diff --git a/soc/software/Makefile b/soc/software/Makefile
index e49f758..5536a1f 100644
--- a/soc/software/Makefile
+++ b/soc/software/Makefile
@@ -16,6 +16,7 @@ BSP_UART_BAUDRATE ?= 115200
 GPS_SYSTEM_UART_BAUDRATE ?= 460800
 BSP_CLINT_TIMEBASE_HZ ?= 1000000
 GPS_SYSTEM_CLINT_TIMEBASE_HZ ?= 500000
+GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES ?= 5
 # BSP_DTIM_* mirrors the FPGA DTIM_* knobs and is used by C code plus linker scripts.
 BSP_DTIM_BASE ?= 0x80000000
 BSP_DTIM_SIZE ?= 0x00100000
@@ -43,6 +44,7 @@ help:
 	@echo "  GPS_SYSTEM_UART_BAUDRATE=$(GPS_SYSTEM_UART_BAUDRATE)"
 	@echo "  BSP_CLINT_TIMEBASE_HZ=$(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)"
 	@echo "  BSP_DTIM_BASE=$(BSP_DTIM_BASE)"
 	@echo "  BSP_DTIM_SIZE=$(BSP_DTIM_SIZE)"
 
@@ -61,7 +63,7 @@ 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="$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(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="$(GPS_DEBUG_LEVEL)" BSP_UART_CLOCK_HZ="$(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)"
diff --git a/soc/software/gps_system/Makefile b/soc/software/gps_system/Makefile
index 2ec82d0..68866d2 100644
--- a/soc/software/gps_system/Makefile
+++ b/soc/software/gps_system/Makefile
@@ -44,6 +44,9 @@ endif
 IMU_ACCEL_FS_G ?= 0
 IMU_GYRO_FS_DPS ?= 0
 GPS_ESKF_ENABLE ?= 1
+# UART telemetry cadence only; ESKF prediction still runs for every IMU sample.
+# At the default 50 Hz ODR, 5 samples produce one corrected record every 100 ms.
+IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES ?= 5
 
 APP_SRCS := \
 	gps_system.c \
@@ -81,6 +84,7 @@ CFLAGS += $(IMU_BACKEND_CFLAG) \
 	-DIMU_ACCEL_FS_G=$(IMU_ACCEL_FS_G) \
 	-DIMU_GYRO_FS_DPS=$(IMU_GYRO_FS_DPS) \
 	-DGPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE) \
+	-DIMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES=$(IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES) \
 	-DGPS_NAV_SOLVE_TIMER_TICKS=$(GPS_NAV_SOLVE_TIMER_TICKS)
 LDLIBS += -lm
 
diff --git a/soc/software/gps_system/README.md b/soc/software/gps_system/README.md
index ca5ef3d..b35a4a3 100644
--- a/soc/software/gps_system/README.md
+++ b/soc/software/gps_system/README.md
@@ -198,9 +198,9 @@ bagimsiz yuksek-ODR zamanlama gerekirse sensor FIFO timestamp'i kullanilmalidir.
 
 ### Level-1 konum UART protokolu
 
-Her gecerli GPS navigation epoch'unda level 1'de iki konum satiri art arda
-yayinlanir. Ilk satir WLS GPS konumu, ikinci satir o anda mevcut IMU+ESKF
-duzeltilmis konumdur:
+Her gecerli GPS navigation epoch'unda ham WLS GPS konumu yayinlanir. ESKF
+duzeltilmis konumu ise GPS epoch'undan bagimsiz olarak IMU ornek sayaci
+uzerinden yayinlanir:
 
 ```text
 [LOCATION] source=gps lat=... lon=... height=... gdop=... pdop=... hdop=... vdop=... tdop=... tracked=... used=...
@@ -208,10 +208,28 @@ duzeltilmis konumdur:
 ```
 
 `tracked`, donanimda calisan tracking kanal sayisini; `used`, ilgili WLS
-cozumunde kullanilan uydu sayisini belirtir. DOP alanlari ayni GPS epoch'unun
-geometrisidir ve iki satirda ayni tasinir. ESKF henuz kalibrasyon/origin
-asamasindaysa yalniz GPS satiri yayinlanir; ESKF valid olduktan sonra her GPS
-konumu geldiginde iki satir da yayinlanir. Eski `[NAV] position` ve periyodik
+cozumunde kullanilan uydu sayisini belirtir. ESKF henuz kalibrasyon/origin
+asamasindaysa yalniz GPS satiri yayinlanir. Origin kurulduktan sonra GPS
+reddedilse veya gecici olarak kesilse de corrected konum IMU ile ilerlemeye
+devam eder.
+
+Varsayilan corrected UART periyodu bes IMU ornegidir. 50 Hz sensor hedefinde
+bu yaklasik 100 ms/10 Hz demektir. Bu bolucu yalniz UART logunu seyreltir;
+sensor okuma ve ESKF prediction her IMU orneginde calismaya devam eder:
+
+```sh
+# Varsayilan: 20 ms x 5 ~= 100 ms
+make -C soc/software/gps_system IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES=5
+
+# 20 ms x 2 ~= 40 ms
+make -C soc/software/gps_system IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES=2
+
+# Parent software hedefi uzerinden ayni ayar
+make -C soc/software gps-system GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES=5
+```
+
+Deger en az `1` olmalidir. Secilen bolucu startup satirinda
+`publish_every=` alaniyla gorulur. Eski `[NAV] position` ve periyodik
 `[FUSION] lat/lon` ayrintilari daha yuksek debug seviyesindedir; level 1
 parser'inin ayni konumu birden fazla kez gormesi engellenir.
 
diff --git a/soc/software/gps_system/gps_system.c b/soc/software/gps_system/gps_system.c
index 1e4236d..c9b1ae8 100644
--- a/soc/software/gps_system/gps_system.c
+++ b/soc/software/gps_system/gps_system.c
@@ -18,6 +18,14 @@
 #error "GPS_ESKF_ENABLE must be 0 or 1"
 #endif
 
+#ifndef IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES
+#define IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES 5u
+#endif
+
+#if (IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES < 1)
+#error "IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES must be at least one"
+#endif
+
 #define IMU_SAMPLES_BEFORE_GPS_SERVICE 1u
 #define IMU_SAMPLES_AFTER_GPS_SERVICE  3u
 
@@ -67,10 +75,20 @@ static unsigned int feed_pending_imu_to_eskf(
 		   (system->fused_solution.timestamp_ticks !=
 		    system->last_fused_location_tick))
 		{
-			gps_system_uart_publish_fused_location(
-				&system->fused_solution);
-			system->last_fused_location_tick =
-				system->fused_solution.timestamp_ticks;
+			system->fused_publish_sample_count++;
+			bool first_location =
+				(system->last_fused_location_tick == 0u);
+			bool publish_due =
+				(system->fused_publish_sample_count >=
+				 IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES);
+			if(first_location || publish_due)
+			{
+				gps_system_uart_publish_fused_location(
+					&system->fused_solution);
+				system->last_fused_location_tick =
+					system->fused_solution.timestamp_ticks;
+				system->fused_publish_sample_count = 0u;
+			}
 		}
 		processed++;
 	}
@@ -93,7 +111,8 @@ int main(void)
 	gps_receiver_start_acquisition();
 	gps_system_uart_publish_startup(
 		system.fusion_enabled, system.fusion_initialized,
-		system.imu_initialized, system.imu_running);
+		system.imu_initialized, system.imu_running,
+		IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES);
 
 	bool imu_backlog_may_remain = false;
 	for(;;)
diff --git a/soc/software/gps_system/header/adapters/gps_system_uart.h b/soc/software/gps_system/header/adapters/gps_system_uart.h
index 2730c1c..189e643 100644
--- a/soc/software/gps_system/header/adapters/gps_system_uart.h
+++ b/soc/software/gps_system/header/adapters/gps_system_uart.h
@@ -21,7 +21,8 @@ void gps_system_uart_publish_startup(
 	bool fusion_enabled,
 	bool fusion_initialized,
 	bool imu_initialized,
-	bool imu_running);
+	bool imu_running,
+	unsigned int fused_publish_every_samples);
 
 void gps_system_uart_publish_periodic_fusion_status(
 	navigation_fusion_output_t* output,
diff --git a/soc/software/gps_system/header/gps_system.h b/soc/software/gps_system/header/gps_system.h
index a59e652..0f3bdc4 100644
--- a/soc/software/gps_system/header/gps_system.h
+++ b/soc/software/gps_system/header/gps_system.h
@@ -19,6 +19,7 @@ typedef struct {
 	uint64_t gps_measurement_ticks;
 	uint64_t last_fused_location_tick;
 	uint64_t last_status_tick;
+	uint32_t fused_publish_sample_count;
 	bool gps_epoch_ready;
 	bool fusion_enabled;
 	bool imu_initialized;
diff --git a/soc/software/gps_system/src/adapters/gps_system_uart.c b/soc/software/gps_system/src/adapters/gps_system_uart.c
index d58faa7..d5abfe1 100644
--- a/soc/software/gps_system/src/adapters/gps_system_uart.c
+++ b/soc/software/gps_system/src/adapters/gps_system_uart.c
@@ -47,8 +47,8 @@ void gps_system_uart_publish_fused_location(
 		(output->gps_accepted > 0u) && (age_ms <= GPS_AIDED_MAX_AGE_MS)
 		? "gps_aided" : "dead_reckoning";
 
-	/* At 50 Hz this compact record uses about 14% of the 460800-baud link,
-	 * leaving headroom for navigation work and lower-rate diagnostics. */
+	/* The application rate-limits this compact record by IMU sample count,
+	 * leaving UART headroom without reducing the ESKF prediction rate. */
 	GPS_LOG(DEBUG_STATUS, GPS_LOG_CAT_LOCATION,
 	        "source=imu_corrected mode=%s lat=%.9lf lon=%.9lf "
 	        "height=%.2lf gps_age_ms=%lu\r\n",
@@ -60,13 +60,15 @@ void gps_system_uart_publish_startup(
 	bool fusion_enabled,
 	bool fusion_initialized,
 	bool imu_initialized,
-	bool imu_running)
+	bool imu_running,
+	unsigned int fused_publish_every_samples)
 {
 	imu_sensor_diagnostics_t imu;
 	imu_sensor_get_diagnostics(&imu);
 	GPS_LOG(DEBUG_STATUS, GPS_LOG_CAT_FUSION,
 	        "init eskf_enabled=%u eskf_ready=%u imu=%u sensor=%s who=0x%02x "
-	        "running=%u target_hz=%lu actual_hz=%lu nav_ms=%u timebase_hz=%lu\r\n",
+	        "running=%u target_hz=%lu actual_hz=%lu publish_every=%u "
+	        "nav_ms=%u timebase_hz=%lu\r\n",
 	        fusion_enabled ? 1u : 0u,
 	        fusion_initialized ? 1u : 0u,
 	        imu_initialized ? 1u : 0u,
@@ -75,6 +77,7 @@ void gps_system_uart_publish_startup(
 	        imu_running ? 1u : 0u,
 	        (unsigned long)imu.requested_odr_hz,
 	        (unsigned long)imu.configured_odr_hz,
+	        fused_publish_every_samples,
 	        GPS_NAV_SOLVE_PERIOD_MS,
 	        (unsigned long)BSP_CLINT_TIMEBASE_HZ);
 }