fix(gps): adapt Doppler bandwidth from board validation

soc/software/gps_system/tests/test_gps_pps_time_filter.c

@@ -138,6 +138,99 @@ static void test_bias_ramp_without_doppler_uses_bounded_fallback(void)
 	assert(sqrt(squared_error_sum / (double)tracked) < 45.0);
 }
 
+static void test_board_calibrated_doppler_predictor_beats_fallback(void)
+{
+	/* Values measured on Genesys2 on 2026-07-26: clock-bias sigma was
+	 * 15.87 m and reference-datum drift was about 291.75 m/s.  Feed the
+	 * exact same deterministic WLS noise to two filters so this is a true
+	 * predictor on/off A/B, not two unrelated Monte-Carlo runs. */
+	static const double bias_noise_m[] = {
+		8.0, -18.0, 12.0, -7.0, 21.0, -14.0, 5.0, -25.0,
+		16.0, -3.0, 10.0, -20.0, 6.0, 24.0, -11.0, 2.0
+	};
+	static const double drift_noise_mps[] = {
+		1.8, -3.2, 4.1, -2.4, 0.7, 3.5, -4.3, 2.6,
+		-1.1, 4.6, -2.8, 1.5, -3.7, 2.2, -0.4, 3.0
+	};
+	gps_pps_time_filter_t aided;
+	gps_pps_time_filter_t fallback;
+	gps_pps_time_filter_init(&aided);
+	gps_pps_time_filter_init(&fallback);
+
+	double aided_squared_error_sum = 0.0;
+	double fallback_squared_error_sum = 0.0;
+	unsigned int tracked = 0u;
+	for(unsigned int update = 0u; update < 900u; update++)
+	{
+		double time_sec = 0.2 * (double)update;
+		double long_omega = 2.0 * 3.14159265358979323846 / 75.0;
+		double short_omega = 2.0 * 3.14159265358979323846 / 19.0;
+		double varying_bias_m =
+			5.0 * (1.0 - cos(long_omega * time_sec)) / long_omega +
+			2.0 * (1.0 - cos(short_omega * time_sec)) / short_omega;
+		double true_drift_mps =
+			291.75 + 5.0 * sin(long_omega * time_sec) +
+			2.0 * sin(short_omega * time_sec);
+		double true_bias_m =
+			159624.654 + 291.75 * time_sec + varying_bias_m;
+		double measured_bias_m = true_bias_m +
+			bias_noise_m[update %
+				(sizeof(bias_noise_m) / sizeof(bias_noise_m[0]))];
+		double aided_bias_m = 0.0;
+		double fallback_bias_m = 0.0;
+		double innovation_m = 0.0;
+		gps_pps_time_filter_result_t aided_result =
+			gps_pps_time_filter_update(
+				&aided,
+				(uint64_t)llround(time_sec * COUNTER_HZ),
+				COUNTER_HZ,
+				measured_bias_m,
+				true,
+				true_drift_mps + drift_noise_mps[update %
+					(sizeof(drift_noise_mps) /
+					 sizeof(drift_noise_mps[0]))],
+				1.5,
+				1.0 / 32.0,
+				12u,
+				&aided_bias_m,
+				&innovation_m);
+		gps_pps_time_filter_result_t fallback_result =
+			gps_pps_time_filter_update(
+				&fallback,
+				(uint64_t)llround(time_sec * COUNTER_HZ),
+				COUNTER_HZ,
+				measured_bias_m,
+				false,
+				0.0,
+				1.5,
+				1.0 / 32.0,
+				12u,
+				&fallback_bias_m,
+				&innovation_m);
+		assert(aided_result != GPS_PPS_TIME_FILTER_REJECTED);
+		assert(fallback_result != GPS_PPS_TIME_FILTER_REJECTED);
+		if((update >= 300u) &&
+		   (aided_result == GPS_PPS_TIME_FILTER_TRACKING) &&
+		   (fallback_result == GPS_PPS_TIME_FILTER_TRACKING))
+		{
+			double aided_error_m = aided_bias_m - true_bias_m;
+			double fallback_error_m = fallback_bias_m - true_bias_m;
+			aided_squared_error_sum += aided_error_m * aided_error_m;
+			fallback_squared_error_sum +=
+				fallback_error_m * fallback_error_m;
+			tracked++;
+		}
+	}
+	assert(tracked > 550u);
+	double aided_rms_m = sqrt(aided_squared_error_sum / (double)tracked);
+	double fallback_rms_m =
+		sqrt(fallback_squared_error_sum / (double)tracked);
+	printf("board PPS bias RMS: Doppler=%.3f m fallback=%.3f m\n",
+	       aided_rms_m, fallback_rms_m);
+	assert(aided_rms_m < 8.0);
+	assert(aided_rms_m < 0.35 * fallback_rms_m);
+}
+
 static void test_reference_geometry_defines_bias_drift(void)
 {
 	const double receiver_position_m[3] = {0.0, 0.0, 0.0};
@@ -208,6 +301,7 @@ int main(void)
 	test_drift_prediction_rejects_bias_noise();
 	test_quality_gap_and_outlier_handling();
 	test_bias_ramp_without_doppler_uses_bounded_fallback();
+	test_board_calibrated_doppler_predictor_beats_fallback();
 	test_reference_geometry_defines_bias_drift();
 	test_reference_selection_is_stable();
 	puts("gps_pps_time_filter tests passed");

soc/software/gps_system/tests/test_gps_tracking_measurement.c

@@ -86,6 +86,14 @@ static void test_cn0_and_mailbox_decode(void)
 		measurement.filtered_pseudorange_rate_mps,
 		measurement.pseudorange_rate_mps,
 		1.0e-12));
+	assert(close_to(
+		measurement.eskf_doppler_hz,
+		measurement.doppler_hz,
+		1.0e-12));
+	assert(close_to(
+		measurement.eskf_pseudorange_rate_mps,
+		measurement.pseudorange_rate_mps,
+		1.0e-12));
 
 	registers.MEASUREMENT_META &=
 		~(1u << GPS_TRCK_MEAS_META_LOCK_POS);