Rate limit corrected UART telemetry

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);
 }