feat(pps): preserve loop dynamics across nav periods

2026-07-29 00:45:16 +03:00
parent a6bb080270
commit 347e1c671d
19 changed files with 889 additions and 111 deletions
@@ -6,6 +6,7 @@ import unittest

 from pps_python.adaptive_pps import (
    ACQUIRE_PROFILE,
+    FixedPointAdaptivePps,
    Observation,
    Profile,
    PROFILES,
@@ -59,6 +60,61 @@ def noisy_observations(


 class AdaptivePpsTests(unittest.TestCase):
+    def test_period_aware_coefficients_match_firmware(self):
+        expected = {
+            0.2: {
+                "acquire": (764018, 64006),
+                Profile.PRECISION: (222838, 5445),
+                Profile.ROBUST: (84891, 640),
+            },
+            0.5: {
+                "acquire": (615780, 127492),
+                Profile.PRECISION: (209783, 12804),
+                Profile.ROBUST: (82980, 1564),
+            },
+            1.0: {
+                "acquire": (447388, 178038),
+                Profile.PRECISION: (190239, 23149),
+                Profile.ROBUST: (79923, 3011),
+            },
+        }
+        for period_s, coefficients in expected.items():
+            self.assertEqual(
+                ACQUIRE_PROFILE.fixed_coefficients(period_s)[:2],
+                coefficients["acquire"],
+            )
+            for profile in (Profile.PRECISION, Profile.ROBUST):
+                self.assertEqual(
+                    PROFILES[profile].fixed_coefficients(period_s)[:2],
+                    coefficients[profile],
+                )
+
+    def test_wall_clock_hysteresis_and_settling_scale_with_period(self):
+        model_500ms = FixedPointAdaptivePps(update_period_s=0.5)
+        self.assertEqual(model_500ms.selector.upgrade_updates, 4)
+        self.assertEqual(model_500ms.selector.degrade_updates, 2)
+        self.assertEqual(
+            model_500ms.profiles[Profile.PRECISION].software_settle_updates,
+            5,
+        )
+        self.assertEqual(
+            model_500ms.profiles[Profile.ROBUST].lock_acquire_updates,
+            4,
+        )
+
+        model_1s = FixedPointAdaptivePps(update_period_s=1.0)
+        self.assertEqual(model_1s.selector.upgrade_updates, 2)
+        self.assertEqual(model_1s.selector.degrade_updates, 2)
+        self.assertEqual(
+            model_1s.profiles[Profile.PRECISION].software_settle_updates,
+            3,
+        )
+        self.assertEqual(
+            model_1s.profiles[Profile.ROBUST].lock_acquire_updates,
+            2,
+        )
+        self.assertEqual(model_1s.reference_watchdog_sec, 3.0)
+
    def test_board_calibrated_doppler_predictor_reduces_pps_error(self):
        """Genesys2 WLS statistics: predictor-on must beat fallback-only."""
        quality_metrics = QualityMetrics(