Add GPS integrity checks and GPS IMU ESKF fusion tools

soc/software/gps_system/Makefile

@@ -1,9 +1,15 @@
 TARGET := gps_system
 
+# The current Genesys2 Rocket/fabric domain that clocks the UART is 50 MHz.
+# Keep the requested 115200 baud physical rather than producing 57600 baud
+# with the common 100 MHz fallback divider.
+BSP_UART_CLOCK_HZ ?= 50000000
+
 APP_SRCS := \
 	gps_test.c \
 	src/gps_ip.c \
 	src/gps_interrupt_handlers.c \
+	src/gps_time_anchor.c \
 	src/gps_pps.c \
 	src/linked_list.c \
 	src/NavEquations.c \
@@ -17,3 +23,7 @@ LDLIBS += -lm
 ifeq ($(GPS_DEBUG),1)
 CFLAGS += -DDEBUG -DGPS_DEBUG_LEVEL=$(GPS_DEBUG_LEVEL)
 endif
+
+ifeq ($(GPS_NAV_DIAGNOSTICS),1)
+CFLAGS += -DGPS_NAV_JUMP_DIAGNOSTICS=1
+endif