Fix GPS acquisition visibility and pull-in edge cases

hardware/external/gps/rtl/acq_src/acq_top.sv

@@ -213,7 +213,7 @@ always_ff @(posedge acq_clk or negedge acq_rstn)
             S_PULLIN : begin
                 pullin_flag <= 1;
                 if (pullin_flag == 0) begin
-                    freq_bin_cnt <= max_freq_bin_idx - 1;
+                    freq_bin_cnt <= (max_freq_bin_idx == 0) ? 0 : (max_freq_bin_idx - 1);
                     max_corr <= 0;
                     //STATE    <= S_START;
                     STATE    <= S_WR_DATA;
@@ -314,7 +314,7 @@ always_ff @(posedge afe_clk or negedge afe_rstn) begin
         wr_mem_end <= 0;
         if (sample_align_i && wr_mem_start_r2) begin
             wr_mem_en <= 1;
-        end else if (rf_wr_addr == 2*SAMPLES_PER_CODE) begin // 2 code lenght
+        end else if (rf_wr_addr == 2*SAMPLES_PER_CODE - 1) begin // 2 code length
             wr_mem_en <= 0;
             wr_mem_end <= 1;
         end

soc/software/gps_system/README.md

@@ -895,8 +895,9 @@ era base'i (`2048`) kullanilir. Sonra:
   ile kullanilir ve sonraki issue-bearing page yine mismatch kontrolu yapar,
 - almanak `WNa/toa` age'i yedi gunden eskiyse, iono/UTC snapshot'i yedi gunden
   eskiyse reddedilir; son konum coarse seed olarak en fazla 30 gun tutulur,
-- fresh complete almanak + konum varsa sky scheduler live TOW ile hemen
+- fresh complete almanak + restored konum WLS/coarse seed olarak kullanilir, fakat
-  guncellenir. Partial/stale almanakta davranis yine tum 32 PRN round-robin'dir.
+  sky scheduler'i PRN suppression moduna sokmaz; bunun icin live position gerekir.
+  Partial/stale almanakta davranis yine tum 32 PRN round-robin'dir.
 
 Combined full-device MCS programlama islemi programmer erase politikasi
 nedeniyle runtime journal'i silebilir; bu yeni firmware'in normal QSPI runtime

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

@@ -80,8 +80,9 @@
 			 * Probe one unknown PRN at a controlled rate until tracking capacity is
 			 * filled; do not let one failing predicted-visible PRN block discovery. */
 			#define GPS_ACQ_UNKNOWN_PROBE_TICKS     (GPS_SYSTICK_HZ * 2u)
-			#define GPS_ACQ_VISIBILITY_PROBE_TICKS  (GPS_SYSTICK_HZ * 60u)
+			#define GPS_ACQ_VISIBILITY_PROBE_TICKS  (GPS_SYSTICK_HZ * 5u)
 			#define GPS_ACQ_MIN_ELEVATION_DEG       5.0
+			#define GPS_ACQ_MIN_SKY_MODEL_VISIBLE_COUNT 6u
 			#define GPS_EPHEMERIS_CACHE_MAX_AGE_TICKS \
 				(GPS_SYSTICK_HZ * 2u * 60u * 60u)
 			/* Almanac is a coarse acquisition aid. Reject RAM records that have
@@ -91,6 +92,7 @@
 			#define GPS_ACQ_STATUS_LOG_PERIOD_TICKS (GPS_SYSTICK_HZ * 5u)
 			#define GPS_NAV_STATUS_LOG_PERIOD_TICKS GPS_SYSTICK_HZ
 			#define GPS_TRK_MEASUREMENT_STALE_TICKS (GPS_SYSTICK_HZ * 3u)
+			#define GPS_TRK_MEASUREMENT_LIVENESS_TICKS (GPS_SYSTICK_HZ * 2u)
 			#define GPS_NAV_ABS_SAMPLE_SYNC_WINDOW_MS 25u
 			#define GPS_NAV_EPOCH_HOLDOFF_MS           30u
 			#define GPS_NAV_TOW_CLUSTER_TOLERANCE_SEC 0.001
@@ -113,6 +115,8 @@
 			#endif
 			_Static_assert((GPS_NAV_ENABLE_FDE == 0u) || (GPS_NAV_ENABLE_FDE == 1u),
 			               "GPS_NAV_ENABLE_FDE must be zero or one");
+			_Static_assert(GPS_ACQ_MIN_SKY_MODEL_VISIBLE_COUNT <= GPS_PRN_COUNT,
+			               "sky-model visible count threshold exceeds PRN count");
 
 	#if (ACQ_ENGINE_COUNT < 1UL)
 		#error "ACQ_ENGINE_COUNT must be at least 1"

soc/software/gps_system/src/gps/gps_interrupt_handlers.c

@@ -65,6 +65,8 @@ static gps_acq_result_t acq_shadow_result[GPS_ACQ_IP_COUNT];
 static gps_tracking_shadow_t trk_shadow[GPS_TRCK_IP_COUNT];
 static gps_tracking_measurement_t
 	gps_latest_tracking_measurement[GPS_TRCK_IP_COUNT];
+static volatile uint64_t
+	gps_latest_tracking_measurement_tick[GPS_TRCK_IP_COUNT];
 
 static volatile unsigned char satellite_tracking_ip[GPS_PRN_COUNT];
 static gps_acq_result_t satellite_acq_result[GPS_PRN_COUNT];
@@ -200,6 +202,8 @@ static void gps_update_tracking_measurement_isr(
 	}
 	measurement.local_timestamp_ticks = local_timestamp_ticks;
 	gps_latest_tracking_measurement[tracking_index] = measurement;
+	gps_latest_tracking_measurement_tick[tracking_index] =
+		gps_get_systick();
 }
 
 static bool gps_copy_latest_tracking_measurement(
@@ -433,6 +437,7 @@ static void gps_clear_tracking_slot(unsigned char trck_ip_no)
 	memset((void*)&gps_subframes[trck_ip_no][0], 0, sizeof(gps_subframes[trck_ip_no]));
 	memset(&gps_latest_tracking_measurement[trck_ip_no], 0,
 	       sizeof(gps_latest_tracking_measurement[trck_ip_no]));
+	gps_latest_tracking_measurement_tick[trck_ip_no] = 0u;
 }
 
 static void gps_set_tracking_nav_bits_mode(unsigned char trck_ip_no)
@@ -666,6 +671,25 @@ void gps_acq_update_visibility_hint(
 			predicted_visible, priority);
 	}
 
+	if(visible_count < GPS_ACQ_MIN_SKY_MODEL_VISIBLE_COUNT)
+	{
+		for(unsigned int prn = 0u ; prn < GPS_PRN_COUNT ; prn++)
+		{
+			(void)gps_acq_manager_set_visibility(
+				&gps_acq_manager, prn, false, false, 0);
+		}
+		gps_acq_manager_set_visibility_mode(
+			&gps_acq_manager, false, now);
+		gps_last_visibility_update_tick = now;
+		gps_acq_schedule_pending = true;
+		GPS_LOG(DEBUG_WARNING, GPS_LOG_CAT_SCHED,
+		        "acquisition sky model rejected: predicted_visible=%u min=%u known=%u ephemeris=%u almanac=%u policy=all_prn_round_robin\r\n",
+		        visible_count, GPS_ACQ_MIN_SKY_MODEL_VISIBLE_COUNT,
+		        known_count, ephemeris_orbit_count,
+		        almanac_orbit_count);
+		return;
+	}
+
 	gps_acq_manager_set_visibility_mode(
 		&gps_acq_manager, true, now);
 	gps_last_visibility_update_tick = now;
@@ -873,6 +897,55 @@ static bool gps_tracking_prn_active(unsigned int prn_no)
 	return false;
 }
 
+static bool gps_tracking_prn_measurement_alive(
+	unsigned int prn_no,
+	unsigned char* trck_ip_no_out)
+{
+	if(!gps_prn_valid(prn_no))
+	{
+		return false;
+	}
+
+	uint64_t now = gps_get_systick();
+	for(unsigned char i = 0 ; i < GPS_TRCK_IP_COUNT ; i++)
+	{
+		volatile gps_trck_t* trk = trck_ips[i];
+		uint32_t status = trk->STATUS_REG;
+		bool busy = (status & (1u << GPS_TRCK_BUSY_POS)) != 0u;
+		bool locked = (status & (1u << GPS_TRCK_LOCK_POS)) != 0u;
+		bool stop_unlock =
+			(status & (1u << GPS_TRCK_STOP_UNLOCK_POS)) != 0u;
+		bool allocated =
+			tracking_allocated[i] || trck_ip_exists(&tracking_node, i);
+		if(!(allocated || busy) || (trk->PRN_NUMBER != prn_no) ||
+		   !busy || !locked || stop_unlock)
+		{
+			continue;
+		}
+
+		uint64_t irq_state = bsp_irq_save();
+		uint64_t last_tick = gps_latest_tracking_measurement_tick[i];
+		bsp_irq_restore(irq_state);
+		if((last_tick == 0u) || (now < last_tick) ||
+		   ((now - last_tick) > GPS_TRK_MEASUREMENT_LIVENESS_TICKS))
+		{
+			continue;
+		}
+
+		gps_tracking_measurement_t measurement;
+		if(gps_copy_latest_tracking_measurement(i, prn_no, &measurement) &&
+		   measurement.locked)
+		{
+			if(trck_ip_no_out != NULL)
+			{
+				*trck_ip_no_out = i;
+			}
+			return true;
+		}
+	}
+	return false;
+}
+
 static void gps_mark_satellite_tracking(unsigned int prn_no, unsigned char trck_ip_no)
 {
 	if(gps_prn_valid(prn_no))
@@ -1507,14 +1580,6 @@ static void gps_process_tracking_nav_bits(const gps_isr_event_t* event)
 		(const unsigned int*)gps_subframe, how_tow_sec,
 		event->tick, &gps_ephemeris_cache, &gps_almanac_cache,
 		&restored_ephemeris, &restored_position, &assistance_time);
-	if(restored_position.valid)
-	{
-		gps_acq_update_visibility_hint(
-			restored_position.ecef_m,
-			restored_position.latitude_deg,
-			restored_position.longitude_deg,
-			assistance_time);
-	}
 	if(restore_approved &&
 	   !gps_frame_parsed->gps_ephems.ephemeris_valid)
 	{
@@ -1993,11 +2058,24 @@ static void gps_reconcile_tracked_prns(void)
 {
 	for(unsigned int prn = 0 ; prn < GPS_PRN_COUNT ; prn++)
 	{
+		gps_acq_prn_state_t state =
+			gps_acq_manager_state(&gps_acq_manager, prn);
+		unsigned char recovered_trk_ip = GPS_PRN_INVALID;
+		bool stale_alive =
+			(state == GPS_ACQ_PRN_STALE) &&
+			gps_tracking_prn_measurement_alive(
+				prn, &recovered_trk_ip);
 		if(gps_tracking_prn_active(prn) &&
-		   (gps_acq_manager_state(&gps_acq_manager, prn) !=
+		   ((state != GPS_ACQ_PRN_STALE) || stale_alive))
-		    GPS_ACQ_PRN_STALE))
 		{
-			gps_acq_manager_mark_tracking(&gps_acq_manager, prn);
+			if(state == GPS_ACQ_PRN_STALE)
+			{
+				gps_mark_satellite_tracking(prn, recovered_trk_ip);
+			}
+			else
+			{
+				gps_acq_manager_mark_tracking(&gps_acq_manager, prn);
+			}
 		}
 	}
 }

soc/software/gps_system/tests/Makefile

@@ -1,5 +1,6 @@
 CC ?= gcc
 CFLAGS ?= -O2 -std=c11 -Wall -Wextra -Werror
+PYTHON ?= python3
 
 ROOT := ..
 TARGETS := test_imu_calibration test_gps_nav_epoch \
@@ -18,7 +19,7 @@ TARGETS += test_gps_flash_journal
 TARGETS += test_gps_assistance_data
 TARGETS += test_gps_assistance_store
 
-.PHONY: all run sanitize clean
+.PHONY: all run python-models sanitize clean
 
 all: $(TARGETS)
 
@@ -128,6 +129,10 @@ run: $(TARGETS)
 	./test_gps_pps_quality
 	./test_gps_pps_adaptive_loop
 	./test_gps_visibility
+	$(PYTHON) test_acq_search_model.py
+
+python-models:
+	$(PYTHON) test_acq_search_model.py
 
 sanitize:
 	$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \

soc/software/gps_system/tests/test_acq_search_model.py

@@ -0,0 +1,117 @@
+#!/usr/bin/env python3
+"""Model-level checks for acquisition search edge cases."""
+
+from pathlib import Path
+import re
+
+
+TEST_DIR = Path(__file__).resolve().parent
+REPO_ROOT = TEST_DIR.parents[3]
+DEFINITIONS = REPO_ROOT / "hardware/external/gps/rtl/common/definitions.sv"
+ACQ_TOP = REPO_ROOT / "hardware/external/gps/rtl/acq_src/acq_top.sv"
+
+
+def read_parameters(path):
+    text = path.read_text(encoding="utf-8")
+    params = {}
+    parameter_re = (
+        r"parameter\s+([A-Za-z_][A-Za-z0-9_]*)\s*=\s*([^;]+);"
+    )
+    for match in re.finditer(parameter_re, text):
+        value = match.group(2).strip()
+        if re.fullmatch(r"\d+", value):
+            params[match.group(1)] = int(value)
+        elif re.fullmatch(r"\d+\.\d+", value):
+            params[match.group(1)] = float(value)
+    return params
+
+
+def check(condition, message):
+    if not condition:
+        raise AssertionError(message)
+
+
+def main():
+    params = read_parameters(DEFINITIONS)
+    acq_top = ACQ_TOP.read_text(encoding="utf-8")
+
+    samples_per_code = params["SAMPLES_PER_CODE"]
+    num_freq_bin = params["NUM_FREQ_BIN"]
+    freq_bin_wl = params["FREQ_BIN_WL"]
+    dopp_step = params["DOPP_STEP"]
+    pullin_freq_step = params["PULLIN_FREQ_STEP"]
+    num_pullin = params["NUM_PULLIN"]
+    acq_base_freq = params["ACQ_BASE_FREQ"]
+
+    check(samples_per_code == 16368, "unexpected sample count model")
+    check(num_freq_bin == 41, "unexpected coarse Doppler bin count")
+    check(num_pullin == 11, "unexpected pull-in bin count")
+    check(dopp_step == 500, "unexpected coarse Doppler step")
+    check(pullin_freq_step == 100, "unexpected pull-in Doppler step")
+    check(acq_base_freq == 4082000, "unexpected acquisition base frequency")
+
+    check(
+        "freq_bin_cnt <= (max_freq_bin_idx == 0) ? 0 : "
+        "(max_freq_bin_idx - 1);" in acq_top,
+        "RTL must saturate pull-in search at coarse bin zero",
+    )
+    check(
+        "rf_wr_addr == 2*SAMPLES_PER_CODE - 1" in acq_top,
+        "RTL must capture exactly two 1 ms code windows",
+    )
+
+    max_encoded_bin = (1 << freq_bin_wl) - 1
+    legacy_bin_zero_start = (0 - 1) & max_encoded_bin
+    check(
+        legacy_bin_zero_start >= num_freq_bin,
+        "legacy bin-zero decrement no longer demonstrates an out-of-range wrap",
+    )
+
+    covered_frequencies = set()
+    for coarse_bin in range(num_freq_bin):
+        pullin_start = 0 if coarse_bin == 0 else coarse_bin - 1
+        check(0 <= pullin_start < num_freq_bin, "pull-in start out of coarse range")
+
+        coarse_frequency = acq_base_freq + dopp_step * coarse_bin
+        for pullin_bin in range(num_pullin):
+            pullin_frequency = (
+                acq_base_freq +
+                dopp_step * pullin_start +
+                pullin_freq_step * pullin_bin
+            )
+            covered_frequencies.add(pullin_frequency)
+            if coarse_bin == 0:
+                check(
+                    pullin_frequency >= acq_base_freq,
+                    "coarse bin zero pull-in searched below the table",
+                )
+            else:
+                check(
+                    coarse_frequency - dopp_step <= pullin_frequency <=
+                    coarse_frequency + dopp_step,
+                    "pull-in search does not cover the expected +/-500 Hz window",
+                )
+
+    lowest_expected = acq_base_freq
+    highest_expected = (
+        acq_base_freq +
+        dopp_step * (num_freq_bin - 2) +
+        pullin_freq_step * (num_pullin - 1)
+    )
+    check(min(covered_frequencies) == lowest_expected, "unexpected low search edge")
+    check(max(covered_frequencies) == highest_expected, "unexpected high search edge")
+    check(len(covered_frequencies) >= num_freq_bin * 5, "pull-in coverage collapsed")
+
+    last_sample_written = (2 * samples_per_code) - 1
+    check(last_sample_written == 32735, "unexpected two-code capture fencepost")
+
+    print(
+        "ACQ search model PASS: "
+        f"coarse_bins={num_freq_bin} pullin_bins={num_pullin} "
+        f"freq_range={lowest_expected}..{highest_expected}Hz "
+        f"last_sample={last_sample_written}"
+    )
+
+
+if __name__ == "__main__":
+    main()

soc/software/gps_system/tests/test_gps_receiver_hardware_sim.c

@@ -21,6 +21,7 @@ typedef struct {
 	bool visible[GPS_ACQ_MANAGER_PRN_COUNT];
 	bool tracked[GPS_ACQ_MANAGER_PRN_COUNT];
 	bool hardware_busy[GPS_ACQ_MANAGER_PRN_COUNT];
+	bool measurement_alive[GPS_ACQ_MANAGER_PRN_COUNT];
 	uint64_t invisible_since[GPS_ACQ_MANAGER_PRN_COUNT];
 	uint64_t nav_ready_tick[GPS_ACQ_MANAGER_PRN_COUNT];
 	unsigned int not_busy_polls[GPS_ACQ_MANAGER_PRN_COUNT];
@@ -63,7 +64,9 @@ static unsigned int nav_ready_count(const receiver_sim_t* sim)
 	return count;
 }
 
-static void sim_init(receiver_sim_t* sim)
+static void sim_init_with_visibility_probe(
+	receiver_sim_t* sim,
+	uint64_t visibility_probe_ticks)
 {
 	memset(sim, 0, sizeof(*sim));
 	const gps_acq_manager_config_t config = {
@@ -71,7 +74,7 @@ static void sim_init(receiver_sim_t* sim)
 		.hot_retry_delay_ticks = 30u,
 		.hot_window_ticks = 7200u,
 		.unknown_probe_interval_ticks = 2u,
-		.visibility_probe_interval_ticks = 60u,
+		.visibility_probe_interval_ticks = visibility_probe_ticks,
 		.max_hot_streak = 4u
 	};
 	gps_acq_manager_init(&sim->manager, &config);
@@ -87,6 +90,11 @@ static void sim_init(receiver_sim_t* sim)
 	sim->engine_prn = GPS_ACQ_MANAGER_INVALID_PRN;
 }
 
+static void sim_init(receiver_sim_t* sim)
+{
+	sim_init_with_visibility_probe(sim, 60u);
+}
+
 static void cache_ephemeris(receiver_sim_t* sim, unsigned int prn)
 {
 	gps_ephemeris_t ephemeris;
@@ -141,6 +149,7 @@ static void sim_complete_engine(receiver_sim_t* sim)
 		gps_acq_manager_mark_tracking(&sim->manager, prn);
 		sim->tracked[prn] = true;
 		sim->hardware_busy[prn] = true;
+		sim->measurement_alive[prn] = true;
 		sim->not_busy_polls[prn] = 0u;
 		sim->invisible_since[prn] = 0u;
 		gps_ephemeris_t restored;
@@ -173,6 +182,7 @@ static void sim_complete_engine(receiver_sim_t* sim)
 static void sim_mark_tracking_lost(receiver_sim_t* sim, unsigned int prn)
 {
 	sim->tracked[prn] = false;
+	sim->measurement_alive[prn] = false;
 	sim->nav_ready_tick[prn] = 0u;
 	sim->not_busy_polls[prn] = 0u;
 	gps_acq_manager_mark_lost(
@@ -201,6 +211,7 @@ static void sim_update_tracking(receiver_sim_t* sim)
 		        SIM_UNLOCK_TICKS)
 		{
 			sim->hardware_busy[prn] = false;
+			sim->measurement_alive[prn] = false;
 			if(!sim->drop_loss_irq)
 			{
 				sim_mark_tracking_lost(sim, prn);
@@ -223,6 +234,29 @@ static void sim_update_tracking(receiver_sim_t* sim)
 	}
 }
 
+static unsigned int manager_count_state(
+	const receiver_sim_t* sim,
+	gps_acq_prn_state_t state)
+{
+	return gps_acq_manager_count_state(&sim->manager, state);
+}
+
+static void sim_reconcile_stale_locked_measurements(receiver_sim_t* sim)
+{
+	for(unsigned int prn = 0u;
+	    prn < GPS_ACQ_MANAGER_PRN_COUNT;
+	    prn++)
+	{
+		if((gps_acq_manager_state(&sim->manager, prn) ==
+		    GPS_ACQ_PRN_STALE) &&
+		   sim->hardware_busy[prn] &&
+		   sim->measurement_alive[prn])
+		{
+			gps_acq_manager_mark_tracking(&sim->manager, prn);
+		}
+	}
+}
+
 static void sim_step(receiver_sim_t* sim)
 {
 	sim->tick++;
@@ -566,6 +600,79 @@ static void test_incomplete_almanac_keeps_full_round_robin(void)
 	       sim.search_attempts[5u]);
 }
 
+static void test_wrong_sky_model_safety_probe_finds_real_satellites(void)
+{
+	receiver_sim_t sim;
+	sim_init_with_visibility_probe(&sim, 5u);
+	for(unsigned int prn = 0u;
+	    prn < GPS_ACQ_MANAGER_PRN_COUNT;
+	    prn++)
+	{
+		assert(gps_acq_manager_set_visibility(
+			&sim.manager, prn, true, false, -900));
+	}
+	for(unsigned int prn = 0u ; prn < 4u ; prn++)
+	{
+		assert(gps_acq_manager_set_visibility(
+			&sim.manager, prn, true, true, 500 - (int)prn));
+	}
+	for(unsigned int prn = 10u ; prn < 14u ; prn++)
+	{
+		sim.visible[prn] = true;
+	}
+	gps_acq_manager_set_visibility_mode(&sim.manager, true, sim.tick);
+	sim_start_engine(&sim);
+
+	uint64_t start_tick = sim.tick;
+	while((tracked_count(&sim) < 4u) &&
+	      ((sim.tick - start_tick) < 120u))
+	{
+		sim_step(&sim);
+	}
+	assert(tracked_count(&sim) == 4u);
+	for(unsigned int prn = 10u ; prn < 14u ; prn++)
+	{
+		assert(sim.tracked[prn]);
+		assert(sim.search_attempts[prn] != 0u);
+	}
+	printf("wrong-sky-model recovery telemetry: ticks=%lu attempts=[%u,%u,%u,%u]\n",
+	       (unsigned long)(sim.tick - start_tick),
+	       sim.search_attempts[10u], sim.search_attempts[11u],
+	       sim.search_attempts[12u], sim.search_attempts[13u]);
+}
+
+static void test_stale_locked_measurements_recover_tracking_state(void)
+{
+	receiver_sim_t sim;
+	sim_init(&sim);
+	for(unsigned int prn = 0u ; prn < GPS_TRCK_IP_COUNT ; prn++)
+	{
+		sim.visible[prn] = true;
+	}
+	sim_start_engine(&sim);
+	while(tracked_count(&sim) < GPS_TRCK_IP_COUNT)
+	{
+		sim_step(&sim);
+	}
+
+	gps_acq_manager_mark_stale(&sim.manager, 7u);
+	gps_acq_manager_mark_stale(&sim.manager, 8u);
+	assert(manager_count_state(&sim, GPS_ACQ_PRN_TRACKING) ==
+	       GPS_TRCK_IP_COUNT - 2u);
+	assert(manager_count_state(&sim, GPS_ACQ_PRN_STALE) == 2u);
+
+	sim_reconcile_stale_locked_measurements(&sim);
+	assert(manager_count_state(&sim, GPS_ACQ_PRN_TRACKING) ==
+	       GPS_TRCK_IP_COUNT);
+	assert(manager_count_state(&sim, GPS_ACQ_PRN_STALE) == 0u);
+
+	gps_acq_manager_mark_stale(&sim.manager, 8u);
+	sim.measurement_alive[8u] = false;
+	sim_reconcile_stale_locked_measurements(&sim);
+	assert(gps_acq_manager_state(&sim.manager, 8u) ==
+	       GPS_ACQ_PRN_STALE);
+}
+
 static void test_missed_completion_interrupt_is_polled(void)
 {
 	receiver_sim_t sim;
@@ -620,6 +727,8 @@ int main(void)
 	test_partial_loss_short_and_15_second_gaps();
 	test_hot_failures_do_not_starve_cold_search();
 	test_incomplete_almanac_keeps_full_round_robin();
+	test_wrong_sky_model_safety_probe_finds_real_satellites();
+	test_stale_locked_measurements_recover_tracking_state();
 	test_missed_completion_interrupt_is_polled();
 	test_missed_tracking_loss_interrupt_is_reconciled();
 	test_stale_cache_forces_ephemeris_decode();