fix(gps): adapt Doppler bandwidth from board validation

soc/software/gps_system/header/fusion/navigation_fusion.h

@@ -19,6 +19,7 @@ typedef struct {
 	double height_m;
 	double position_std_m[3];
 	double speed_mps;
+	double linear_acceleration_norm_mps2;
 	double last_position_nis;
 	double last_velocity_nis;
 	fusion_motion_state_t motion_state;

soc/software/gps_system/header/gps/gps_interrupt_handlers.h

@@ -55,6 +55,8 @@
 	void gps_background_task(void);
 	bool gps_take_nav_epoch_snapshot(gps_nav_epoch_snapshot_t* snapshot);
 	void gps_get_runtime_diagnostics(gps_runtime_diagnostics_t* diagnostics);
+	void gps_tracking_set_eskf_doppler_alpha(double alpha);
+	double gps_tracking_get_eskf_doppler_alpha(void);
 	void trck_intr_handler(volatile gps_trck_t* const trck_ip, volatile gps_frame_t *gps_frame_parsed, volatile int unsigned gps_subframe[10], unsigned char trck_ip_no);
 
 

soc/software/gps_system/header/gps/gps_receiver.h

@@ -38,4 +38,9 @@ bool gps_receiver_solve_ready_epoch(
 uint64_t gps_receiver_status_ticks(void);
 uint64_t gps_receiver_status_ticks_per_second(void);
 
+/* Select the low-latency Doppler EWMA used only by velocity WLS/ESKF.
+ * PPS keeps its independent fixed low-noise path. */
+void gps_receiver_set_eskf_doppler_alpha(double alpha);
+double gps_receiver_get_eskf_doppler_alpha(void);
+
 #endif

soc/software/gps_system/header/gps/gps_tracking_measurement.h

@@ -6,6 +6,8 @@
 
 #include "gps/gps_ip_defines.h"
 
+#define GPS_TRACK_PPS_DOPPLER_ALPHA 0.05
+
 typedef struct {
 	uint32_t prn;
 	uint32_t sequence;
@@ -17,9 +19,12 @@ typedef struct {
 	int32_t cn0_sum_q;
 	uint64_t cn0_wbp;
 	unsigned int cn0_sample_count;
-	/* Raw coherent 20 ms carrier snapshot used by velocity WLS/ESKF. */
+	/* Raw coherent 20 ms carrier snapshot retained for diagnostics. */
 	double doppler_hz;
 	double pseudorange_rate_mps;
+	/* Motion-adaptive low-latency path published to velocity WLS/ESKF. */
+	double eskf_doppler_hz;
+	double eskf_pseudorange_rate_mps;
 	/* Slow software IIR path retained only for PPS bias-drift prediction. */
 	double filtered_doppler_hz;
 	double filtered_pseudorange_rate_mps;