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fix(gps): synchronize complete raw navigation epochs

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onur
2026-07-24 15:00:40 +03:00
parent fe0eb19dc5
commit e57b19b4ee
13 changed files with 344 additions and 116 deletions
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soc/software/fusion/tests/standalone_gps_integrity_test.c
+8 -7
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@@ -909,15 +909,16 @@ static void run_general_synthetic_scenario(const double receiver_truth[3],
stage_metrics->candidate_total += candidate_count;
gps_nav_epoch_selection_t selection;
bool selected = gps_nav_epoch_select(
bool selected = gps_nav_epoch_validate_complete(
candidates, candidate_count, EPOCH_SAMPLE_WINDOW,
EPOCH_TOW_TOLERANCE_SEC, &selection);
unsigned selected_count = selected ? selection.selected_count : 0u;
unsigned selected_count = selection.selected_count;
stage_metrics->selected_total += selected_count;
stage_metrics->epoch_exclusions += candidate_count - selected_count;
if (stage == STAGE_DELAYED_CHANNEL &&
(selected_count != 7u ||
(selected ||
selected_count != 7u ||
(selection.selected_mask & (1u << 7)) != 0u)) {
delayed_selection_failures++;
}
@@ -930,7 +931,7 @@ static void run_general_synthetic_scenario(const double receiver_truth[3],
postcommit_join_count_failures++;
}
if (selected_count < STATE_DIM) {
if (!selected || selected_count < STATE_DIM) {
continue;
}
@@ -983,14 +984,14 @@ static void run_general_synthetic_scenario(const double receiver_truth[3],
CHECK(metrics[STAGE_THREE_DROPOUTS].fixes >= 58u,
"five remaining satellites must continue producing fixes");
CHECK(metrics[STAGE_MINIMUM_FOUR].fixes == 40u,
"four satellites must remain a publishable minimum fix");
"four satellites must remain a raw publishable minimum fix");
CHECK(metrics[STAGE_OUTAGE_THREE].fixes == 0u && below_minimum_fixes == 0u,
"three satellites must suppress the position solution");
CHECK(metrics[STAGE_REACQUIRE].fixes >= 58u,
"position must recover after satellite reacquisition");
CHECK(delayed_selection_failures == 0u &&
metrics[STAGE_DELAYED_CHANNEL].fixes >= 58u,
"delayed/newest outlier channel must be excluded without blocking fixes");
metrics[STAGE_DELAYED_CHANNEL].fixes == 0u,
"incoherent delayed channel must reject the complete raw epoch");
CHECK(precommit_join_count_failures == 0u,
"joining channel must remain excluded before matching SF1/SF2/SF3");
CHECK(postcommit_join_count_failures == 0u,