_sample_counter = d_sample_counter + samples_available;
+ LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
+ consume_each(samples_available);
+
+ // make an output to not stop the rest of the processing blocks
+ current_synchro_data.Prompt_I = 0.0;
+ current_synchro_data.Prompt_Q = 0.0;
+ current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
+ current_synchro_data.Carrier_phase_rads = 0.0;
+ current_synchro_data.Code_phase_secs = 0.0;
+ current_synchro_data.CN0_dB_hz = 0.0;
+ current_synchro_data.Flag_valid_tracking = false;
+
+ *out[0] = current_synchro_data;
+
+ return 1;
+ }
+ // ################## PLL ##########################################################
+ // PLL discriminator
+ if (d_integration_counter == d_current_ti_ms)
+ {
+ if (d_secondary_lock == true)
+ {
+ carr_error_hz = pll_four_quadrant_atan(d_Prompt) / GALILEO_PI * 2.0;
+ }
+ else
+ {
+ carr_error_hz = pll_cloop_two_quadrant_atan(d_Prompt) / GALILEO_PI * 2.0;
+ }
+
+ // Carrier discriminator filter
+ carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
+ // New carrier Doppler frequency estimation
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+ // New code Doppler frequency estimation
+ d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E5a_CODE_CHIP_RATE_HZ) / Galileo_E5a_FREQ_HZ);
+ }
+ //carrier phase accumulator for (K) doppler estimation
+ d_acc_carrier_phase_rad -= 2.0 * GALILEO_PI * d_carrier_doppler_hz * GALILEO_E5a_CODE_PERIOD;
+ //remanent carrier phase to prevent overflow in the code NCO
+ d_rem_carr_phase_rad = d_rem_carr_phase_rad + 2.0 * GALILEO_PI * d_carrier_doppler_hz * GALILEO_E5a_CODE_PERIOD;
+ d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, 2.0 * GALILEO_PI);
+
+ // ################## DLL ##########################################################
+ if (d_integration_counter == d_current_ti_ms)
+ {
+ // DLL discriminator
+ code_error_chips = dll_nc_e_minus_l_normalized(d_Early, d_Late); //[chips/Ti]
+ // Code discriminator filter
+ code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
+ //Code phase accumulator
+ d_code_error_filt_secs = (GALILEO_E5a_CODE_PERIOD * code_error_filt_chips) / Galileo_E5a_CODE_CHIP_RATE_HZ; //[seconds]
+ }
+ d_acc_code_phase_secs = d_acc_code_phase_secs + d_code_error_filt_secs;
+
+ // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
+ // keep alignment parameters for the next input buffer
+ double T_chip_seconds;
+ double T_prn_seconds;
+ double T_prn_samples;
+ double K_blk_samples;
+ // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+ T_chip_seconds = 1.0 / d_code_freq_chips;
+ T_prn_seconds = T_chip_seconds * Galileo_E5a_CODE_LENGTH_CHIPS;
+ T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+ K_blk_samples = T_prn_samples + d_rem_code_phase_samples + d_code_error_filt_secs * static_cast<double>(d_fs_in);
+ d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
+ d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+
+ // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+ if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES-1)
+ {
+ // fill buffer with prompt correlator output values
+ d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
+ d_cn0_estimation_counter++;
+ }
+ else
+ {
+ d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
+ // ATTEMPT SECONDARY CODE ACQUISITION
+ if (d_secondary_lock == false)
+ {
+ acquire_secondary(); // changes d_secondary_lock and d_secondary_delay
+ if (d_secondary_lock == true)
+ {
+ std::cout << "Secondary code locked." << std::endl;
+ d_current_ti_ms = d_ti_ms;
+ // Change loop parameters ==========================================
+ d_code_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD);
+ d_carrier_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD);
+ d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
+ d_carrier_loop_filter.set_PLL_BW(d_pll_bw_hz);
+ }
+ else
+ {
+ std::cout << "Secondary code delay couldn't be resolved." << std::endl;
+ d_carrier_lock_fail_counter++;
+ if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+ {
+ std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+ LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+ std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
+ if (d_queue != gr::msg_queue::sptr())
+ {
+ d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
+ }
+ d_carrier_lock_fail_counter = 0;
+ d_state = 0; // TODO: check if disabling tracking is consistent with the channel state machine
+ }
+ }
+ }
+ else // Secondary lock achieved, monitor carrier lock.
+ {
+ // Code lock indicator
+ d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in,d_current_ti_ms * Galileo_E5a_CODE_LENGTH_CHIPS);
+ // Carrier lock indicator
+ d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+ // Loss of lock detection
+ if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+ {
+ d_carrier_lock_fail_counter++;
+ }
+ else
+ {
+ if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+
+ if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+ {
+ std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+ LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+ std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
+ if (d_queue != gr::msg_queue::sptr())
+ {
+ d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
+ }
+ d_carrier_lock_fail_counter = 0;
+ d_state = 0;
+ }
+ }
+ }
+ d_cn0_estimation_counter = 0;
+ }
+ if (d_secondary_lock && (d_secondary_delay % Galileo_E5a_I_SECONDARY_CODE_LENGTH) == 0)
+ {
+ d_first_transition = true;
+ }
+ // ########### Output the tracking data to navigation and PVT ##########
+ // The first Prompt output not equal to 0 is synchronized with the transition of a navigation data bit.
+ if (d_secondary_lock && d_first_transition)
+ {
+ current_synchro_data.Prompt_I = static_cast<double>((d_Prompt_data).real());
+ current_synchro_data.Prompt_Q = static_cast<double>((d_Prompt_data).imag());
+ // Tracking_timestamp_secs is aligned with the PRN start sample
+ current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
+ // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
+ current_synchro_data.Code_phase_secs = 0;
+ current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
+ current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
+ current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
+ current_synchro_data.Flag_valid_tracking = false;
+
+ // ########## DEBUG OUTPUT
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // debug: Second counter in channel 0
+ if (d_channel == 0)
+ {
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+ std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
+ std::cout << "Galileo E5 Tracking CH " << d_channel << ": Satellite "
+ << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz] "<<"Doppler="<<d_carrier_doppler_hz<<" [Hz]"<< std::endl;
+ //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
+ }
+ }
+ else
+ {
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+ std::cout << "Galileo E5 Tracking CH " << d_channel << ": Satellite "
+ << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz] "<<"Doppler="<<d_carrier_doppler_hz<<" [Hz]"<< std::endl;
+ //std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
+ }
+ }
+ }
+ else
+ {
+ // make an output to not stop the rest of the processing blocks
+ current_synchro_data.Prompt_I = 0.0;
+ current_synchro_data.Prompt_Q = 0.0;
+ current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
+ current_synchro_data.Carrier_phase_rads = 0.0;
+ current_synchro_data.Code_phase_secs = 0.0;
+ current_synchro_data.CN0_dB_hz = 0.0;
+ current_synchro_data.Flag_valid_tracking = false;
+
+ // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // stream to collect cout calls to improve thread safety
+ std::stringstream tmp_str_stream;
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+
+ if (d_channel == 0)
+ {
+ // debug: Second counter in channel 0
+ tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
+ std::cout << tmp_str_stream.rdbuf() << std::flush;
+ }
+ }
+ }
+ *out[0] = current_synchro_data;
+ break;
+ }
}
if(d_dump)
@@ -774,58 +773,56 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
- float tmp_float;
double tmp_double;
prompt_I = (d_Prompt_data).real();
prompt_Q = (d_Prompt_data).imag();
- if (d_integration_counter == d_current_ti_ms)
- {
- tmp_E = std::abs<float>(d_Early);
- tmp_P = std::abs<float>(d_Prompt);
- tmp_L = std::abs<float>(d_Late);
- }
+ if (d_integration_counter == d_current_ti_ms)
+ {
+ tmp_E = std::abs<float>(d_Early);
+ tmp_P = std::abs<float>(d_Prompt);
+ tmp_L = std::abs<float>(d_Late);
+ }
try
{
-
- // EPR
- d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
- d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
- d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
- // PROMPT I and Q (to analyze navigation symbols)
- d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
- d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
- // PRN start sample stamp
- //tmp_float=(float)d_sample_counter;
- d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
- // accumulated carrier phase
- d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
-
- // carrier and code frequency
- d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
- d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
-
- //PLL commands
- d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
- d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
-
- //DLL commands
- d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
- d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
-
- // CN0 and carrier lock test
- d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
- d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
-
- // AUX vars (for debug purposes)
- tmp_double = d_rem_code_phase_samples;
- d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
- tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
- d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+ // EPR
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+ // PROMPT I and Q (to analyze navigation symbols)
+ d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+ // PRN start sample stamp
+ //tmp_float=(float)d_sample_counter;
+ d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+ // accumulated carrier phase
+ d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+
+ // carrier and code frequency
+ d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+ d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+
+ //PLL commands
+ d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
+ d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
+
+ //DLL commands
+ d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
+ d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+
+ // CN0 and carrier lock test
+ d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+ d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+
+ // AUX vars (for debug purposes)
+ tmp_double = d_rem_code_phase_samples;
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+ tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
}
catch (std::ifstream::failure e)
{
- LOG(WARNING) << "Exception writing trk dump file " << e.what();
+ LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
@@ -839,6 +836,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
}
+
void Galileo_E5a_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h
index 0a4d9d5..ae06357 100644
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h
@@ -43,7 +43,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h" //
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc
index a4be25c..ce5792e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc
@@ -43,7 +43,6 @@
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
-#include "gnss_synchro.h"
#include "galileo_e1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
index 4fc99ef..99497e1 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
@@ -42,14 +42,12 @@
#include <glog/logging.h>
#include <volk/volk.h>
#include <gnuradio/io_signature.h>
-#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
-#include "tracking_FLL_PLL_filter.h"
#include "control_message_factory.h"
-#include "gnss_flowgraph.h"
+
/*!
* \todo Include in definition header file
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h
index c124365..3213821 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h
@@ -43,7 +43,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
#include "tracking_FLL_PLL_filter.h"
#include "tracking_2nd_DLL_filter.h"
#include "gnss_synchro.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index b7a3c55..ecc4e89 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@ -37,7 +37,6 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <glog/logging.h>
-#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
index 3c7ae88..6a212bd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
@@ -43,7 +43,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_FLL_PLL_filter.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
index 62f058d..82be300 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
@@ -42,7 +42,6 @@
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
index 0e194c8..8c02abc 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
@@ -43,7 +43,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
index 963bd6e..5f6d335 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
@@ -44,7 +44,6 @@
#include <gnuradio/fxpt.h> // fixed point sine and cosine
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
@@ -573,7 +572,6 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
- float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
index 5fe19e4..2ff14ad 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
@@ -43,7 +43,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
index 8a4c142..ffa2bdb 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
@@ -37,7 +37,6 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <glog/logging.h>
-#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h
index e6828aa..f08e32b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h
@@ -42,7 +42,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_FLL_PLL_filter.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
index 7e64d78..fdfe495 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
@@ -44,7 +44,6 @@
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h
index 579c78d..d272b16 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h
@@ -43,7 +43,6 @@
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
index 67d3fec..887ac73 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
@@ -43,7 +43,6 @@
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
-#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
@@ -580,7 +579,6 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
- float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
--
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