Add GPS integrity checks and GPS IMU ESKF fusion tools

2026-07-13 11:08:12 +03:00
parent 8260862854
commit 4edb665d52
50 changed files with 21581 additions and 14357 deletions
@@ -1,6 +1,8 @@
 .section .text.start, "ax", @progbits
 .globl _start
 _start:
+  /* Debug/JTAG may replace the RAM image without resetting Rocket's I-cache. */
+  fence.i
  csrw mie, zero
  li t0, 0x8
  csrc mstatus, t0