diff --git a/Makefile b/Makefile
index 8e4f8ba..c8c3d0d 100644
--- a/Makefile
+++ b/Makefile
@@ -40,6 +40,9 @@ help:
 	  '' \
 	  'Config:' \
 	  '  FPGA_BOARD=$(FPGA_BOARD)  # vcu118 or genesys2' \
+	  '  UART_BAUD=460800          # FPGA firmware and host listener default' \
+	  '  GPS_ESKF_ENABLE=1         # gps_system: 1 ESKF, 0 GPS-only' \
+	  '  IMU_SENSOR=auto           # gps_system: auto, tdk, st or stm' \
 	  '' \
 	  'Direct entry points:' \
 	  '  make -C soc help' \
diff --git a/README.md b/README.md
index cdd6050..023aedc 100644
--- a/README.md
+++ b/README.md
@@ -86,6 +86,93 @@ make -C soc/software app APP=gps_system
 make -C targets/fpga/vcu118 debug-load APP=gps_system
 ```
 
+## GPS Firmware Profilleri: ESKF ve GPS-only
+
+`gps_system` varsayilan olarak ESKF acik (`GPS_ESKF_ENABLE=1`) ve UART
+`460800` baud olacak sekilde derlenir. Kok Makefile'in kart varsayilani VCU118
+oldugu icin Genesys2 komutlarinda `FPGA_BOARD=genesys2` acikca yazilmalidir.
+
+TDK ICM42688 + GPS + ESKF iceren birlesik Genesys2 MCS/BIN:
+
+```sh
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-mcs
+```
+
+Yalniz GPS acquisition/tracking, WLS, Doppler velocity ve PPS calistiran;
+IMU/ESKF baslatmayan firmware:
+
+```sh
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=0 fpga-mcs
+```
+
+`GPS_ESKF_ENABLE` verilmezse deger `1`'dir. Iki komut ayni
+`targets/fpga/genesys2/out/flash/genesys2_rocket.mcs` ve `.bin` yollarini
+kullanir; ikinci build birincinin ciktisinin uzerine yazar. Iki profili
+saklamak gerekiyorsa her build'den sonra dosyayi profil adiyla kopyalayin.
+
+`fpga-mcs` mevcut `.bit` dosyasini kullanip bootloader ve uygulamayi yeniden
+derler. Yalniz software profili veya baud degisikligi icin sentez gerekmez.
+Tracking/PPS RTL veya Chisel degistiyse once:
+
+```sh
+make FPGA_BOARD=genesys2 APP=gps_system fpga-bitstream
+make FPGA_BOARD=genesys2 APP=gps_system GPS_ESKF_ENABLE=1 \
+  IMU_SENSOR=tdk fpga-mcs
+```
+
+Firmware ve host UART dinleyicisinin varsayilani birlikte `460800`'dur:
+
+```sh
+make FPGA_BOARD=genesys2 fpga-uart
+```
+
+### Doppler, WLS ve ESKF veri yolu
+
+```text
+tracking loop, her 20 ms:
+  carrier Q7 + 20 prompt I/Q + wideband power + ABS_SAMPLE/code phase
+      -> sabit tracking snapshot
+      -> synchronizer + APB-domain atomik register + interrupt
+      -> C/N0 ve Doppler/range-rate donusumu
+      -> satellite velocity/clock-drift duzeltmeli C/N0-weighted velocity WLS
+      -> ECEF velocity + 3x3 covariance + receiver clock drift
+      -> ECEF->ENU adapter
+      -> ayri velocity NIS gate
+      -> ayni capture epoch'unda 15-state ESKF update
+      -> daha yeni IMU history replay
+```
+
+RTL Doppler veya C/N0 uzerinde IIR yapmaz; ham ve 20 ms sabit snapshot'i
+software'e verir. Software ayni PRN icin C/N0'yi `alpha=0.2`, Doppler'i
+`alpha=0.05` ile yumusatir. L1 range-rate
+`-doppler_hz * c / 1575420000` ile hesaplanir. En az dort uyduyla cozulmus
+velocity WLS state'i `[vx, vy, vz, receiver_clock_drift_mps]`'dir; uydu LOS
+hizi ve broadcast satellite clock drift observation'dan ayrilir. C/N0,
+range-rate agirligini belirler; post-fit residual gerekirse formal
+covariance'i yalniz buyutur.
+
+ESKF; ENU position/velocity, quaternion attitude, accel bias ve gyro bias
+iceren 15 hata durumlu filtredir. Her timestamp'li IMU ornegi prediction'a
+girer. Gecikmis GPS position ve Doppler velocity olcumleri kendi capture
+epoch'unda uygulanir, ardindan daha yeni IMU history replay edilir. Position
+ve velocity'nin ayri NIS kapilari vardir; kotu Doppler ayni epoch'taki gecerli
+position update'ini iptal etmez. Durağanlik supervisor'u uygun oldugunda ZUPT
+ve zero-gyro update uygular; GPS kesintisinde filtre sahte konum olcumu
+uretmeden dead-reckoning yapar ve covariance buyur.
+
+C/N0, geometri, WLS clock sigma, integrity ve Doppler residual metrikleri PPS
+software'inin `acquire/precision/robust/holdover` profilini de secer. PPS
+donanimi bu metrikleri dogrudan yorumlamaz; software v2.2 mailbox ile PI
+`Kp/Ki`, slew ve lock esiklerini atomik olarak gunceller. Ayrintilar:
+
+- `hardware/external/gps/rtl/trck_src/README.md`
+- `soc/software/gps_system/README.md`
+- `soc/software/fusion/README.md`
+- `hardware/external/gps/rtl/pps/README.md`
+- `soc/software/pps_python/README.md`
+
 Alt girisler:
 
 ```sh
diff --git a/hardware/README.md b/hardware/README.md
index 575dd6f..91d0a83 100644
--- a/hardware/README.md
+++ b/hardware/README.md
@@ -46,3 +46,9 @@ external/gps/rtl/
   pass this path as the default GPS_SYSTEM_DIR, so the Vivado flow does not
   depend on a user-specific /home/... checkout.
 ```
+
+GPS tracking olcum yolunun 20 ms Doppler/C/N0 snapshot, PCLK synchronizer,
+APB register/interrupt ve software velocity WLS sozlesmesi
+`external/gps/rtl/trck_src/README.md` icinde belgelenir. PPS PI periferigi,
+runtime coefficient/lock register map'i ve fiziksel pin sinirlari
+`external/gps/rtl/pps/README.md` icindedir.
diff --git a/hardware/external/gps/rtl/pps/README.md b/hardware/external/gps/rtl/pps/README.md
index 4c5132b..d982f0c 100644
--- a/hardware/external/gps/rtl/pps/README.md
+++ b/hardware/external/gps/rtl/pps/README.md
@@ -47,6 +47,16 @@ The hardware does not add `POSTPONE_TOW`.  Baremetal must commit an already
 epoch-aligned GPS reference, so the verified 160 ms subframe readout correction
 is owned exactly once by the navigation software.
 
+Tracking C/N0 and Doppler are not inputs to the PPS RTL. The tracking wrapper
+publishes those measurements through its separate 20 ms APB mailbox. Firmware
+uses C/N0, geometry, WLS clock sigma, integrity and Doppler velocity residual
+to select `acquire`, `precision`, `robust` or `holdover`, then writes the
+corresponding PI coefficients, slew limit and lock thresholds through this
+PPS mailbox. Doppler also predicts the WLS clock-bias datum between commits.
+This keeps quality policy and the small navigation pre-filter in software
+while the deterministic PI loop, fixed-point rate state and physical edge
+generation remain in hardware.
+
 The APB register offsets live in `pps_pkg.sv`.  Multiword input fields are
 shadow registers and must be followed by one `COMMIT` write.  A new mailbox
 must not be written while `STATUS.COMMIT_BUSY` is set.
diff --git a/hardware/external/gps/rtl/trck_src/README.md b/hardware/external/gps/rtl/trck_src/README.md
new file mode 100644
index 0000000..ee020ec
--- /dev/null
+++ b/hardware/external/gps/rtl/trck_src/README.md
@@ -0,0 +1,107 @@
+# GPS tracking measurement yolu
+
+Bu dizindeki tracking loop yalniz code/carrier takibi yapmaz; her 20 ms GPS
+L1 C/A navigation-bit epoch'unda software'in C/N0 ve Doppler kullanabilmesi
+icin atomik bir measurement snapshot'i da uretir.
+
+## 20 ms snapshot
+
+`tracking_measurement.sv`, ilk NAV-bit kenarinda accumulator'lari arm eder ve
+sonraki her bit epoch'unda su alanlari birlikte latch eder:
+
+```text
+nav bit
+ABS_SAMPLE
+remaining code phase
+signed carrier frequency, Q7
+20 x prompt I toplami
+20 x prompt Q toplami
+20 x (I_prompt^2 + Q_prompt^2) wideband power toplami
+sample count
+16-bit sequence
+```
+
+Prompt energy `lock_detector.sv` icinde pipeline'li oldugu icin bit kenarindan
+sonra dort tracking clock beklenir; bu, son 1 ms enerji terimini eski epoch'a
+dahil eder ve yeni epoch ile karistirmaz. Snapshot ve `measurement_valid`
+sonraki bit epoch'una kadar, yaklasik 20 ms sabit kalir.
+
+## APB aktarimi ve interrupt
+
+`apb_wrappers/tracking_wrapper.sv`, valid ve payload'un her bitini
+`double_ff_syn` yardimcisi ile PCLK domainine alir. Bu yardimcinin mevcut
+implementasyonu `stage_1`, `stage_2` ve registered `Dout` olmak uzere uc
+register kademesidir. Kaynak payload 20 ms sabit kaldigi icin FIFO veya toggle
+handshake kullanilmaz. Wrapper synchronized valid kenarindan sonra iki ek PCLK
+settle cycle bekler, tum alanlari APB-domain register bankina ayni anda kopyalar
+ve measurement interrupt/flag uretir.
+
+Software sequence'i okumadan once ve payload'dan sonra tekrar okuyarak atomik
+snapshot dogrulamasi yapar. Sequence degisirse okuma tekrar edilir; sequence
+atlarsa kayip measurement diagnostics sayaci artar.
+
+Measurement register offsetleri:
+
+| Offset | Alan |
+|---:|---|
+| `0x50` | version, valid, NAV bit, lock ve sample count metadata |
+| `0x54` | 16-bit sequence |
+| `0x58` | signed carrier frequency Q7 |
+| `0x5c` | ABS_SAMPLE |
+| `0x60` | remaining code phase |
+| `0x64` | signed prompt sum I |
+| `0x68` | signed prompt sum Q |
+| `0x6c` | wideband power low |
+| `0x70` | wideband power high |
+
+## Software'e verilen anlam
+
+Carrier register'i toplam NCO frekansidir. Software IF merkezini cikarir:
+
+```text
+doppler_hz = carrier_q7 / 128 - 4092000
+range_rate_mps = -doppler_hz * c / 1575420000
+```
+
+Pozitif received-frequency Doppler azalan geometrik range anlamina geldigi
+icin range-rate denkleminde eksi isareti vardir.
+
+C/N0, 20 prompt icin narrowband/wideband power estimator'i ile hesaplanir:
+
+```text
+R = (sum_i^2 + sum_q^2) / WBP
+C/N0_linear = 1000 * (R - 1) / (20 - R)
+C/N0_dbhz = 10 * log10(C/N0_linear)
+```
+
+RTL IIR uygulamaz. Ham snapshot debug ve yeniden tune icin korunur. ISR state'i
+ayni PRN'de C/N0 icin `alpha=0.2`, Doppler icin `alpha=0.05` software IIR
+uygular; reacquisition veya PRN degisiminde eski kanal state'i kullanilmaz.
+
+Filtrelenmis range-rate, satellite ECEF velocity ve satellite clock drift ile
+C/N0-weighted 4-state velocity WLS'ye girer:
+
+```text
+state = [receiver_vx, receiver_vy, receiver_vz, receiver_clock_drift_mps]
+observation = measured_range_rate
+            - satellite_LOS_rate
+            + c * satellite_clock_drift
+H = [-u_x, -u_y, -u_z, 1]
+```
+
+WLS en az dort gecerli uydu ister; ECEF velocity, 3x3 covariance, receiver
+clock drift ve residual RMS uretir. Fusion adapter velocity/covariance'i ENU'ya
+dondurur ve ayri velocity NIS kapisi ile 15-state ESKF'ye verir.
+
+## Dogrulama
+
+```sh
+make -C hardware/external/gps/rtl/trck_src/tb test
+make -C soc/software/gps_system/tests run
+make -C soc/software/gps_system/tests sanitize
+```
+
+Questa testleri 20 prompt akumulasyonu, snapshot hold, synchronizer settle,
+atomik APB copy ve interrupt'i; Linux C testleri Q7 Doppler/range-rate, C/N0
+estimator, coherent read, satellite velocity/clock drift ve weighted velocity
+WLS/covariance yolunu kontrol eder.
diff --git a/soc/software/Makefile b/soc/software/Makefile
index af0ba7b..9045706 100644
--- a/soc/software/Makefile
+++ b/soc/software/Makefile
@@ -11,8 +11,10 @@ APP_FLASH_OFFSET ?= 0x06000000
 APP ?= hello_uart
 GPS_DEBUG ?= 1
 GPS_DEBUG_LEVEL ?= 1
+GPS_ESKF_ENABLE ?= 1
+IMU_SENSOR ?= auto
 BSP_UART_CLOCK_HZ ?= 100000000
-BSP_UART_BAUDRATE ?= 115200
+BSP_UART_BAUDRATE ?= 460800
 GPS_SYSTEM_UART_BAUDRATE ?= 460800
 BSP_CLINT_TIMEBASE_HZ ?= 1000000
 GPS_SYSTEM_CLINT_TIMEBASE_HZ ?= 500000
@@ -42,6 +44,8 @@ help:
 	@echo "  BSP_UART_CLOCK_HZ=$(BSP_UART_CLOCK_HZ)"
 	@echo "  BSP_UART_BAUDRATE=$(BSP_UART_BAUDRATE)"
 	@echo "  GPS_SYSTEM_UART_BAUDRATE=$(GPS_SYSTEM_UART_BAUDRATE)"
+	@echo "  GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)"
+	@echo "  IMU_SENSOR=$(IMU_SENSOR)"
 	@echo "  BSP_CLINT_TIMEBASE_HZ=$(BSP_CLINT_TIMEBASE_HZ)"
 	@echo "  GPS_SYSTEM_CLINT_TIMEBASE_HZ=$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)"
 	@echo "  GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES=$(GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES)"
@@ -63,11 +67,11 @@ steval-mki217v1-test:
 	@make -C steval_mki217v1_test TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/steval_mki217v1_test" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
 
 gps-system:
-	@make -C gps_system TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/gps_system" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(GPS_SYSTEM_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)" IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES="$(GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
+	@make -C gps_system TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/gps_system" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(GPS_SYSTEM_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)" IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES="$(GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
 
 app:
 	@test -d "$(APP)"
-	@make -C "$(APP)" TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/$(APP)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
+	@make -C "$(APP)" TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/$(APP)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
 
 flash-image: app
 	@mkdir -p "$(FLASH_DIR)"
diff --git a/soc/software/bootloader/Makefile b/soc/software/bootloader/Makefile
index 5c463fa..736caec 100644
--- a/soc/software/bootloader/Makefile
+++ b/soc/software/bootloader/Makefile
@@ -13,7 +13,7 @@ APP_FLASH_OFFSET ?= 0x06000000
 MARCH ?= rv64imafdc_zicsr_zifencei
 MABI ?= lp64d
 BSP_UART_CLOCK_HZ ?= 100000000
-BSP_UART_BAUDRATE ?= 115200
+BSP_UART_BAUDRATE ?= 460800
 BSP_DTIM_BASE ?= 0x80000000
 BSP_DTIM_SIZE ?= 0x00100000
 CONFIG_STAMP := $(BUILD_DIR)/build_config.txt
diff --git a/soc/software/bsp/drivers/init.c b/soc/software/bsp/drivers/init.c
index 9f65131..3448be5 100644
--- a/soc/software/bsp/drivers/init.c
+++ b/soc/software/bsp/drivers/init.c
@@ -7,7 +7,7 @@
 #endif
 
 #ifndef BSP_UART_BAUDRATE
-#define BSP_UART_BAUDRATE 115200UL
+#define BSP_UART_BAUDRATE 460800UL
 #endif
 
 void bsp_init(void)
diff --git a/soc/software/common/app.mk b/soc/software/common/app.mk
index 0ab6e2f..c8b46a6 100644
--- a/soc/software/common/app.mk
+++ b/soc/software/common/app.mk
@@ -13,7 +13,7 @@ LINKER_SCRIPT ?= $(COMMON_DIR)/linker_ram.ld
 MARCH ?= rv64imafdc_zicsr_zifencei
 MABI ?= lp64d
 BSP_UART_CLOCK_HZ ?= 100000000
-BSP_UART_BAUDRATE ?= 115200
+BSP_UART_BAUDRATE ?= 460800
 BSP_CLINT_TIMEBASE_HZ ?= 1000000
 BSP_DTIM_BASE ?= 0x80000000
 BSP_DTIM_SIZE ?= 0x00100000
diff --git a/soc/software/fusion/README.md b/soc/software/fusion/README.md
index 019d953..a1bfc32 100644
--- a/soc/software/fusion/README.md
+++ b/soc/software/fusion/README.md
@@ -6,6 +6,22 @@ Bu klasör Genesys2 kartından UART ile alınan GPS WLS konumlarını ve PMOD SP
 ve jiroskop biası. Kartın durağan olduğu deneyde zero-velocity update (ZUPT)
 uygulanır ve GPS innovation değerlerine aykırı-ölçüm kapısı konur.
 
+Bare-metal ürün firmware'i ana dizinden iki profille üretilebilir:
+
+```sh
+# TDK + GPS + ESKF (varsayılan GPS_ESKF_ENABLE=1)
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-mcs
+
+# GPS-only; IMU/ESKF kapalı, WLS/Doppler/PPS açık
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=0 fpga-mcs
+```
+
+Firmware ve UART kayıt aracının varsayılan hızı `460800` baud'dur. İki profil
+aynı MCS/BIN çıktı yolunu kullandığı için ikinci build ilk dosyanın üzerine
+yazar.
+
 ## Güncel durum ve devralma notu (2026-07-16)
 
 Bu bölüm yeni bir geliştirme oturumunun nereden devam edeceğini tek yerde
@@ -71,6 +87,37 @@ GPS position + Doppler velocity --\
 TDK veya ST IMU -> imu_sensor ----/
 ```
 
+### Doppler ESKF'ye nasıl geliyor?
+
+1. Tracking RTL her 20 ms NAV-bit epoch'unda carrier NCO Q7 değerini,
+   `ABS_SAMPLE`, remaining code phase ve 20 prompt'un I/Q/WBP toplamlarını
+   birlikte latch eder. Payload 20 ms sabit kalır; APB wrapper registered
+   synchronizer ve settle süresinden sonra atomik register bankı ile interrupt
+   üretir.
+2. Firmware coherent mailbox okumasında sequence'i payload öncesi/sonrası
+   kontrol eder. Carrier değeri için
+   `doppler_hz = carrier_q7/128 - 4092000`, L1 pseudorange-rate için
+   `range_rate = -doppler_hz*c/1575420000` kullanılır.
+3. Aynı PRN'in 50 Hz snapshot'larında C/N0 `alpha=0.2`, Doppler `alpha=0.05`
+   software IIR ile yumuşatılır. RTL ham ölçümü korur; hardware Doppler IIR
+   içermez.
+4. En az dört uyduyla C/N0-weighted velocity WLS
+   `[receiver_vx, receiver_vy, receiver_vz, receiver_clock_drift_mps]`
+   state'ini çözer. Her observation'dan satellite LOS velocity çıkarılır,
+   broadcast satellite clock drift eklenir. Inverse normal matrix ve post-fit
+   residual ECEF velocity covariance'ini üretir.
+5. GPS adapter velocity ve 3x3 covariance'i ECEF'ten ENU'ya döndürür,
+   kart ölçümüne dayalı minimum `2/2/3 m/s` standard-deviation floor'larını
+   uygular ve position ile aynı capture timestamp'ini korur.
+6. Fusion engine gecikmiş position ve velocity'yi aynı geçmiş epoch'unda
+   uygular. Velocity'nin ayrı 3-DOF `%99.9`, `NIS=16.266` kapısı vardır; bir
+   velocity reject aynı epoch'taki kabul edilmiş position update'ini bozmaz.
+   Sonra daha yeni IMU history current-time horizon'a kadar replay edilir.
+
+Bu zincirin RTL/register ayrıntısı
+`hardware/external/gps/rtl/trck_src/README.md`, bare-metal WLS ve kart
+doğrulaması `soc/software/gps_system/README.md` içindedir.
+
 Python tarafındaki giriş noktaları:
 
 - `serial_capture.py`: UART akışını zaman damgalı CSV olarak toplar;
@@ -149,11 +196,12 @@ konum çözülmesi tek başına PPS üretildiğini kanıtlamaz.
 
 İlk kabul edilen WLS/PPS commit'i yalnız coarse alignment yapar. Ardından faz
 hatası en fazla sekiz adet 125 MHz tracking-clock tick'i, yani 64 ns olan beş
-ardışık PI update gerekir. Lock kazanıldıktan sonra 256 ns üzerindeki yeni bir
-faz hatası lock'u düşürür. WLS receiver-clock bias/pseudorange jitter'ı veya
-epoch capture belirsizliği beş ardışık ölçümde 64 ns koşulunu bozarsa konum
-gelmeye devam ederken PPS pini sürekli LOW kalabilir. Bu şu an en güçlü
-olasılıktır; register ölçmeden eşik değiştirilmemelidir.
+ardışık PI update gerekir. RTL reset release eşiği 256 ns'dir; v2.2 production
+software profile'ları tek seyrek WLS sıçraması pulse kaybettirmesin diye
+release eşiğini runtime `LOOP_CONFIG` ile 1.024 us yapar. WLS receiver-clock
+bias/pseudorange jitter'ı veya epoch capture belirsizliği beş ardışık ölçümde
+64 ns acquire koşulunu bozarsa konum gelmeye devam ederken PPS pini LOW
+kalabilir.
 
 Firmware ancak WLS başarılı, `solution_valid=true`, PPS referans satırı FDE ile
 dışlanmamış ve referans kanalın capture sequence'i sıfır değilse PPS mailbox'a
@@ -185,7 +233,7 @@ monitor resume
 
 | Register | Beklenen/yorum |
 |---|---|
-| `VERSION @ 0x1002a07c` | `0x00020100`; farklıysa ELF/bitstream eşleşmiyor |
+| `VERSION @ 0x1002a07c` | Production v2.2 için `0x00020200`; farklıysa ELF/bitstream eşleşmesini kontrol edin |
 | `CONTROL @ 0x1002a000` | Enable + track açıkken alt bitler genellikle `0x3` |
 | `STATUS @ 0x1002a004` | `0x1`: commit/alignment yok; alt bitler `0x7`: aligned fakat lock değil; bit 11 set ve alt bitler `0xf`: locked/valid |
 | `ACTIVE_SEQUENCE @ 0x1002a048` | `0`: firmware hiç geçerli PPS commit'i yapmamış; artıyorsa WLS referansları PPS'ye ulaşıyor |
@@ -197,7 +245,7 @@ lock acquisition/faz jitter'ıdır. `STATUS` lock gösteriyor ve `PULSE_COUNT`
 artıyorsa JC10 sinyali JC11 GND referansıyla osiloskop veya logic analyzer'da
 ölçülmelidir; pulse saniyede bir yaklaşık 100 ms HIGH'dır.
 
-2026-07-25 canlı Genesys2 ölçümünde `VERSION=0x00020100`,
+Erken 2026-07-25 v2.1 canlı Genesys2 ölçümünde `VERSION=0x00020100`,
 `CONTROL=0x00000003` ve snapshot `ACTIVE_SEQUENCE=11583` görüldü.
 `PULSE_COUNT=314`, PPS core'un resetten beri 314 `pps_out` pulse olayı
 oluşturduğunu kanıtladı; post-route top-level yol da sabit LOW değildir.
@@ -218,6 +266,13 @@ işaret eder. Eşik ölçümsüz büyütülmemeli; önce clock-bias/TDOP kalite
 outlier reddi veya faz gözlemi süzme stratejisi board A/B testiyle
 değerlendirilmelidir.
 
+Bu tarihsel v2.1 teşhisinden sonra v2.2 dinamik PI profilleri, Doppler
+clock-drift prediction, bounded WLS clock-bias filtresi, 2 s validity
+watchdog/30 s state koruma politikası ve fractional capture correction
+eklenmiştir. Güncel sentetik ve kart sonuçları
+`soc/software/gps_system/README.md` altındaki PPS bölümlerinde, register/RTL
+davranışı `hardware/external/gps/rtl/pps/README.md` içinde tutulur.
+
 ## Çalıştırma
 
 UART kaydı:
diff --git a/soc/software/fusion/serial_capture.py b/soc/software/fusion/serial_capture.py
index 47b5133..07a7dca 100644
--- a/soc/software/fusion/serial_capture.py
+++ b/soc/software/fusion/serial_capture.py
@@ -14,7 +14,7 @@ import serial
 def parse_args() -> argparse.Namespace:
     parser = argparse.ArgumentParser()
     parser.add_argument("--port", default="/dev/ttyUSB2")
-    parser.add_argument("--baud", type=int, default=115200)
+    parser.add_argument("--baud", type=int, default=460800)
     parser.add_argument("--duration", type=float, default=60.0)
     parser.add_argument("--output", type=Path, required=True)
     parser.add_argument(
diff --git a/soc/software/gps_system/README.md b/soc/software/gps_system/README.md
index d38e84b..5175f69 100644
--- a/soc/software/gps_system/README.md
+++ b/soc/software/gps_system/README.md
@@ -1,6 +1,8 @@
 # GPS System Port Notes
 
-Bu notlar GPS bare-metal yaziliminin VCU118 Rocket SoC portu ve interrupt debug sureci icin yazildi.
+Bu notlar GPS bare-metal yaziliminin VCU118/Genesys2 Rocket SoC portunu,
+tracking Doppler/C/N0 yolunu, ESKF entegrasyonunu ve interrupt debug surecini
+belgeler.
 
 ## Uygulama akisi ve dosya sinirlari
 
@@ -66,6 +68,34 @@ ve raw kuyruga koyar. GPS ISR'leri acquisition/tracking olaylarini kaydeder.
 interrupt'lari gelebilecegi icin IMU kuyrugu WLS'den hem once hem sonra drain
 edilir; GPS update'i WLS bitis zamaninda degil capture epoch'unda uygulanir.
 
+### ESKF entegrasyonunda yapilanlar
+
+- TDK ICM42688 ve ST LSM6DSOX suruculeri sensor-markasindan bagimsiz
+  `imu_sensor`/`imu_sample_t` sinirinin arkasina alindi. Her IMU ornegi olcum
+  aninda monotonik CLINT timestamp'i alir; ISR icinde ESKF matematigi
+  calismaz.
+- Filtre ENU position/velocity, quaternion attitude, accel bias ve gyro bias
+  iceren 15 hata durumlu ESKF'dir. Prediction her ham IMU orneginde midpoint
+  mechanization ile calisir; telemetry bolucusu prediction oranini dusurmez.
+- GPS WLS position ve Doppler velocity ayni capture timestamp'iyle tek
+  `fusion_navigation_measurement_t` icinde tasinir. Gecikmis GPS olcumu
+  history icindeki kendi epoch'una uygulanir; sonraki IMU ornekleri current
+  time'a kadar tekrar oynatilir.
+- Position ve velocity update'lerinin ayri 3-DOF NIS kapilari ve
+  accept/reject sayaclari vardir. Velocity bozuksa ayni epoch'taki gecerli
+  position update'i geri alinmaz.
+- Doppler WLS ECEF velocity covariance'i ENU'ya dondurulur. Kart verisinde
+  zayif geometrinin formal covariance'i asiri iyimser yapmamasi icin
+  horizontal `2.0 m/s`, vertical `3.0 m/s` minimum standard deviation floor'u
+  uygulanir; daha buyuk formal belirsizlik korunur.
+- Durağanlik supervisor'u IMU/GNSS hareket kanitlarini histerezisle
+  birlestirir ve yalniz guvenli durumda ZUPT/zero-gyro update uygular.
+  GPS kesintisinde sahte position olcumu uretilmez; dead-reckoning devam eder
+  ve covariance buyur.
+- Kotu ilk fix sonraki tutarli fix'leri surekli NIS reject'e kilitlerse,
+  timeout ve coklu-fix sureklilik kosuluyla yalniz position state/covariance
+  yeniden ankrajlanir. Velocity, attitude ve IMU bias state'leri korunur.
+
 ## Generic IMU Mimarisi (TDK ve ST)
 
 GPS/ESKF artik dogrudan bir sensor surucusune bagli degildir. Veri yolu:
@@ -129,6 +159,23 @@ Bu durumda GPS acquisition/tracking/WLS ve ham lat-lon yayini calismaya devam
 eder; IMU stream'i ve `navigation_fusion` baslatilmaz. UART startup satirinda
 `eskf_enabled` ve gercek init sonucu olan `eskf_ready` ayri alanlardir.
 
+Ana proje dizininden Genesys2 MCS uretmek icin:
+
+```sh
+# TDK + ESKF; GPS_ESKF_ENABLE verilmezse de varsayilan 1'dir.
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-mcs
+
+# GPS-only: tracking, C/N0, Doppler velocity WLS ve PPS calisir.
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=0 fpga-mcs
+```
+
+Her iki profil bootloader ve uygulamayi varsayilan `460800` baud ile derler.
+Iki komut ayni MCS/BIN yoluna yazdigi icin iki imaj birlikte saklanacaksa
+build'ler arasinda profil adiyla kopyalanmalidir. Bu secenekler software
+derleme parametresidir; mevcut bitstream ile `fpga-mcs` yeterlidir.
+
 Otomatik WHO_AM_I algilama varsayilandir:
 
 ```sh
@@ -446,32 +493,30 @@ Bu kosuda `mcause=5` tekrar etmedi.
 
 ## Build ve Debug Komutlari
 
-Build:
+Ana dizinden kalici flash imaji:
 
 ```sh
-make -C /home/ankaoc/Desktop/rocket/rocket-chip/soc/software/gps_system \
-  BUILD_DIR=/home/ankaoc/Desktop/rocket/rocket-chip/soc/out/software/gps_system \
-  clean all
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-mcs
 ```
 
 OpenOCD:
 
 ```sh
-make -C /home/ankaoc/Desktop/rocket/rocket-chip fpga-debug-openocd
+make FPGA_BOARD=genesys2 fpga-debug-openocd
 ```
 
 ELF'i RAM'e yukleyip calistirma:
 
 ```sh
-/tools/toolchains/rvtc-medany/bin/riscv64-unknown-elf-gdb \
-  -q /home/ankaoc/Desktop/rocket/rocket-chip/soc/out/software/gps_system/gps_system.elf \
-  -ex "target extended-remote :3333" \
-  -ex "monitor reset halt" \
-  -ex "load" \
-  -ex "set \$pc = _start" \
-  -ex "monitor resume" \
-  -ex "detach" \
-  -ex "quit"
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-debug-load
+```
+
+UART:
+
+```sh
+make FPGA_BOARD=genesys2 fpga-uart
 ```
 
 Durum okumak icin claim register'ini okumadan:
@@ -749,6 +794,13 @@ Gecersiz oranlar reddedilir; sonuc `10..60 dB-Hz` araliginda sinirlanir.
 Bir-bit estimator jitter'i ayni PRN'in ard arda olcumlerinde software
 IIR'i ile `alpha=0.2` kullanilarak yumusatilir.
 
+RTL snapshot, synchronizer, APB register ve measurement-interrupt ayrintilari
+`hardware/external/gps/rtl/trck_src/README.md` icinde belgelenir. Ozetle
+payload tracking domaininde yaklasik 20 ms sabit tutulur; valid ve tum alanlar
+PCLK'e registered synchronizer ile alinir, iki ek settle cycle'dan sonra
+atomik APB bankina kopyalanir. Software sequence-before/payload/sequence-after
+okumasiyla coherence'i tekrar dogrular.
+
 Carrier register'i signed Q7 toplam NCO frekansidir. Doppler ve range-rate
 donusumu:
 
diff --git a/targets/asic/rocket/Makefile b/targets/asic/rocket/Makefile
index d548199..e9d7461 100644
--- a/targets/asic/rocket/Makefile
+++ b/targets/asic/rocket/Makefile
@@ -107,7 +107,12 @@ $(BOOTLOADER_IMG): FORCE $(BOOTLOADER_SW_SRCS)
 
 $(APP_ELF): $(APP_SW_SRCS)
 		test -d "$(APP_SW_DIR)"
-		$(MAKE) -C "$(APP_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(APP_BUILD_DIR)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" $(SIM_APP_MAKE_ARGS) all
+		$(MAKE) -C "$(APP_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(APP_BUILD_DIR)" \
+		  GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" \
+		  BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" \
+		  BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" \
+		  BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" \
+		  $(SIM_APP_MAKE_ARGS) all
 
 $(APP_FLASH_BIN): $(APP_ELF)
 		mkdir -p "$(FLASH_DIR)"
diff --git a/targets/fpga/genesys2/Makefile b/targets/fpga/genesys2/Makefile
index 59a0e2c..c6ecdd3 100644
--- a/targets/fpga/genesys2/Makefile
+++ b/targets/fpga/genesys2/Makefile
@@ -24,7 +24,7 @@ GDB_HOST ?= localhost
 GDB_PORT ?= 3333
 OPENOCD_ADAPTER_SPEED ?= 1000
 UART_PORT ?= auto
-UART_BAUD ?= 115200
+UART_BAUD ?= 460800
 BOARD ?= genesys2
 PART_NAME ?= xc7k325tffg900-2
 BOARD_PART ?= digilentinc.com:genesys2:part0:1.1
@@ -69,6 +69,8 @@ FLASH_REGIONS ?= auto
 FLASH_FORCE ?= 0
 GPS_DEBUG ?= 1
 GPS_DEBUG_LEVEL ?= 1
+GPS_ESKF_ENABLE ?= 1
+IMU_SENSOR ?= auto
 
 FLASH_MCS ?= $(OUT_DIR)/flash/genesys2_rocket.mcs
 FLASH_BIN ?= $(OUT_DIR)/flash/genesys2_rocket.bin
@@ -172,6 +174,8 @@ help:
 	  '  FLASH_FORCE=$(FLASH_FORCE)      # 1 forces unchanged regions too' \
 	  '  APP=$(APP)' \
 	  '  APP_ELF=$(APP_ELF)' \
+	  '  GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)' \
+	  '  IMU_SENSOR=$(IMU_SENSOR)' \
 	  '  UART_PORT=$(UART_PORT)' \
 	  '  ETH_RF_IFACE=$(ETH_RF_IFACE)' \
 	  '  ETH_RF_INPUT=$(ETH_RF_INPUT)' \
@@ -209,15 +213,17 @@ fpga-config:
 	  '  CFGMEM_PART=$(CFGMEM_PART)' \
 	  '  UART_PORT=$(UART_PORT)' \
 	  '  UART_BAUD=$(UART_BAUD)' \
+	  '  GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)' \
+	  '  IMU_SENSOR=$(IMU_SENSOR)' \
 	  '  ETH_RF_IFACE=$(ETH_RF_IFACE)' \
 	  '  ETH_RF_INPUT=$(ETH_RF_INPUT)' \
 	  '  ETH_RF_SAMPLE_FORMAT=$(ETH_RF_SAMPLE_FORMAT)'
 
 software:
-	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" bootloader flash-image
+	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" bootloader flash-image
 
 $(APP_ELF): FORCE
-	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" app
+	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" app
 
 chisel: software
 	@cd "$(REPO_DIR)"
diff --git a/targets/fpga/genesys2/README.md b/targets/fpga/genesys2/README.md
index 11bc58a..27bd7ae 100644
--- a/targets/fpga/genesys2/README.md
+++ b/targets/fpga/genesys2/README.md
@@ -16,7 +16,7 @@ Varsayilanlar:
 SoC/fabric clock  : 50 MHz
 GPS acquisition   : 80 MHz
 GPS tracking      : 125 MHz
-UART baud         : 115200
+UART baud         : 460800
 App flash offset  : 0x01800000
 QSPI flash        : 32 MiB S25FL256S
 RF input mode     : pmod
@@ -181,7 +181,7 @@ make -C targets/fpga/genesys2 bitstream
 make -C targets/fpga/genesys2 program-fpga
 make -C targets/fpga/genesys2 program-flash
 make -C targets/fpga/genesys2 program-app APP=gps_system
-make -C targets/fpga/genesys2 uart-listen UART_PORT=/dev/ttyUSB1 UART_BAUD=115200
+make -C targets/fpga/genesys2 uart-listen UART_PORT=/dev/ttyUSB1
 ```
 
 Kok Makefile uzerinden:
@@ -190,12 +190,25 @@ Kok Makefile uzerinden:
 make FPGA_BOARD=genesys2 fpga-config
 make FPGA_BOARD=genesys2 fpga-bitstream
 make FPGA_BOARD=genesys2 fpga-program
+
+# TDK + GPS + ESKF, UART varsayilani 460800
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-mcs
+
+# GPS-only; tracking, Doppler velocity WLS ve PPS aktif
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=0 fpga-mcs
 ```
 
 `program-app APP=gps_system` yalniz application flash bolgesini derleyip
 programlar. Tracking mailbox registerlari ve synchronizer RTL degisikligi
 bitstream gerektirir; Doppler IIR katsayisi/yazilim degisikligi ise bitstream
 gerektirmez, yalniz yeni `gps_system` uygulamasinin yuklenmesi yeterlidir.
+`GPS_ESKF_ENABLE` verilmezse ESKF aciktir. ESKF kapali profilde IMU ve fusion
+baslatilmaz; GPS acquisition/tracking, C/N0, Doppler velocity WLS, ham konum ve
+PPS calismaya devam eder. Iki profil ayni `genesys2_rocket.mcs/.bin` cikti
+yoluna yazdigi icin birlikte saklanacaksa build sonrasinda yeniden
+adlandirilmalidir.
 
 `debug-load APP=gps_system` ELF'i GDB ile DTIM/RAM'e yukler; hizli kart testi
 icin uygundur fakat power-cycle/reset sonrasinda flash'taki eski uygulama geri
diff --git a/targets/fpga/vcu118/Makefile b/targets/fpga/vcu118/Makefile
index c73343c..0f1234d 100644
--- a/targets/fpga/vcu118/Makefile
+++ b/targets/fpga/vcu118/Makefile
@@ -24,7 +24,7 @@ GDB_HOST ?= localhost
 GDB_PORT ?= 3333
 OPENOCD_ADAPTER_SPEED ?= 1000
 UART_PORT ?= /dev/ttyUSB2
-UART_BAUD ?= 115200
+UART_BAUD ?= 460800
 BOARD ?= vcu118
 PART_NAME ?= xcvu9p-flga2104-2L-e
 BOARD_PART ?= xilinx.com:vcu118:part0:2.4
@@ -68,6 +68,8 @@ FLASH_REGIONS ?= auto
 FLASH_FORCE ?= 0
 GPS_DEBUG ?= 1
 GPS_DEBUG_LEVEL ?= 4
+GPS_ESKF_ENABLE ?= 1
+IMU_SENSOR ?= auto
 
 FLASH_MCS ?= $(OUT_DIR)/flash/vcu118_rocket.mcs
 FLASH_BIN ?= $(OUT_DIR)/flash/vcu118_rocket.bin
@@ -171,6 +173,8 @@ help:
 	  '  FLASH_FORCE=$(FLASH_FORCE)      # 1 forces unchanged regions too' \
 	  '  APP=$(APP)' \
 	  '  APP_ELF=$(APP_ELF)' \
+	  '  GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)' \
+	  '  IMU_SENSOR=$(IMU_SENSOR)' \
 	  '  UART_PORT=$(UART_PORT)' \
 	  '  ETH_RF_IFACE=$(ETH_RF_IFACE)' \
 	  '  ETH_RF_INPUT=$(ETH_RF_INPUT)' \
@@ -207,13 +211,15 @@ fpga-config:
 	  '  FLASH_INTERFACE=$(FLASH_INTERFACE)' \
 	  '  CFGMEM_PART=$(CFGMEM_PART)' \
 	  '  UART_PORT=$(UART_PORT)' \
-	  '  UART_BAUD=$(UART_BAUD)'
+	  '  UART_BAUD=$(UART_BAUD)' \
+	  '  GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)' \
+	  '  IMU_SENSOR=$(IMU_SENSOR)'
 
 software:
-	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" bootloader flash-image
+	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" bootloader flash-image
 
 $(APP_ELF): FORCE
-	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" app
+	@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" app
 
 chisel: software
 	@cd "$(REPO_DIR)"