Add fusion trajectory replay view

README.md

@@ -24,6 +24,9 @@ VDOP : 2.2370935468
 TDOP : 2.2526165852
 tracking PRNs: G03, G08, 14, 21
 SV=G27
+[LOCATION] source=gps lat=40.7357 lon=31.5985 height=812.0 gdop=4.7 pdop=4.1 hdop=2.7 vdop=3.0 tdop=2.3 tracked=6 used=5
+[LOCATION] source=imu_corrected lat=40.7356 lon=31.5985 height=812.7 gdop=4.7 pdop=4.1 hdop=2.7 vdop=3.0 tdop=2.3 tracked=6 used=5
+[LOCATION] source=trajectory lat=40.7358 lon=31.5987 height=812.1 tracked=4 used=4
 lattitude : 40.78925034214206846173
 longitude : 29.46277530841727809729
 height    : -89.05779508221894502640
@@ -38,6 +41,9 @@ Accepted location labels:
   `activeSats`, `satellites_active`, `num_sats`, `uydu`
 - DOP: `GDOP`, `PDOP`, `HDOP`, `VDOP`, `TDOP`
 - GPS identifiers: `G03`, `PRN: 3`, `PRNs: 3, 8, 14`, `SV=G21`, `SVID: 27`
+- Location source: `source=gps`, `source=imu_corrected`, `source=trajectory`
+- `tracked` is accepted as the active satellite count; `used` remains visible in
+  the raw UART line and denotes satellites used by the WLS solution.
 
 If a satellite count arrives without a location, the active satellite display is updated.
 If a location arrives without a satellite count, the latest known satellite count is attached
@@ -47,6 +53,48 @@ section and are attached to the next plotted point.
 If latitude, longitude, and height arrive as separate consecutive lines, they are combined
 into a single plotted point.
 
+The GPS firmware's level-1 paired protocol is source-aware. Every received
+`source=gps` location is added to the blue GPS series and every
+`source=imu_corrected` location is immediately added to the red corrected series.
+Paths are built independently, so alternating UART lines do not create GPS-to-IMU
+zigzags. When corrected points exist, CEP50, average and scatter calculations use
+only that corrected series; legacy input without a source keeps the previous behavior.
+Synthetic `source=trajectory` points form a third independent green ground-truth
+path. The map legend identifies all three series.
+
+## Sentetik ESKF senaryolarini açma
+
+GPS deposundan 48 kombinasyonun replay loglarini üretin:
+
+```bash
+cd /home/onur/Desktop/gps
+make -C soc/software/fusion/tests scenario-logs
+```
+
+Sonra GUI'yi açıp `Senaryo Logu Ac` düğmesinden örneğin
+`soc/software/fusion/tests/output/scenarios/car_gps200_imu20.log` dosyasını seçin.
+GUI logdaki bütün rotayı otomatik sığdırır. Aynı dosya komut satırından da
+doğrudan açılabilir:
+
+```bash
+cd /home/onur/Desktop/location_plotter
+cmake -S . -B build
+cmake --build build -j
+./build/location_plotter --replay \
+  /home/onur/Desktop/gps/soc/software/fusion/tests/output/scenarios/car_gps200_imu20.log
+```
+
+Tek bir özel kombinasyon üretmek için:
+
+```bash
+cd /home/onur/Desktop/gps/soc/software/fusion/tests
+make platform_scenario_matrix_test
+./platform_scenario_matrix_test --log aircraft 500 19 aircraft.log
+```
+
+Desteklenen senaryolar `stationary`, `pedestrian`, `car`, `aircraft`; GNSS
+periyotları 200/500/1000 ms, IMU periyotları 19/20/200/300 ms'dir.
+
 ## Ubuntu'da kurulum
 
 Ubuntu 22.04 ve daha yeni surumlerde gerekli paketleri kurmak, uygulamayi derlemek ve
@@ -136,6 +184,9 @@ without logging out.
   marker can be toggled on the map.
 - The map layers panel can hide all telemetry overlays, show only the newest location instead
   of the recent path, and independently toggle the average marker.
+- GPS points and paths are blue. IMU+ESKF corrected points and their independent
+  path are red. Synthetic ground-truth trajectory is green; the locations table
+  shows the parsed source in its `Kaynak` column.
 - The application calculates empirical CEP50 as the median horizontal distance of the retained
   measurements from their spherical mean, then draws the circle around that measurement center.
   This is the radius containing 50 percent of the retained position fixes and is independent of