Integrate asynchronous GPS IMU fusion

soc/software/gps_system/header/adapters/gps_fusion_publisher.h

@@ -0,0 +1,17 @@
+#ifndef GPS_FUSION_PUBLISHER_H
+#define GPS_FUSION_PUBLISHER_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "gps/NavEquations.h"
+#include "fusion/fusion_measurement.h"
+
+/* Thin boundary adapter used by main.  GPS and the ESKF do not call each
+ * other; main converts the completed WLS output to the shared measurement. */
+bool gps_fusion_build_measurement(
+	const gps_nav_solution_t* solution,
+	uint64_t measurement_timestamp_ticks,
+	fusion_gps_measurement_t* measurement_out);
+
+#endif

soc/software/gps_system/header/adapters/gps_system_uart.h

@@ -0,0 +1,27 @@
+#ifndef GPS_SYSTEM_UART_H
+#define GPS_SYSTEM_UART_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "fusion/navigation_fusion.h"
+#include "gps/NavEquations.h"
+
+void gps_system_uart_publish_location(
+	const char* source,
+	double latitude_deg,
+	double longitude_deg,
+	double height_m,
+	const gps_nav_solution_t* gps);
+
+void gps_system_uart_publish_startup(
+	bool fusion_enabled,
+	bool fusion_initialized,
+	bool imu_initialized,
+	bool imu_running);
+
+void gps_system_uart_publish_periodic_fusion_status(
+	navigation_fusion_output_t* output,
+	uint64_t* last_status_tick);
+
+#endif

soc/software/gps_system/header/adapters/imu_fusion_profile.h

@@ -0,0 +1,14 @@
+#ifndef IMU_FUSION_PROFILE_H
+#define IMU_FUSION_PROFILE_H
+
+#include <stdbool.h>
+
+#include "fusion/fusion_imu_quality.h"
+#include "imu/imu_sensor.h"
+
+/* Explicit adapter from a selected sensor backend to ESKF tuning values. */
+bool imu_fusion_quality_profile_for_backend(
+	imu_sensor_backend_t backend,
+	fusion_imu_quality_profile_t* profile_out);
+
+#endif