Prefer corrected position for map following

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.20)
 
-project(location_plotter VERSION 0.2.0 LANGUAGES CXX)
+project(location_plotter VERSION 0.3.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -62,6 +62,9 @@ add_executable(location_parser_tests
     src/TelemetryPoint.h
 )
 target_link_libraries(location_parser_tests PRIVATE Qt6::Core Qt6::Network ZLIB::ZLIB)
+target_compile_options(location_parser_tests PRIVATE
+    $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-UNDEBUG>
+)
 add_test(NAME location_parser_tests COMMAND location_parser_tests)
 
 add_executable(location_main_window_tests
@@ -82,6 +85,9 @@ add_executable(location_main_window_tests
     src/TelemetryPoint.h
 )
 target_link_libraries(location_main_window_tests PRIVATE Qt6::Core Qt6::Widgets Qt6::Network ZLIB::ZLIB)
+target_compile_options(location_main_window_tests PRIVATE
+    $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-UNDEBUG>
+)
 qt_add_resources(location_main_window_tests "test_app_resources"
     PREFIX "/"
     FILES resources/ankasys-logo.png resources/land-110m.json

README.md

@@ -55,10 +55,14 @@ 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.
+`source=imu_corrected` location is added to the red corrected series at the
+firmware-configured UART cadence.
 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.
+zigzags. A corrected point newer than one second is also preferred for map
+auto-follow, the current-position label and the globe receiver marker. Raw GPS
+outliers remain visible in blue for diagnosis without pulling the whole view away.
+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.
 
@@ -187,7 +191,8 @@ ancak son gecerli RINEX verisi ve harita onbellegiyle cevrimdisi kullanim da des
 Port secici Linux'ta `/dev/ttyUSB*` ve `/dev/ttyACM*`; macOS'ta USB ile ilgili
 `/dev/cu.*` ve `/dev/tty.*` aygitlarini listeler. Hic aygit algilanmazsa Linux'ta
 `/dev/ttyUSB2`, macOS'ta `/dev/cu.usbserial` duzenlenebilir bir varsayilan yol olarak
-gosterilir. Varsayilan baud rate `115200`'dur.
+gosterilir. 50 Hz IMU-duzeltilmis konum akisini kayipsiz tasimak icin varsayilan baud
+rate `460800`'dur.
 
 If the port cannot be opened, make sure the user has serial access:
 
@@ -216,7 +221,13 @@ without logging out.
   receiver marker without resetting a globe orientation chosen by dragging.
 - RINEX download starts at every launch, repeats every 15 minutes, and falls back through the
   previous two UTC days if today's stream file is unavailable. Current and next-minute satellite
-  positions are propagated from the cached ephemeris, then smoothly interpolated at 30 FPS.
+  positions are propagated from the cached ephemeris, then smoothly interpolated at 10 FPS.
+- The 3D Earth tab includes a `RINEX Guncelle` button for an immediate manual refresh. Its status
+  line shows the UTC time of the last successful download or cache load.
+- Complete UART channel snapshots such as `tracked satellites=5 prns=[...]` replace the previous
+  connected-PRN set, so satellites that were lost no longer remain green.
+- RINEX text is parsed once per download and retained as compact ephemeris records. The static
+  globe is cached between camera changes, reducing CPU and allocation load during orbit animation.
 - The globe uses an embedded Natural Earth coastline mask with terrain-like land colouring,
   shallow-water edges, atmospheric shading, and a cached Earth-fixed texture for smooth rotation.
 - The main content width and the right-side dashboard/UART height are both adjustable by

src/GlobeWidget.cpp

@@ -15,6 +15,7 @@
 
 #include <algorithm>
 #include <cmath>
+#include <utility>
 
 namespace {
 constexpr double Pi = 3.14159265358979323846;
@@ -211,8 +212,10 @@ GlobeWidget::GlobeWidget(QWidget *parent)
     setMouseTracking(true);
     setCursor(Qt::OpenHandCursor);
     setToolTip(QStringLiteral("Dunyayi dondurmek icin surukleyin, yakinlastirmak icin tekerlegi kullanin"));
-    m_satelliteAnimationTimer.setInterval(33);
-    m_satelliteAnimationTimer.setTimerType(Qt::PreciseTimer);
+    // GNSS satellites move only a few screen pixels per minute. Ten frames per
+    // second is visually smooth here and avoids repainting a static globe at 30 FPS.
+    m_satelliteAnimationTimer.setInterval(100);
+    m_satelliteAnimationTimer.setTimerType(Qt::CoarseTimer);
     connect(&m_satelliteAnimationTimer, &QTimer::timeout,
             this, &GlobeWidget::updateSatelliteAnimation);
 }
@@ -235,8 +238,29 @@ void GlobeWidget::setSatelliteMotion(const QVector<SatellitePosition> &current,
 
     // Continue from the currently rendered points when a fresh ephemeris arrives,
     // avoiding even a small visual jump at the update boundary.
-    m_satelliteMotionStart = m_satellites.isEmpty() ? current : m_satellites;
-    m_satelliteMotionTarget = next;
+    const QVector<SatellitePosition> &candidateStart =
+        m_satellites.isEmpty() ? current : m_satellites;
+    QHash<QString, SatellitePosition> starts;
+    starts.reserve(candidateStart.size());
+    for (const SatellitePosition &satellite : candidateStart) {
+        starts.insert(satellite.prn, satellite);
+    }
+
+    m_satelliteMotionStart.clear();
+    m_satelliteMotionTarget.clear();
+    m_satelliteMotionStart.reserve(next.size());
+    m_satelliteMotionTarget.reserve(next.size());
+    for (const SatellitePosition &target : next) {
+        const auto start = starts.constFind(target.prn);
+        if (start == starts.cend()) continue;
+        m_satelliteMotionStart.push_back(start.value());
+        m_satelliteMotionTarget.push_back(target);
+    }
+    if (m_satelliteMotionStart.isEmpty()) {
+        setSatellites(current);
+        m_satelliteAnimationTimer.stop();
+        return;
+    }
     m_satelliteMotionDurationMs = durationMs;
     m_satelliteMotionClock.restart();
     m_satelliteAnimationTimer.start();
@@ -250,18 +274,11 @@ void GlobeWidget::updateSatelliteAnimation()
     const double progress = std::clamp(
         static_cast<double>(m_satelliteMotionClock.elapsed()) / m_satelliteMotionDurationMs,
         0.0, 1.0);
-    QHash<QString, SatellitePosition> targets;
-    targets.reserve(m_satelliteMotionTarget.size());
-    for (const SatellitePosition &satellite : m_satelliteMotionTarget) {
-        targets.insert(satellite.prn, satellite);
-    }
-
     QVector<SatellitePosition> interpolated;
     interpolated.reserve(m_satelliteMotionStart.size());
-    for (const SatellitePosition &start : m_satelliteMotionStart) {
-        const auto targetIt = targets.constFind(start.prn);
-        if (targetIt == targets.cend()) continue;
-        const SatellitePosition &target = targetIt.value();
+    for (qsizetype i = 0; i < m_satelliteMotionStart.size(); ++i) {
+        const SatellitePosition &start = m_satelliteMotionStart[i];
+        const SatellitePosition &target = m_satelliteMotionTarget[i];
         SatellitePosition point = start;
         point.x += (target.x - start.x) * progress;
         point.y += (target.y - start.y) * progress;
@@ -336,6 +353,74 @@ void GlobeWidget::paintEvent(QPaintEvent *)
     QPainter painter(this);
     painter.setRenderHint(QPainter::Antialiasing, true);
 
+    const qreal devicePixelRatio = devicePixelRatioF();
+    if (m_staticLayer.isNull() || m_staticLayerSize != size()
+        || !qFuzzyCompare(m_staticLayerDevicePixelRatio, devicePixelRatio)
+        || m_staticLayerYaw != m_yaw || m_staticLayerPitch != m_pitch
+        || m_staticLayerZoom != m_zoom) {
+        rebuildStaticLayer();
+    }
+    painter.drawPixmap(0, 0, m_staticLayer);
+
+    if (m_hasReceiver) drawVisibilityCone(painter);
+    if (m_hasReceiver) drawReceiver(painter);
+    const int visibleCount = drawSatellites(painter);
+
+    painter.setPen(QColor(229, 240, 249));
+    QFont titleFont = painter.font();
+    titleFont.setPixelSize(18);
+    titleFont.setBold(true);
+    painter.setFont(titleFont);
+    painter.drawText(QRect(20, 16, width() - 40, 28), Qt::AlignLeft | Qt::AlignVCenter,
+                     QStringLiteral("GNSS YORUNGE GORUNUMU"));
+    QFont smallFont = painter.font();
+    smallFont.setPixelSize(11);
+    smallFont.setBold(false);
+    painter.setFont(smallFont);
+    painter.setPen(m_statusError ? QColor(255, 177, 77) : QColor(132, 177, 204));
+    painter.drawText(QRect(20, 43, width() - 40, 22), Qt::AlignLeft | Qt::AlignVCenter, m_status);
+
+    const int legendY = height() - 25;
+    const int legendX = width() / 2 - 125;
+    painter.setPen(Qt::NoPen);
+    painter.setBrush(QColor(42, 224, 137));
+    painter.drawEllipse(QPointF(legendX, legendY - 3), 4, 4);
+    painter.setPen(QColor(101, 239, 176));
+    painter.drawText(legendX + 9, legendY + 1, QStringLiteral("BULUNDU"));
+    painter.setPen(Qt::NoPen);
+    painter.setBrush(QColor(255, 79, 95));
+    painter.drawEllipse(QPointF(legendX + 78, legendY - 3), 4, 4);
+    painter.setPen(QColor(255, 132, 143));
+    painter.drawText(legendX + 87, legendY + 1, QStringLiteral("BULUNAMADI"));
+    painter.setPen(QColor(138, 183, 207));
+    painter.drawText(legendX + 181, legendY + 1,
+                     QStringLiteral("%1/%2 PRN · ELEV≥%3°: %4")
+                         .arg(m_observedPrns.size()).arg(m_satellites.size())
+                         .arg(m_elevationMaskDegrees, 0, 'f', 1).arg(visibleCount));
+
+    if (!m_hasReceiver) {
+        painter.setPen(QColor(219, 232, 241));
+        QFont waitingFont = painter.font();
+        waitingFont.setPixelSize(16);
+        waitingFont.setBold(true);
+        painter.setFont(waitingFont);
+        painter.drawText(rect().adjusted(30, 70, -30, -50), Qt::AlignCenter,
+                         QStringLiteral("Ilk gecerli konum bekleniyor"));
+    }
+}
+
+void GlobeWidget::rebuildStaticLayer()
+{
+    const qreal devicePixelRatio = devicePixelRatioF();
+    const QSize pixelSize(
+        std::max(1, qRound(width() * devicePixelRatio)),
+        std::max(1, qRound(height() * devicePixelRatio)));
+    QPixmap layer(pixelSize);
+    layer.setDevicePixelRatio(devicePixelRatio);
+    layer.fill(Qt::transparent);
+    QPainter painter(&layer);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+
     QLinearGradient background(0, 0, width(), height());
     background.setColorAt(0.0, QColor(3, 10, 21));
     background.setColorAt(0.55, QColor(8, 24, 43));
@@ -374,63 +459,23 @@ void GlobeWidget::paintEvent(QPaintEvent *)
     painter.restore();
 
     for (int i = 0; i < 3; ++i) drawOrbit(painter, 55.0 + i * 1.8, i * 61.0 + 12.0);
-    if (m_hasReceiver) drawVisibilityCone(painter);
-    if (m_hasReceiver) drawReceiver(painter);
-    drawSatellites(painter);
+    painter.end();
 
-    painter.setPen(QColor(229, 240, 249));
-    QFont titleFont = painter.font();
-    titleFont.setPixelSize(18);
-    titleFont.setBold(true);
-    painter.setFont(titleFont);
-    painter.drawText(QRect(20, 16, width() - 40, 28), Qt::AlignLeft | Qt::AlignVCenter,
-                     QStringLiteral("GNSS YORUNGE GORUNUMU"));
-    QFont smallFont = painter.font();
-    smallFont.setPixelSize(11);
-    smallFont.setBold(false);
-    painter.setFont(smallFont);
-    painter.setPen(m_statusError ? QColor(255, 177, 77) : QColor(132, 177, 204));
-    painter.drawText(QRect(20, 43, width() - 40, 22), Qt::AlignLeft | Qt::AlignVCenter, m_status);
-
-    const int legendY = height() - 25;
-    const int legendX = width() / 2 - 125;
-    painter.setPen(Qt::NoPen);
-    painter.setBrush(QColor(42, 224, 137));
-    painter.drawEllipse(QPointF(legendX, legendY - 3), 4, 4);
-    painter.setPen(QColor(101, 239, 176));
-    painter.drawText(legendX + 9, legendY + 1, QStringLiteral("BULUNDU"));
-    painter.setPen(Qt::NoPen);
-    painter.setBrush(QColor(255, 79, 95));
-    painter.drawEllipse(QPointF(legendX + 78, legendY - 3), 4, 4);
-    painter.setPen(QColor(255, 132, 143));
-    painter.drawText(legendX + 87, legendY + 1, QStringLiteral("BULUNAMADI"));
-    painter.setPen(QColor(138, 183, 207));
-    int visibleCount = 0;
-    for (const auto &satellite : m_satellites) {
-        if (satelliteElevation(satellite) >= m_elevationMaskDegrees) ++visibleCount;
-    }
-    painter.drawText(legendX + 181, legendY + 1,
-                     QStringLiteral("%1/%2 PRN · ELEV≥%3°: %4")
-                         .arg(m_observedPrns.size()).arg(m_satellites.size())
-                         .arg(m_elevationMaskDegrees, 0, 'f', 1).arg(visibleCount));
-
-    if (!m_hasReceiver) {
-        painter.setPen(QColor(219, 232, 241));
-        QFont waitingFont = painter.font();
-        waitingFont.setPixelSize(16);
-        waitingFont.setBold(true);
-        painter.setFont(waitingFont);
-        painter.drawText(rect().adjusted(30, 70, -30, -50), Qt::AlignCenter,
-                         QStringLiteral("Ilk gecerli konum bekleniyor"));
-    }
+    m_staticLayer = std::move(layer);
+    m_staticLayerSize = size();
+    m_staticLayerDevicePixelRatio = devicePixelRatio;
+    m_staticLayerYaw = m_yaw;
+    m_staticLayerPitch = m_pitch;
+    m_staticLayerZoom = m_zoom;
 }
 
 void GlobeWidget::drawContinents(QPainter &painter) const
 {
     const double radius = std::min(width(), height()) * 0.255 * m_zoom;
-    const double pixelRatio = std::min(devicePixelRatioF(), 1.5);
+    const double pixelRatio = m_dragging ? 0.75 : std::min(devicePixelRatioF(), 1.5);
     const int textureSize = std::clamp(
-        static_cast<int>(std::ceil(radius * 2.0 * pixelRatio)), 320, 900);
+        static_cast<int>(std::ceil(radius * 2.0 * pixelRatio)),
+        m_dragging ? 240 : 320, m_dragging ? 480 : 900);
     const QPointF center(width() * 0.5, height() * 0.52);
     const QRectF target(center.x() - radius, center.y() - radius,
                         radius * 2.0, radius * 2.0);
@@ -715,33 +760,41 @@ void GlobeWidget::drawReceiver(QPainter &painter) const
     painter.drawText(p.point + QPointF(10, -8), QStringLiteral("ALICI"));
 }
 
-void GlobeWidget::drawSatellites(QPainter &painter) const
+int GlobeWidget::drawSatellites(QPainter &painter) const
 {
-    if (!m_hasReceiver) return;
+    if (!m_hasReceiver) return 0;
     const double orbitRadius = std::min(width(), height()) * 0.255 * m_zoom * 1.47;
-    struct Item { SatellitePosition satellite; ProjectedPoint projected; };
+    struct Item {
+        SatellitePosition satellite;
+        ProjectedPoint projected;
+        double elevation = -90.0;
+    };
     QVector<Item> items;
+    items.reserve(m_satellites.size());
     for (const auto &satellite : m_satellites) {
         const double length = std::sqrt(satellite.x * satellite.x + satellite.y * satellite.y
                                         + satellite.z * satellite.z);
         if (length <= 0.0) continue;
         items.push_back({satellite, project(satellite.x / length, satellite.y / length,
-                                            satellite.z / length, orbitRadius)});
+                                            satellite.z / length, orbitRadius),
+                         satelliteElevation(satellite)});
     }
     std::sort(items.begin(), items.end(), [](const Item &a, const Item &b) {
         return a.projected.depth < b.projected.depth;
     });
+    const double earthRadius = std::min(width(), height()) * 0.255 * m_zoom;
+    const Vec3 receiver = globeVector(m_receiverLatitude, m_receiverLongitude);
+    const auto receiverPoint = project(receiver.x, receiver.y, receiver.z,
+                                       earthRadius * 1.02);
+    int visibleCount = 0;
     for (const Item &item : items) {
         const bool found = m_observedPrns.contains(item.satellite.prn);
-        const bool inElevationMask = satelliteElevation(item.satellite) >= m_elevationMaskDegrees;
+        const bool inElevationMask = item.elevation >= m_elevationMaskDegrees;
+        if (inElevationMask) ++visibleCount;
         QColor color = found ? QColor(42, 224, 137) : QColor(255, 79, 95);
         if (item.projected.depth < 0.0) color.setAlpha(75);
         const double markerRadius = found ? 6.5 : 5.0;
         if (inElevationMask) {
-            const double earthRadius = std::min(width(), height()) * 0.255 * m_zoom;
-            const Vec3 receiver = globeVector(m_receiverLatitude, m_receiverLongitude);
-            const auto receiverPoint = project(receiver.x, receiver.y, receiver.z,
-                                               earthRadius * 1.02);
             QColor sightLine(70, 224, 231, item.projected.depth < 0.0 ? 25 : 80);
             painter.setPen(QPen(sightLine, 0.8, Qt::DashLine));
             painter.drawLine(receiverPoint.point, item.projected.point);
@@ -757,6 +810,7 @@ void GlobeWidget::drawSatellites(QPainter &painter) const
             painter.drawText(item.projected.point + QPointF(7, -6), item.satellite.prn);
         }
     }
+    return visibleCount;
 }
 
 double GlobeWidget::satelliteElevation(const SatellitePosition &satellite) const
@@ -802,7 +856,9 @@ void GlobeWidget::mouseReleaseEvent(QMouseEvent *event)
 {
     if (event->button() == Qt::LeftButton) {
         m_dragging = false;
+        m_staticLayer = QPixmap();
         setCursor(Qt::OpenHandCursor);
+        update();
     }
 }
 

src/GlobeWidget.h

@@ -5,6 +5,7 @@
 #include <QElapsedTimer>
 #include <QImage>
 #include <QPoint>
+#include <QPixmap>
 #include <QSet>
 #include <QTimer>
 #include <QWidget>
@@ -23,6 +24,7 @@ public:
     void setReceiverLocation(double latitude, double longitude);
     void clearReceiverLocation();
     void setRinexStatus(const QString &status, bool error);
+    [[nodiscard]] QSet<QString> observedPrns() const { return m_observedPrns; }
 
 public slots:
     void setElevationMask(double degrees);
@@ -47,9 +49,10 @@ private:
     void drawVisibilityCone(QPainter &painter) const;
     void drawGraticule(QPainter &painter) const;
     void drawReceiver(QPainter &painter) const;
-    void drawSatellites(QPainter &painter) const;
+    int drawSatellites(QPainter &painter) const;
     double satelliteElevation(const SatellitePosition &satellite) const;
     void updateSatelliteAnimation();
+    void rebuildStaticLayer();
 
     QVector<SatellitePosition> m_satellites;
     QVector<SatellitePosition> m_satelliteMotionStart;
@@ -60,6 +63,12 @@ private:
     mutable QImage m_landTexture;
     mutable double m_landTextureYaw = 0.0;
     mutable double m_landTexturePitch = 0.0;
+    QPixmap m_staticLayer;
+    QSize m_staticLayerSize;
+    qreal m_staticLayerDevicePixelRatio = 0.0;
+    double m_staticLayerYaw = 0.0;
+    double m_staticLayerPitch = 0.0;
+    double m_staticLayerZoom = 0.0;
     QSet<QString> m_observedPrns;
     QString m_status = QStringLiteral("Konum bekleniyor");
     bool m_statusError = false;

src/LocationParser.cpp

@@ -103,6 +103,26 @@ std::optional<ParsedTelemetry> LocationParser::parseLine(const QString &line)
             telemetry.source = LocationSource::Gps;
         }
     }
+    static const QRegularExpression fusionModeRegex(
+        QStringLiteral(R"((?:^|\s)mode\s*=\s*(?<mode>gps[_-]?aided|dead[_-]?reckoning)(?=$|\s))"),
+        QRegularExpression::CaseInsensitiveOption);
+    const QRegularExpressionMatch fusionModeMatch = fusionModeRegex.match(trimmed);
+    if (fusionModeMatch.hasMatch()) {
+        telemetry.fusionMode = fusionModeMatch.captured(QStringLiteral("mode")).startsWith(
+                                   QStringLiteral("dead"), Qt::CaseInsensitive)
+            ? FusionMode::DeadReckoning : FusionMode::GpsAided;
+    }
+    static const QRegularExpression gpsAgeRegex(
+        QStringLiteral(R"((?:^|\s)gps[_-]?age[_-]?ms\s*=\s*(?<age>\d+)(?=$|\s))"),
+        QRegularExpression::CaseInsensitiveOption);
+    const QRegularExpressionMatch gpsAgeMatch = gpsAgeRegex.match(trimmed);
+    if (gpsAgeMatch.hasMatch()) {
+        bool ok = false;
+        const qint64 ageMs = gpsAgeMatch.captured(QStringLiteral("age")).toLongLong(&ok);
+        if (ok) {
+            telemetry.gpsAgeMs = ageMs;
+        }
+    }
     bool hadCoordinateField = false;
     bool hadLatitudeField = false;
     bool hadLongitudeField = false;

src/MainWindow.cpp

@@ -307,7 +307,7 @@ public:
 
     int columnCount(const QModelIndex &parent = QModelIndex()) const override
     {
-        return parent.isValid() ? 0 : 7;
+        return parent.isValid() ? 0 : 8;
     }
 
     QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override
@@ -327,6 +327,14 @@ public:
         case 0:
             return point.receivedAt.toLocalTime().toString(QStringLiteral("HH:mm:ss.zzz"));
         case 1:
+            if (point.source == LocationSource::ImuCorrected
+                && point.fusionMode == FusionMode::DeadReckoning) {
+                return QStringLiteral("IMU corrected (DR)");
+            }
+            if (point.source == LocationSource::ImuCorrected
+                && point.fusionMode == FusionMode::GpsAided) {
+                return QStringLiteral("IMU corrected (GPS)");
+            }
             return locationSourceText(point.source);
         case 2:
             return coordinateText(point.latitude, point.latitudeText);
@@ -338,6 +346,10 @@ public:
             return optionalIntText(point.satellites);
         case 6:
             return optionalDopText(point.dop.pdop);
+        case 7:
+            return point.gpsAgeMs.has_value()
+                ? QStringLiteral("%1 ms").arg(*point.gpsAgeMs)
+                : QStringLiteral("-");
         default:
             return {};
         }
@@ -351,7 +363,8 @@ public:
         }
         static const QStringList headers = {
             QStringLiteral("Saat"), QStringLiteral("Kaynak"), QStringLiteral("Lat"), QStringLiteral("Long"),
-            QStringLiteral("HHeight"), QStringLiteral("Uydu"), QStringLiteral("PDOP")};
+            QStringLiteral("HHeight"), QStringLiteral("Uydu"), QStringLiteral("PDOP"),
+            QStringLiteral("GPS yas")};
         return section >= 0 && section < headers.size() ? headers[section] : QVariant();
     }
 
@@ -386,6 +399,14 @@ MainWindow::MainWindow(QWidget *parent)
         m_globe->setRinexStatus(status, error);
         statusBar()->showMessage(status, error ? 8000 : 4000);
     });
+    connect(m_rinex, &RinexNavigation::loadingChanged, this, [this](bool loading) {
+        m_refreshRinexButton->setEnabled(!loading);
+        m_refreshRinexButton->setText(
+            loading ? QStringLiteral("RINEX indiriliyor...")
+                    : QStringLiteral("RINEX Guncelle"));
+    });
+    connect(m_refreshRinexButton, &QPushButton::clicked,
+            m_rinex, &RinexNavigation::refresh);
     m_rinex->refresh();
     auto *rinexRefreshTimer = new QTimer(this);
     rinexRefreshTimer->setInterval(15 * 60 * 1000);
@@ -497,15 +518,24 @@ void MainWindow::handleSerialLine(const QString &line)
     static const QRegularExpression solveStartRegex(
         QStringLiteral(R"((?:^|\[NAV\]\s*)nav\s+solve\s+(?:start|period)\b)"),
         QRegularExpression::CaseInsensitiveOption);
+    static const QRegularExpression trackingSnapshotRegex(
+        QStringLiteral(
+            R"(\btracked\s+satellites\s*=\s*\d+\s+(?:prns?|svns?)\s*=\s*\[[^\]]*\])"),
+        QRegularExpression::CaseInsensitiveOption);
     const bool solveStarted = solveStartRegex.match(line.trimmed()).hasMatch();
+    const bool trackingSnapshot = trackingSnapshotRegex.match(line).hasMatch();
     if (solveStarted) {
         m_observedPrns.clear();
     }
     const QSet<QString> linePrns = LocationParser::parseGpsPrns(line);
-    if (!linePrns.isEmpty()) {
+    if (trackingSnapshot) {
+        // This line is a complete point-in-time channel snapshot. Replacing
+        // prevents satellites from older solves remaining green indefinitely.
+        m_observedPrns = linePrns;
+    } else if (!linePrns.isEmpty()) {
         m_observedPrns.unite(linePrns);
     }
-    if (solveStarted || !linePrns.isEmpty()) {
+    if (solveStarted || trackingSnapshot || !linePrns.isEmpty()) {
         m_globe->setObservedPrns(m_observedPrns);
     }
 
@@ -809,7 +839,7 @@ void MainWindow::buildUi()
     for (const int baud : {9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600}) {
         m_baudCombo->addItem(QString::number(baud));
     }
-    m_baudCombo->setCurrentText(QStringLiteral("115200"));
+    m_baudCombo->setCurrentText(QStringLiteral("460800"));
 
     m_maxPointsSpin = new QSpinBox(this);
     m_maxPointsSpin->setObjectName(QStringLiteral("maxPointsInput"));
@@ -856,7 +886,25 @@ void MainWindow::buildUi()
     auto *viewTabs = new QTabWidget(this);
     viewTabs->setObjectName(QStringLiteral("mainViewTabs"));
     viewTabs->addTab(m_map, QStringLiteral("2B Harita"));
-    viewTabs->addTab(m_globe, QStringLiteral("3B Dunya · Uydular"));
+
+    auto *globeTab = new QWidget(viewTabs);
+    auto *globeTabLayout = new QVBoxLayout(globeTab);
+    globeTabLayout->setContentsMargins(0, 0, 0, 0);
+    globeTabLayout->setSpacing(6);
+    auto *rinexToolbar = new QWidget(globeTab);
+    auto *rinexToolbarLayout = new QHBoxLayout(rinexToolbar);
+    rinexToolbarLayout->setContentsMargins(10, 6, 10, 0);
+    rinexToolbarLayout->addWidget(new QLabel(
+        QStringLiteral("GPS yayin efemerisi · otomatik: 15 dk"), rinexToolbar));
+    rinexToolbarLayout->addStretch(1);
+    m_refreshRinexButton = new QPushButton(QStringLiteral("RINEX Guncelle"), rinexToolbar);
+    m_refreshRinexButton->setObjectName(QStringLiteral("refreshRinexButton"));
+    m_refreshRinexButton->setToolTip(
+        QStringLiteral("Guncel RINEX navigasyon dosyasini simdi indir"));
+    rinexToolbarLayout->addWidget(m_refreshRinexButton);
+    globeTabLayout->addWidget(rinexToolbar);
+    globeTabLayout->addWidget(m_globe, 1);
+    viewTabs->addTab(globeTab, QStringLiteral("3B Dunya · Uydular"));
 
     auto *sidePanel = new QWidget(this);
     sidePanel->setMinimumWidth(390);
@@ -1105,6 +1153,8 @@ void MainWindow::addTelemetryPoint(const ParsedTelemetry &telemetry)
 {
     TelemetryPoint point;
     point.source = telemetry.source;
+    point.fusionMode = telemetry.fusionMode;
+    point.gpsAgeMs = telemetry.gpsAgeMs;
     point.latitude = *telemetry.latitude;
     point.longitude = *telemetry.longitude;
     point.latitudeText = telemetry.latitudeText;
@@ -1116,8 +1166,21 @@ void MainWindow::addTelemetryPoint(const ParsedTelemetry &telemetry)
     point.rawLine = telemetry.rawLine;
     point.receivedAt = QDateTime::currentDateTimeUtc();
 
+    constexpr qint64 CorrectedPreferenceWindowMs = 1000;
+    bool correctedPositionFresh = false;
+    for (auto existing = m_points.crbegin(); existing != m_points.crend(); ++existing) {
+        if (existing->source == LocationSource::ImuCorrected) {
+            correctedPositionFresh =
+                existing->receivedAt.msecsTo(point.receivedAt)
+                <= CorrectedPreferenceWindowMs;
+            break;
+        }
+    }
+
     m_points.push_back(point);
-    m_globe->setReceiverLocation(point.latitude, point.longitude);
+    if (point.source == LocationSource::ImuCorrected || !correctedPositionFresh) {
+        m_globe->setReceiverLocation(point.latitude, point.longitude);
+    }
     if (m_locationTimeoutTimer != nullptr && m_serial->isOpen()) {
         m_locationTimeoutTimer->start();
     }
@@ -1209,6 +1272,12 @@ void MainWindow::mergePendingTelemetry(const ParsedTelemetry &telemetry)
         commitPendingTelemetry();
     }
 
+    if (telemetry.fusionMode != FusionMode::Unknown) {
+        m_pendingTelemetry.fusionMode = telemetry.fusionMode;
+    }
+    if (telemetry.gpsAgeMs.has_value()) {
+        m_pendingTelemetry.gpsAgeMs = telemetry.gpsAgeMs;
+    }
     if (telemetry.latitude.has_value()) {
         m_pendingTelemetry.source = telemetry.source;
         m_pendingTelemetry.latitude = telemetry.latitude;
@@ -1290,5 +1359,5 @@ int MainWindow::selectedBaudRate() const
 {
     bool ok = false;
     const int baudRate = m_baudCombo->currentText().toInt(&ok);
-    return ok ? baudRate : 115200;
+    return ok ? baudRate : 460800;
 }

src/MainWindow.h

@@ -74,6 +74,7 @@ private:
     QPushButton *m_connectButton = nullptr;
     QPushButton *m_clearButton = nullptr;
     QPushButton *m_openLogButton = nullptr;
+    QPushButton *m_refreshRinexButton = nullptr;
     QCheckBox *m_autoFollowCheck = nullptr;
     QCheckBox *m_showTelemetryCheck = nullptr;
     QCheckBox *m_showRecentPointsCheck = nullptr;

src/MapWidget.cpp

@@ -52,6 +52,20 @@ double metersPerPixel(double latitude, int zoom)
     return latitudeScale * 2.0 * Pi * WebMercatorRadiusMeters / scale;
 }
 
+int preferredCurrentPointIndex(const QVector<TelemetryPoint> &points)
+{
+    constexpr qint64 CorrectedPreferenceWindowMs = 1000;
+    const int newestIndex = points.size() - 1;
+    for (int index = points.size() - 1; index >= 0; --index) {
+        if (points[index].source == LocationSource::ImuCorrected) {
+            const qint64 ageMs = points[index].receivedAt.msecsTo(
+                points[newestIndex].receivedAt);
+            return ageMs <= CorrectedPreferenceWindowMs ? index : newestIndex;
+        }
+    }
+    return newestIndex;
+}
+
 } // namespace
 
 MapWidget::MapWidget(QWidget *parent)
@@ -90,9 +104,9 @@ void MapWidget::setPoints(const QVector<TelemetryPoint> &points)
     m_points = points;
 
     if (!m_points.isEmpty() && m_autoFollow) {
-        const TelemetryPoint &last = m_points.last();
-        m_centerLat = last.latitude;
-        m_centerLon = last.longitude;
+        const TelemetryPoint &current = m_points[preferredCurrentPointIndex(m_points)];
+        m_centerLat = current.latitude;
+        m_centerLon = current.longitude;
         if (wasEmpty) {
             m_zoom = MaxZoom;
         }
@@ -191,6 +205,11 @@ void MapWidget::clearCepMarker()
     update();
 }
 
+QPointF MapWidget::centerCoordinate() const
+{
+    return QPointF(m_centerLat, m_centerLon);
+}
+
 void MapWidget::setAutoFollow(bool enabled)
 {
     if (m_autoFollow == enabled) {
@@ -199,9 +218,9 @@ void MapWidget::setAutoFollow(bool enabled)
 
     m_autoFollow = enabled;
     if (m_autoFollow && !m_points.isEmpty()) {
-        const TelemetryPoint &last = m_points.last();
-        m_centerLat = last.latitude;
-        m_centerLon = last.longitude;
+        const TelemetryPoint &current = m_points[preferredCurrentPointIndex(m_points)];
+        m_centerLat = current.latitude;
+        m_centerLon = current.longitude;
         update();
     }
     emit autoFollowChanged(m_autoFollow);
@@ -453,9 +472,11 @@ void MapWidget::drawTelemetry(QPainter &painter)
     drawCepMarker(painter);
 
     const bool drawNumbers = m_points.size() <= 150;
-    const int firstPoint = m_showRecentPoints ? 0 : m_points.size() - 1;
-    for (int i = firstPoint; i < m_points.size(); ++i) {
-        const bool isLast = i == m_points.size() - 1;
+    const int currentPointIndex = preferredCurrentPointIndex(m_points);
+    const int firstPoint = m_showRecentPoints ? 0 : currentPointIndex;
+    const int endPoint = m_showRecentPoints ? m_points.size() : currentPointIndex + 1;
+    for (int i = firstPoint; i < endPoint; ++i) {
+        const bool isLast = i == currentPointIndex;
         const QPointF screen = coordinateToScreen(m_points[i].latitude, m_points[i].longitude);
         const double radius = isLast ? 8.0 : 5.0;
 
@@ -478,7 +499,7 @@ void MapWidget::drawTelemetry(QPainter &painter)
         }
     }
 
-    const TelemetryPoint &last = m_points.last();
+    const TelemetryPoint &last = m_points[currentPointIndex];
     const QPointF lastScreen = coordinateToScreen(last.latitude, last.longitude);
     QStringList lines;
     const QString latitudeText = last.latitudeText.isEmpty()

src/MapWidget.h

@@ -27,6 +27,7 @@ public:
     void setCepMarker(double latitude, double longitude,
                       const std::optional<double> &radiusMeters);
     void clearCepMarker();
+    [[nodiscard]] QPointF centerCoordinate() const;
 
 public slots:
     void setAutoFollow(bool enabled);

src/RinexNavigation.cpp

@@ -2,6 +2,7 @@
 
 #include <QDir>
 #include <QFile>
+#include <QHash>
 #include <QNetworkReply>
 #include <QNetworkRequest>
 #include <QStandardPaths>
@@ -12,6 +13,7 @@
 #include <algorithm>
 #include <cmath>
 #include <limits>
+#include <utility>
 
 namespace {
 
@@ -22,29 +24,6 @@ constexpr double HalfGpsWeek = GpsWeekSeconds / 2.0;
 constexpr double CurrentGpsUtcOffsetSeconds = 18.0;
 constexpr int PositionUpdateIntervalMs = 60000;
 
-struct Ephemeris {
-    QString prn;
-    QDateTime toc;
-    double crs = 0.0;
-    double deltaN = 0.0;
-    double m0 = 0.0;
-    double cuc = 0.0;
-    double eccentricity = 0.0;
-    double cus = 0.0;
-    double sqrtA = 0.0;
-    double toe = 0.0;
-    double cic = 0.0;
-    double omega0 = 0.0;
-    double cis = 0.0;
-    double i0 = 0.0;
-    double crc = 0.0;
-    double omega = 0.0;
-    double omegaDot = 0.0;
-    double idot = 0.0;
-    int gpsWeek = 0;
-    bool healthy = true;
-};
-
 double parseField(const QString &line, int field)
 {
     QString text = line.mid(4 + field * 19, 19).trimmed();
@@ -93,49 +72,6 @@ QDateTime gpsEpoch()
     return QDateTime(QDate(1980, 1, 6), QTime(0, 0), Qt::UTC);
 }
 
-SatellitePosition propagate(const Ephemeris &eph, const QDateTime &whenUtc)
-{
-    const double gpsSeconds = gpsEpoch().msecsTo(whenUtc) / 1000.0
-        + CurrentGpsUtcOffsetSeconds;
-    const double absoluteToe = eph.gpsWeek * GpsWeekSeconds + eph.toe;
-    double tk = gpsSeconds - absoluteToe;
-    while (tk > HalfGpsWeek) tk -= GpsWeekSeconds;
-    while (tk < -HalfGpsWeek) tk += GpsWeekSeconds;
-
-    const double a = eph.sqrtA * eph.sqrtA;
-    const double meanMotion = std::sqrt(GpsMu / (a * a * a)) + eph.deltaN;
-    const double meanAnomaly = eph.m0 + meanMotion * tk;
-    double eccentricAnomaly = meanAnomaly;
-    for (int iteration = 0; iteration < 12; ++iteration) {
-        eccentricAnomaly = meanAnomaly + eph.eccentricity * std::sin(eccentricAnomaly);
-    }
-
-    const double trueAnomaly = std::atan2(
-        std::sqrt(1.0 - eph.eccentricity * eph.eccentricity) * std::sin(eccentricAnomaly),
-        std::cos(eccentricAnomaly) - eph.eccentricity);
-    const double phi = trueAnomaly + eph.omega;
-    const double twoPhi = 2.0 * phi;
-    const double u = phi + eph.cus * std::sin(twoPhi) + eph.cuc * std::cos(twoPhi);
-    const double radius = a * (1.0 - eph.eccentricity * std::cos(eccentricAnomaly))
-        + eph.crs * std::sin(twoPhi) + eph.crc * std::cos(twoPhi);
-    const double inclination = eph.i0 + eph.idot * tk
-        + eph.cis * std::sin(twoPhi) + eph.cic * std::cos(twoPhi);
-    const double orbitalX = radius * std::cos(u);
-    const double orbitalY = radius * std::sin(u);
-    const double ascendingNode = eph.omega0 + (eph.omegaDot - EarthRotation) * tk
-        - EarthRotation * eph.toe;
-
-    SatellitePosition result;
-    result.prn = eph.prn;
-    result.x = orbitalX * std::cos(ascendingNode)
-        - orbitalY * std::cos(inclination) * std::sin(ascendingNode);
-    result.y = orbitalX * std::sin(ascendingNode)
-        + orbitalY * std::cos(inclination) * std::cos(ascendingNode);
-    result.z = orbitalY * std::sin(inclination);
-    result.healthy = eph.healthy;
-    return result;
-}
-
 } // namespace
 
 RinexNavigation::RinexNavigation(QObject *parent)
@@ -150,10 +86,10 @@ RinexNavigation::RinexNavigation(QObject *parent)
 void RinexNavigation::refresh()
 {
     if (m_loading) return;
-    if (m_latestRinex.isEmpty()) {
+    if (m_ephemerides.isEmpty()) {
         loadCache();
     }
-    m_loading = true;
+    setLoading(true);
     emit statusChanged(QStringLiteral("Guncel RINEX efemerisi indiriliyor..."), false);
     requestDay(QDateTime::currentDateTimeUtc().date(), 0);
 }
@@ -181,8 +117,13 @@ void RinexNavigation::requestDay(const QDate &date, int fallbackIndex)
             if (fallbackIndex < 2) {
                 requestDay(date.addDays(-1), fallbackIndex + 1);
             } else {
-                m_loading = false;
-                if (!loadCache()) {
+                setLoading(false);
+                if (!m_ephemerides.isEmpty()) {
+                    publishCurrentMotion();
+                    emit statusChanged(
+                        QStringLiteral("RINEX indirilemedi; mevcut efemeris kullaniliyor"),
+                        true);
+                } else if (!loadCache()) {
                     emit statusChanged(QStringLiteral("RINEX indirilemedi; internet baglantisini kontrol edin"), true);
                 }
             }
@@ -197,14 +138,16 @@ void RinexNavigation::handleDownload(const QByteArray &compressed, const QDate &
 {
     const QByteArray rinex = gunzip(compressed);
     QString error;
-    const QVector<SatellitePosition> positions = parseGpsNavigation(
-        rinex, QDateTime::currentDateTimeUtc(), &error);
+    QVector<Ephemeris> ephemerides = parseEphemerides(rinex, &error);
+    const QDateTime now = QDateTime::currentDateTimeUtc();
+    const QVector<SatellitePosition> positions = propagateEphemerides(
+        selectEphemerides(ephemerides, now), now);
     if (positions.isEmpty()) {
         if (fallbackIndex < 2) {
             requestDay(date.addDays(-1), fallbackIndex + 1);
             return;
         }
-        m_loading = false;
+        setLoading(false);
         emit statusChanged(QStringLiteral("RINEX okunamadi: %1").arg(error), true);
         return;
     }
@@ -212,11 +155,13 @@ void RinexNavigation::handleDownload(const QByteArray &compressed, const QDate &
     QFile cache(cachePath());
     QDir().mkpath(QFileInfo(cache).absolutePath());
     if (cache.open(QIODevice::WriteOnly)) cache.write(rinex);
-    m_latestRinex = rinex;
-    m_loading = false;
+    m_ephemerides = std::move(ephemerides);
+    setLoading(false);
     publishCurrentMotion();
-    emit statusChanged(QStringLiteral("%1 GPS uydusu · RINEX %2 (UTC)")
-                           .arg(positions.size()).arg(date.toString(QStringLiteral("dd.MM.yyyy"))), false);
+    emit statusChanged(QStringLiteral("%1 GPS uydusu · RINEX %2 · %3 UTC")
+                           .arg(positions.size())
+                           .arg(date.toString(QStringLiteral("dd.MM.yyyy")))
+                           .arg(now.time().toString(QStringLiteral("HH:mm:ss"))), false);
 }
 
 bool RinexNavigation::loadCache()
@@ -224,12 +169,16 @@ bool RinexNavigation::loadCache()
     QFile cache(cachePath());
     if (!cache.open(QIODevice::ReadOnly)) return false;
     QString error;
-    m_latestRinex = cache.readAll();
-    const QVector<SatellitePosition> positions = parseGpsNavigation(
-        m_latestRinex, QDateTime::currentDateTimeUtc(), &error);
+    QVector<Ephemeris> ephemerides = parseEphemerides(cache.readAll(), &error);
+    const QDateTime now = QDateTime::currentDateTimeUtc();
+    const QVector<SatellitePosition> positions = propagateEphemerides(
+        selectEphemerides(ephemerides, now), now);
     if (positions.isEmpty()) return false;
+    m_ephemerides = std::move(ephemerides);
     publishCurrentMotion();
-    emit statusChanged(QStringLiteral("%1 GPS uydusu · onbellekteki RINEX").arg(positions.size()), true);
+    emit statusChanged(QStringLiteral("%1 GPS uydusu · onbellekteki RINEX · %2 UTC")
+                           .arg(positions.size())
+                           .arg(now.time().toString(QStringLiteral("HH:mm:ss"))), true);
     return true;
 }
 
@@ -241,28 +190,36 @@ QString RinexNavigation::cachePath() const
 
 void RinexNavigation::updateCurrentPositions()
 {
-    if (m_latestRinex.isEmpty()) return;
+    if (m_ephemerides.isEmpty()) return;
     publishCurrentMotion();
 }
 
 void RinexNavigation::publishCurrentMotion()
 {
-    if (m_latestRinex.isEmpty()) return;
+    if (m_ephemerides.isEmpty()) return;
 
     const QDateTime now = QDateTime::currentDateTimeUtc();
-    const QVector<SatellitePosition> current = parseGpsNavigation(m_latestRinex, now);
+    const QVector<Ephemeris> selected = selectEphemerides(m_ephemerides, now);
+    const QVector<SatellitePosition> current = propagateEphemerides(selected, now);
     if (current.isEmpty()) return;
 
-    const QVector<SatellitePosition> next = parseGpsNavigation(
-        m_latestRinex, now.addMSecs(PositionUpdateIntervalMs));
+    const QVector<SatellitePosition> next = propagateEphemerides(
+        selected, now.addMSecs(PositionUpdateIntervalMs));
     emit satellitesUpdated(current);
     if (!next.isEmpty()) {
         emit satelliteMotionUpdated(current, next, PositionUpdateIntervalMs);
     }
 }
 
-QVector<SatellitePosition> RinexNavigation::parseGpsNavigation(
-    const QByteArray &rinex, const QDateTime &whenUtc, QString *error)
+void RinexNavigation::setLoading(bool loading)
+{
+    if (m_loading == loading) return;
+    m_loading = loading;
+    emit loadingChanged(loading);
+}
+
+QVector<RinexNavigation::Ephemeris> RinexNavigation::parseEphemerides(
+    const QByteArray &rinex, QString *error)
 {
     const QString text = QString::fromLatin1(rinex);
     const QStringList lines = text.split('\n');
@@ -274,8 +231,8 @@ QVector<SatellitePosition> RinexNavigation::parseGpsNavigation(
     }
     ++index;
 
-    QHash<QString, Ephemeris> closest;
-    QHash<QString, qint64> closestAge;
+    QVector<Ephemeris> result;
+    result.reserve(512);
     while (index < lines.size()) {
         const QString first = lines[index];
         if (first.size() < 3) { ++index; continue; }
@@ -321,19 +278,95 @@ QVector<SatellitePosition> RinexNavigation::parseGpsNavigation(
                           eph.cus, eph.sqrtA, eph.toe, eph.cic, eph.omega0, eph.cis,
                           eph.i0, eph.crc, eph.omega, eph.omegaDot, eph.idot})
             && eph.sqrtA > 4000.0 && eph.gpsWeek > 0) {
-            const qint64 age = std::abs(toc.secsTo(whenUtc));
-            if (!closestAge.contains(eph.prn) || age < closestAge[eph.prn]) {
-                closest[eph.prn] = eph;
-                closestAge[eph.prn] = age;
-            }
+            result.push_back(eph);
         }
         index += 8;
     }
-
-    QVector<SatellitePosition> result;
-    result.reserve(closest.size());
-    for (const Ephemeris &eph : closest) result.push_back(propagate(eph, whenUtc));
-    std::sort(result.begin(), result.end(), [](const auto &a, const auto &b) { return a.prn < b.prn; });
     if (result.isEmpty() && error) *error = QStringLiteral("GPS efemerisi bulunamadi");
     return result;
 }
+
+QVector<RinexNavigation::Ephemeris> RinexNavigation::selectEphemerides(
+    const QVector<Ephemeris> &ephemerides, const QDateTime &whenUtc)
+{
+    QHash<QString, Ephemeris> closest;
+    QHash<QString, qint64> closestAge;
+    // GPS navigation epochs are labelled in GPS system time, not UTC.
+    const QDateTime whenGps = whenUtc.addSecs(
+        static_cast<qint64>(CurrentGpsUtcOffsetSeconds));
+    for (const Ephemeris &eph : ephemerides) {
+        const qint64 age = std::abs(eph.toc.msecsTo(whenGps));
+        if (!closestAge.contains(eph.prn) || age < closestAge[eph.prn]) {
+            closest[eph.prn] = eph;
+            closestAge[eph.prn] = age;
+        }
+    }
+
+    QVector<Ephemeris> result;
+    result.reserve(closest.size());
+    for (const Ephemeris &eph : closest) result.push_back(eph);
+    std::sort(result.begin(), result.end(), [](const auto &a, const auto &b) {
+        return a.prn < b.prn;
+    });
+    return result;
+}
+
+QVector<SatellitePosition> RinexNavigation::propagateEphemerides(
+    const QVector<Ephemeris> &ephemerides, const QDateTime &whenUtc)
+{
+    QVector<SatellitePosition> result;
+    result.reserve(ephemerides.size());
+    for (const Ephemeris &eph : ephemerides) result.push_back(propagate(eph, whenUtc));
+    std::sort(result.begin(), result.end(), [](const auto &a, const auto &b) { return a.prn < b.prn; });
+    return result;
+}
+
+SatellitePosition RinexNavigation::propagate(const Ephemeris &eph, const QDateTime &whenUtc)
+{
+    const double gpsSeconds = gpsEpoch().msecsTo(whenUtc) / 1000.0
+        + CurrentGpsUtcOffsetSeconds;
+    const double absoluteToe = eph.gpsWeek * GpsWeekSeconds + eph.toe;
+    double tk = gpsSeconds - absoluteToe;
+    while (tk > HalfGpsWeek) tk -= GpsWeekSeconds;
+    while (tk < -HalfGpsWeek) tk += GpsWeekSeconds;
+
+    const double a = eph.sqrtA * eph.sqrtA;
+    const double meanMotion = std::sqrt(GpsMu / (a * a * a)) + eph.deltaN;
+    const double meanAnomaly = eph.m0 + meanMotion * tk;
+    double eccentricAnomaly = meanAnomaly;
+    for (int iteration = 0; iteration < 12; ++iteration) {
+        eccentricAnomaly = meanAnomaly + eph.eccentricity * std::sin(eccentricAnomaly);
+    }
+
+    const double trueAnomaly = std::atan2(
+        std::sqrt(1.0 - eph.eccentricity * eph.eccentricity) * std::sin(eccentricAnomaly),
+        std::cos(eccentricAnomaly) - eph.eccentricity);
+    const double phi = trueAnomaly + eph.omega;
+    const double twoPhi = 2.0 * phi;
+    const double u = phi + eph.cus * std::sin(twoPhi) + eph.cuc * std::cos(twoPhi);
+    const double radius = a * (1.0 - eph.eccentricity * std::cos(eccentricAnomaly))
+        + eph.crs * std::sin(twoPhi) + eph.crc * std::cos(twoPhi);
+    const double inclination = eph.i0 + eph.idot * tk
+        + eph.cis * std::sin(twoPhi) + eph.cic * std::cos(twoPhi);
+    const double orbitalX = radius * std::cos(u);
+    const double orbitalY = radius * std::sin(u);
+    const double ascendingNode = eph.omega0 + (eph.omegaDot - EarthRotation) * tk
+        - EarthRotation * eph.toe;
+
+    SatellitePosition result;
+    result.prn = eph.prn;
+    result.x = orbitalX * std::cos(ascendingNode)
+        - orbitalY * std::cos(inclination) * std::sin(ascendingNode);
+    result.y = orbitalX * std::sin(ascendingNode)
+        + orbitalY * std::cos(inclination) * std::cos(ascendingNode);
+    result.z = orbitalY * std::sin(inclination);
+    result.healthy = eph.healthy;
+    return result;
+}
+
+QVector<SatellitePosition> RinexNavigation::parseGpsNavigation(
+    const QByteArray &rinex, const QDateTime &whenUtc, QString *error)
+{
+    const QVector<Ephemeris> ephemerides = parseEphemerides(rinex, error);
+    return propagateEphemerides(selectEphemerides(ephemerides, whenUtc), whenUtc);
+}

src/RinexNavigation.h

@@ -26,17 +26,49 @@ signals:
                                 const QVector<SatellitePosition> &next,
                                 int durationMs);
     void statusChanged(const QString &status, bool error);
+    void loadingChanged(bool loading);
 
 private:
+    struct Ephemeris {
+        QString prn;
+        QDateTime toc;
+        double crs = 0.0;
+        double deltaN = 0.0;
+        double m0 = 0.0;
+        double cuc = 0.0;
+        double eccentricity = 0.0;
+        double cus = 0.0;
+        double sqrtA = 0.0;
+        double toe = 0.0;
+        double cic = 0.0;
+        double omega0 = 0.0;
+        double cis = 0.0;
+        double i0 = 0.0;
+        double crc = 0.0;
+        double omega = 0.0;
+        double omegaDot = 0.0;
+        double idot = 0.0;
+        int gpsWeek = 0;
+        bool healthy = true;
+    };
+
     void requestDay(const QDate &date, int fallbackIndex);
     void handleDownload(const QByteArray &compressed, const QDate &date, int fallbackIndex);
     bool loadCache();
     QString cachePath() const;
     void updateCurrentPositions();
     void publishCurrentMotion();
+    void setLoading(bool loading);
+    static QVector<Ephemeris> parseEphemerides(
+        const QByteArray &rinex, QString *error = nullptr);
+    static QVector<Ephemeris> selectEphemerides(
+        const QVector<Ephemeris> &ephemerides, const QDateTime &whenUtc);
+    static QVector<SatellitePosition> propagateEphemerides(
+        const QVector<Ephemeris> &ephemerides, const QDateTime &whenUtc);
+    static SatellitePosition propagate(const Ephemeris &eph, const QDateTime &whenUtc);
 
     QNetworkAccessManager m_network;
     QTimer m_positionTimer;
-    QByteArray m_latestRinex;
+    QVector<Ephemeris> m_ephemerides;
     bool m_loading = false;
 };

src/TelemetryPoint.h

@@ -12,6 +12,12 @@ enum class LocationSource {
     Trajectory
 };
 
+enum class FusionMode {
+    Unknown,
+    GpsAided,
+    DeadReckoning
+};
+
 inline QString locationSourceText(LocationSource source)
 {
     switch (source) {
@@ -43,6 +49,8 @@ struct DopValues {
 
 struct TelemetryPoint {
     LocationSource source = LocationSource::Generic;
+    FusionMode fusionMode = FusionMode::Unknown;
+    std::optional<qint64> gpsAgeMs;
     double latitude = 0.0;
     double longitude = 0.0;
     QString latitudeText;
@@ -56,6 +64,8 @@ struct TelemetryPoint {
 
 struct ParsedTelemetry {
     LocationSource source = LocationSource::Generic;
+    FusionMode fusionMode = FusionMode::Unknown;
+    std::optional<qint64> gpsAgeMs;
     std::optional<double> latitude;
     std::optional<double> longitude;
     QString latitudeText;

tests/main_window_tests.cpp

@@ -1,4 +1,5 @@
 #include "../src/MainWindow.h"
+#include "../src/GlobeWidget.h"
 #include "../src/MapWidget.h"
 
 #include <QApplication>
@@ -9,6 +10,7 @@
 #include <QLineEdit>
 #include <QMetaObject>
 #include <QSpinBox>
+#include <QPushButton>
 #include <QTableView>
 #include <QTabWidget>
 #include <QSplitter>
@@ -51,6 +53,8 @@ int main(int argc, char **argv)
     auto *showRecentPoints = window.findChild<QCheckBox *>(QStringLiteral("showRecentPointsCheck"));
     auto *showAverage = window.findChild<QCheckBox *>(QStringLiteral("showAverageCheck"));
     auto *portSelector = window.findChild<QComboBox *>(QStringLiteral("portSelector"));
+    auto *refreshRinexButton =
+        window.findChild<QPushButton *>(QStringLiteral("refreshRinexButton"));
     auto *map = window.findChild<MapWidget *>();
     auto *mainViewTabs = window.findChild<QTabWidget *>(QStringLiteral("mainViewTabs"));
     auto *sideSplitter = window.findChild<QSplitter *>(QStringLiteral("sideSplitter"));
@@ -69,6 +73,9 @@ int main(int argc, char **argv)
     assert(showRecentPoints != nullptr);
     assert(showAverage != nullptr);
     assert(portSelector != nullptr);
+    assert(refreshRinexButton != nullptr);
+    assert(refreshRinexButton->text() == QStringLiteral("RINEX Guncelle")
+           || refreshRinexButton->text() == QStringLiteral("RINEX indiriliyor..."));
     assert(portSelector->isEditable());
     assert(portSelector->count() >= 1);
     assert(portSelector->currentText() == QStringLiteral("/dev/test-usb-uart"));
@@ -82,6 +89,15 @@ int main(int argc, char **argv)
     assert(sideSplitter != nullptr);
     assert(sideSplitter->orientation() == Qt::Vertical);
 
+    sendLine(window, QStringLiteral("[TRK] tracked satellites=2 prns=[3,8]"));
+    assert(map != nullptr);
+    auto *globe = window.findChild<GlobeWidget *>();
+    assert(globe != nullptr);
+    assert(globe->observedPrns()
+           == QSet<QString>({QStringLiteral("G03"), QStringLiteral("G08")}));
+    sendLine(window, QStringLiteral("[TRK] tracked satellites=1 prns=[14]"));
+    assert(globe->observedPrns() == QSet<QString>({QStringLiteral("G14")}));
+
     assert(QMetaObject::invokeMethod(map, "referenceLocationSelected", Qt::DirectConnection,
                                      Q_ARG(double, 40.25), Q_ARG(double, 29.5)));
     assert(referenceLatInput->text() == QStringLiteral("40.250000000000000"));
@@ -185,6 +201,27 @@ int main(int argc, char **argv)
     assert(QMetaObject::invokeMethod(&window, "clearPoints", Qt::DirectConnection));
     maxPointsInput->setValue(10);
 
+    {
+        MapWidget followMap;
+        TelemetryPoint corrected;
+        corrected.source = LocationSource::ImuCorrected;
+        corrected.latitude = 40.1;
+        corrected.longitude = 29.1;
+        corrected.receivedAt = QDateTime::currentDateTimeUtc();
+
+        TelemetryPoint rawGps;
+        rawGps.source = LocationSource::Gps;
+        rawGps.latitude = 41.0;
+        rawGps.longitude = 30.0;
+        rawGps.receivedAt = corrected.receivedAt.addMSecs(100);
+        followMap.setPoints({corrected, rawGps});
+        assert(followMap.centerCoordinate() == QPointF(40.1, 29.1));
+
+        rawGps.receivedAt = corrected.receivedAt.addMSecs(1100);
+        followMap.setPoints({corrected, rawGps});
+        assert(followMap.centerCoordinate() == QPointF(41.0, 30.0));
+    }
+
     const QByteArray screenshotPath = qgetenv("LOCATION_PLOTTER_TEST_SCREENSHOT");
     if (!screenshotPath.isEmpty()) {
         sendLine(window, QStringLiteral("NAV solve start sats:5"));

tests/parser_tests.cpp

@@ -9,9 +9,39 @@
 
 namespace {
 
-bool closeTo(double left, double right)
+bool closeTo(double left, double right, double tolerance = 0.000001)
 {
-    return std::fabs(left - right) < 0.000001;
+    return std::fabs(left - right) < tolerance;
+}
+
+QString rinexField(double value)
+{
+    return QStringLiteral("%1").arg(value, 19, 'E', 12);
+}
+
+QString rinexContinuation(std::initializer_list<double> values)
+{
+    QString line(4, QLatin1Char(' '));
+    for (double value : values) line += rinexField(value);
+    return line + QLatin1Char('\n');
+}
+
+QByteArray syntheticGpsNavigation(const QDateTime &gpsEpochLabel, int gpsWeek, double toe)
+{
+    QString rinex = QStringLiteral(
+        "     3.05           N: GNSS NAV DATA    M: MIXED            RINEX VERSION / TYPE\n"
+        "                                                            END OF HEADER\n");
+    rinex += QStringLiteral("G01 %1").arg(
+        gpsEpochLabel.toString(QStringLiteral("yyyy MM dd HH mm ss")));
+    rinex += rinexField(0.0) + rinexField(0.0) + rinexField(0.0) + QLatin1Char('\n');
+    rinex += rinexContinuation({1.0, 0.0, 0.0, 0.0});
+    rinex += rinexContinuation({0.0, 0.0, 0.0, 5153.7954775});
+    rinex += rinexContinuation({toe, 0.0, 0.0, 0.0});
+    rinex += rinexContinuation({0.0, 0.0, 0.0, 0.0});
+    rinex += rinexContinuation({0.0, 0.0, static_cast<double>(gpsWeek), 0.0});
+    rinex += rinexContinuation({2.0, 0.0, 0.0, 1.0});
+    rinex += rinexContinuation({0.0, 0.0, 0.0, 0.0});
+    return rinex.toLatin1();
 }
 
 } // namespace
@@ -181,11 +211,14 @@ int main(int argc, char **argv)
 
     {
         const auto parsed = LocationParser::parseLine(QStringLiteral(
-            "[LOCATION] source=imu_corrected lat=40.7356 lon=31.5985 height=812.7 "
+            "[LOCATION] source=imu_corrected mode=dead_reckoning "
+            "lat=40.7356 lon=31.5985 height=812.7 gps_age_ms=3180 "
             "gdop=4.7 pdop=4.1 hdop=2.7 vdop=3.0 tdop=2.3 tracked=6 used=5"));
         assert(parsed.has_value());
         assert(parsed->hasLocation());
         assert(parsed->source == LocationSource::ImuCorrected);
+        assert(parsed->fusionMode == FusionMode::DeadReckoning);
+        assert(parsed->gpsAgeMs == 3180);
         assert(parsed->satellites == 6);
         assert(closeTo(*parsed->dop.hdop, 2.7));
     }
@@ -207,6 +240,25 @@ int main(int argc, char **argv)
         assert(parsed->satellites == 4);
     }
 
+    {
+        constexpr int gpsWeek = 2428;
+        constexpr double toe = 403200.0;
+        const QDateTime gpsEpoch(QDate(1980, 1, 6), QTime(0, 0), Qt::UTC);
+        const QDateTime gpsLabel = gpsEpoch.addSecs(
+            static_cast<qint64>(gpsWeek * 604800.0 + toe));
+        const QDateTime matchingUtc = gpsLabel.addSecs(-18);
+        QString error;
+        const auto satellites = RinexNavigation::parseGpsNavigation(
+            syntheticGpsNavigation(gpsLabel, gpsWeek, toe), matchingUtc, &error);
+        assert(error.isEmpty());
+        assert(satellites.size() == 1);
+        const double semiMajorAxis = 5153.7954775 * 5153.7954775;
+        const double node = -7.2921151467e-5 * toe;
+        assert(closeTo(satellites[0].x, semiMajorAxis * std::cos(node), 0.1));
+        assert(closeTo(satellites[0].y, semiMajorAxis * std::sin(node), 0.1));
+        assert(closeTo(satellites[0].z, 0.0, 0.1));
+    }
+
     const QString rinexPath = qEnvironmentVariable("LOCATION_PLOTTER_TEST_RINEX");
     if (!rinexPath.isEmpty()) {
         QFile file(rinexPath);