feat(gps): expose Doppler and signal quality measurements

2026-07-25 11:30:38 +03:00
parent 64860d1ced
commit b2ca7db633
26 changed files with 2042 additions and 59 deletions
@@ -21,8 +21,12 @@ typedef struct {
 	double vacc_m;
 	double residual_rms_m;
 	double chi_square_ratio;
+	double velocity_ecef_mps[3];
+	double speed_mps;
+	double velocity_residual_rms_mps;
 	unsigned int used_satellites;
 	bool solution_valid;
+	bool velocity_valid;
 } fusion_gps_measurement_t;

 /* Timestamped IMU plus the independently supervised platform state consumed