Add source-aware UART log replay

Normalize zero-based firmware satellite indices
Verify satellite propagation is timezone invariant
2026-08-12 13:54:11 +03:00 · 2026-07-24 12:06:09 +03:00 · 2026-07-24 11:58:24 +03:00 · 2026-07-24 11:50:48 +03:00 · 2026-07-23 23:55:25 +03:00 · 2026-07-23 23:19:52 +03:00
18 changed files with 1327 additions and 213 deletions
@@ -8,3 +8,4 @@ build-*/
 *.autosave
 *.swp
 *~
+uart_logs/
@@ -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)
@@ -22,6 +22,8 @@ add_executable(location_plotter
    src/MapWidget.h
    src/SerialReader.cpp
    src/SerialReader.h
+    src/UartReplay.cpp
+    src/UartReplay.h
    src/RinexNavigation.cpp
    src/RinexNavigation.h
    src/SatelliteData.h
@@ -30,6 +32,9 @@ add_executable(location_plotter
 )

 target_link_libraries(location_plotter PRIVATE Qt6::Core Qt6::Widgets Qt6::Network ZLIB::ZLIB)
+target_compile_definitions(location_plotter PRIVATE
+    LOCATION_PLOTTER_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}"
+)

 if(APPLE)
    set_target_properties(location_plotter PROPERTIES
@@ -62,6 +67,9 @@ 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
@@ -76,12 +84,20 @@ add_executable(location_main_window_tests
    src/GlobeWidget.h
    src/SerialReader.cpp
    src/SerialReader.h
+    src/UartReplay.cpp
+    src/UartReplay.h
    src/RinexNavigation.cpp
    src/RinexNavigation.h
    src/SatelliteData.h
    src/TelemetryPoint.h
 )
 target_link_libraries(location_main_window_tests PRIVATE Qt6::Core Qt6::Widgets Qt6::Network ZLIB::ZLIB)
+target_compile_definitions(location_main_window_tests PRIVATE
+    LOCATION_PLOTTER_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}"
+)
+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
@@ -93,6 +109,20 @@ add_test(NAME location_main_window_tests COMMAND location_main_window_tests)
 set_tests_properties(location_main_window_tests PROPERTIES
    ENVIRONMENT "QT_QPA_PLATFORM=offscreen;XDG_CACHE_HOME=/tmp/location-plotter-test-cache")

+add_executable(location_uart_replay_tests
+    tests/uart_replay_tests.cpp
+    src/UartReplay.cpp
+    src/UartReplay.h
+    src/LocationParser.cpp
+    src/LocationParser.h
+    src/TelemetryPoint.h
+)
+target_link_libraries(location_uart_replay_tests PRIVATE Qt6::Core)
+target_compile_options(location_uart_replay_tests PRIVATE
+    $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-UNDEBUG>
+)
+add_test(NAME location_uart_replay_tests COMMAND location_uart_replay_tests)
+
 install(TARGETS location_plotter
    BUNDLE DESTINATION .
    RUNTIME DESTINATION bin
@@ -55,13 +55,30 @@ 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.

+## UART log replay
+
+Use the `UART Replay` button (or `Dosya > UART Log Replay...`) to feed a recorded
+UART `.log`/`.txt` file back through the same parser used by the live serial port.
+Choose the raw GPS update interval (default `200 ms`) and sensor/fused update
+interval (default `50 ms`) in the replay dialog. Press `Replay Durdur` to stop.
+
+Recorder timestamps are optional and do not control replay speed. The replayer
+removes a leading timestamp when present, identifies `source=gps` as raw GPS and
+`source=imu_corrected` or `[FUSION]` as fused/sensor output, then synthesizes the
+two update timelines while retaining the original UART line order. Other UART
+diagnostic lines are forwarded with the surrounding location update.
+
 ## Sentetik ESKF senaryolarini açma

 GPS deposundan 48 kombinasyonun replay loglarini üretin:
@@ -187,7 +204,8 @@ 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 +234,14 @@ 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 system-local time of the last successful download or cache load.
+- Complete UART channel snapshots such as `tracked satellites=5 prn_indices=[...]` replace the
+  previous connected-PRN set, so satellites that were lost no longer remain green. Firmware
+  channel indices are zero-based and are normalized for display (`0` is GPS PRN `G01`).
+- 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
@@ -249,5 +274,8 @@ without logging out.
 - UART log and telemetry views are refreshed in batches so a high-rate serial stream does not
  rebuild the complete interface for every received line. The locations table uses a virtual
  model and remains usable with a high `Max` value.
+- Her basarili UART baglantisi, dosya adinda ve her satirda yerel zaman damgasi bulunan ayri bir
+  log olusturur. Dosyalar kaynak kodun ana klasorundeki `uart_logs` dizinine yazilir;
+  `LOCATION_PLOTTER_UART_LOG_DIR` ile farkli bir klasor secilebilir.
 - If no new plotted location arrives for 10 seconds while listening, current location
  points and analysis values are cleared.
@@ -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();
    }
 }

@@ -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;
@@ -88,6 +88,9 @@ std::optional<ParsedTelemetry> LocationParser::parseLine(const QString &line)

    ParsedTelemetry telemetry;
    telemetry.rawLine = trimmed;
+    if (trimmed.startsWith(QStringLiteral("[FUSION]"), Qt::CaseInsensitive)) {
+        telemetry.source = LocationSource::ImuCorrected;
+    }
    static const QRegularExpression sourceRegex(
        QStringLiteral(R"((?:^|\s)source\s*=\s*(?<source>gps|imu[_-]?corrected|trajectory|ground[_-]?truth)(?=$|\s))"),
        QRegularExpression::CaseInsensitiveOption);
@@ -103,6 +106,26 @@ std::optional<ParsedTelemetry> LocationParser::parseLine(const QString &line)
            telemetry.source = LocationSource::Gps;
        }
    }
+    static const QRegularExpression fusionModeRegex(
+        QStringLiteral(R"((?:^|\s)mode\s*=\s*(?<mode>gps[_-]?aided|dead[_-]?reckoning)(?=$|\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;
@@ -214,10 +237,11 @@ QSet<QString> LocationParser::parseGpsPrns(const QString &line)
    QSet<QString> result;
    const auto addPrn = [&result](QString value, bool zeroBased = false) {
        value = value.trimmed().toUpper();
-        if (value.startsWith(QLatin1Char('G'))) value.remove(0, 1);
+        const bool explicitGpsPrn = value.startsWith(QLatin1Char('G'));
+        if (explicitGpsPrn) value.remove(0, 1);
        bool ok = false;
        int number = value.toInt(&ok);
-        if (ok && zeroBased) ++number;
+        if (ok && zeroBased && !explicitGpsPrn) ++number;
        if (ok && number >= 1 && number <= 63) {
            result.insert(QStringLiteral("G%1").arg(number, 2, 10, QLatin1Char('0')));
        }
@@ -229,18 +253,31 @@ QSet<QString> LocationParser::parseGpsPrns(const QString &line)
    auto gpsMatches = gpsToken.globalMatch(line);
    while (gpsMatches.hasNext()) addPrn(gpsMatches.next().captured(QStringLiteral("prn")));

-    static const QRegularExpression labeledList(
-        QStringLiteral(R"((?<label>\bPRNS?\b|\bSVS?\b|\bSVNS?\b|\bSVIDS?\b)\s*(?:=|:|->)?\s*[\[(]?\s*(?<list>(?:G?\d{1,2})(?:\s*[,;/| ]\s*G?\d{1,2})*)\s*[\])]?)"),
+    // Current firmware versions called their zero-based hardware channel values
+    // "prns" in complete tracking snapshots. Keep accepting those messages while
+    // newer firmware uses the unambiguous "prn_indices" label.
+    static const QRegularExpression legacyTrackingIndices(
+        QStringLiteral(R"(\btracked\s+satellites\s*=\s*\d+\s+prns?\s*=)"),
        QRegularExpression::CaseInsensitiveOption);
-    static const QRegularExpression number(QStringLiteral(R"(G?(\d{1,2}))"),
+    const bool legacyZeroBasedPrns = legacyTrackingIndices.match(line).hasMatch();
+
+    static const QRegularExpression labeledList(
+        QStringLiteral(R"((?<label>\bPRN[_ -]?INDICES\b|\bPRNS?\b|\bSVS?\b|\bSVNS?\b|\bSVIDS?\b)\s*(?:=|:|->)?\s*[\[(]?\s*(?<list>(?:G?\d{1,2})(?:\s*[,;/| ]\s*G?\d{1,2})*)\s*[\])]?)"),
+        QRegularExpression::CaseInsensitiveOption);
+    static const QRegularExpression number(QStringLiteral(R"(G?\d{1,2})"),
                                            QRegularExpression::CaseInsensitiveOption);
    auto listMatches = labeledList.globalMatch(line);
    while (listMatches.hasNext()) {
        const QRegularExpressionMatch listMatch = listMatches.next();
-        const bool zeroBased = listMatch.captured(QStringLiteral("label")).startsWith(
-            QStringLiteral("SVN"), Qt::CaseInsensitive);
+        QString label = listMatch.captured(QStringLiteral("label")).toUpper();
+        label.remove(QLatin1Char('_'));
+        label.remove(QLatin1Char('-'));
+        label.remove(QLatin1Char(' '));
+        const bool zeroBased = label.startsWith(QStringLiteral("SVN"))
+            || label == QStringLiteral("PRNINDICES")
+            || (legacyZeroBasedPrns && label.startsWith(QStringLiteral("PRN")));
        auto values = number.globalMatch(listMatch.captured(QStringLiteral("list")));
-        while (values.hasNext()) addPrn(values.next().captured(1), zeroBased);
+        while (values.hasNext()) addPrn(values.next().captured(0), zeroBased);
    }
    return result;
 }
@@ -5,28 +5,35 @@
 #include "MapWidget.h"
 #include "RinexNavigation.h"
 #include "SerialReader.h"
+#include "UartReplay.h"

 #include <QAbstractItemView>
 #include <QAbstractTableModel>
 #include <QCheckBox>
+#include <QCloseEvent>
 #include <QComboBox>
 #include <QDateTime>
 #include <QDir>
+#include <QDialog>
+#include <QDialogButtonBox>
 #include <QDoubleSpinBox>
 #include <QFormLayout>
 #include <QFile>
 #include <QFileDialog>
+#include <QFileInfo>
 #include <QGridLayout>
 #include <QGroupBox>
 #include <QHeaderView>
 #include <QLabel>
 #include <QLineEdit>
+#include <QMessageBox>
 #include <QPlainTextEdit>
 #include <QScrollArea>
 #include <QPushButton>
 #include <QRegularExpression>
 #include <QSpinBox>
 #include <QSplitter>
+#include <QSettings>
 #include <QStatusBar>
 #include <QStyle>
 #include <QTabWidget>
@@ -307,7 +314,7 @@ 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 +334,14 @@ 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 +353,10 @@ 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 +370,8 @@ 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();
    }

@@ -362,6 +382,7 @@ private:
 MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , m_serial(new SerialReader(this))
+    , m_replay(new UartReplay(this))
    , m_rinex(new RinexNavigation(this))
 {
    buildUi();
@@ -377,6 +398,40 @@ MainWindow::MainWindow(QWidget *parent)
    connect(m_serial, &SerialReader::lineReceived, this, &MainWindow::handleSerialLine);
    connect(m_serial, &SerialReader::statusChanged, this, &MainWindow::handleSerialStatus);
    connect(m_serial, &SerialReader::errorOccurred, this, &MainWindow::handleSerialError);
+    connect(m_replay, &UartReplay::lineReady, this, &MainWindow::handleSerialLine);
+    connect(m_replay, &UartReplay::replayStarted, this,
+            [this](int lineCount, int locationCount) {
+        const QString message = QStringLiteral(
+            "UART replay basladi: %1 konum, %2 satir")
+                                    .arg(locationCount).arg(lineCount);
+        m_statusLabel->setText(message);
+        m_log->appendPlainText(QStringLiteral("[STATUS] ") + message);
+        updateConnectionControls();
+    });
+    connect(m_replay, &UartReplay::progressChanged, this,
+            [this](int processed, int total) {
+        if (processed == total || processed % 100 == 0) {
+            m_statusLabel->setText(QStringLiteral("UART replay: %1 / %2 satir")
+                                       .arg(processed).arg(total));
+        }
+    });
+    connect(m_replay, &UartReplay::replayFinished, this, [this] {
+        commitPendingTelemetry();
+        flushUiUpdates();
+        m_map->fitToPoints();
+        const QString message = QStringLiteral("UART replay tamamlandi: %1 konum")
+                                    .arg(m_points.size());
+        m_statusLabel->setText(message);
+        m_log->appendPlainText(QStringLiteral("[STATUS] ") + message);
+        statusBar()->showMessage(message, 8000);
+        updateConnectionControls();
+    });
+    connect(m_replay, &UartReplay::errorOccurred, this, [this](const QString &message) {
+        m_statusLabel->setText(message);
+        m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
+        statusBar()->showMessage(message, 8000);
+        updateConnectionControls();
+    });
    connect(m_locationTimeoutTimer, &QTimer::timeout, this, &MainWindow::handleLocationTimeout);
    connect(m_uiRefreshTimer, &QTimer::timeout, this, &MainWindow::flushUiUpdates);
    connect(m_rinex, &RinexNavigation::satelliteMotionUpdated,
@@ -386,6 +441,14 @@ 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);
@@ -396,10 +459,21 @@ MainWindow::MainWindow(QWidget *parent)
    setWindowTitle(QStringLiteral("Canli Konum Haritasi"));
 }

+void MainWindow::closeEvent(QCloseEvent *event)
+{
+    m_replay->stop();
+    stopUartLogging();
+    QMainWindow::closeEvent(event);
+}
+
 void MainWindow::toggleSerial()
 {
+    if (m_replay->isRunning()) {
+        stopUartReplay();
+    }
    if (m_serial->isOpen()) {
        m_serial->closePort();
+        stopUartLogging();
        if (m_locationTimeoutTimer != nullptr) {
            m_locationTimeoutTimer->stop();
        }
@@ -407,11 +481,130 @@ void MainWindow::toggleSerial()
        return;
    }

-    if (m_serial->openPort(m_portCombo->currentText().trimmed(), selectedBaudRate())) {
+    const QString port = m_portCombo->currentText().trimmed();
+    const int baudRate = selectedBaudRate();
+    if (m_serial->openPort(port, baudRate)) {
+        startUartLogging(port, baudRate);
        updateConnectionControls();
    }
 }

+bool MainWindow::startUartReplay(const QString &filePath, int gpsIntervalMs,
+                                 int sensorIntervalMs)
+{
+    if (m_serial->isOpen()) {
+        m_serial->closePort();
+        stopUartLogging();
+    }
+    m_replay->stop();
+    resetTelemetryState();
+
+    if (!m_replay->start(filePath, gpsIntervalMs, sensorIntervalMs)) {
+        updateConnectionControls();
+        return false;
+    }
+
+    m_maxPointsSpin->setValue(std::clamp(m_replay->locationCount(), 1, 10000));
+    statusBar()->showMessage(
+        QStringLiteral("UART replay: GPS %1 ms, sensor/fused %2 ms")
+            .arg(gpsIntervalMs).arg(sensorIntervalMs), 8000);
+    updateConnectionControls();
+    return true;
+}
+
+void MainWindow::stopUartReplay()
+{
+    if (!m_replay->isRunning()) {
+        return;
+    }
+    m_replay->stop();
+    commitPendingTelemetry();
+    flushUiUpdates();
+    const QString message = QStringLiteral("UART replay durduruldu: %1 konum")
+                                .arg(m_points.size());
+    m_statusLabel->setText(message);
+    m_log->appendPlainText(QStringLiteral("[STATUS] ") + message);
+    statusBar()->showMessage(message, 5000);
+    updateConnectionControls();
+}
+
+bool MainWindow::startUartLogging(const QString &port, int baudRate)
+{
+    stopUartLogging();
+
+    QString logDirectory = QString::fromLocal8Bit(qgetenv("LOCATION_PLOTTER_UART_LOG_DIR"));
+    if (logDirectory.isEmpty()) {
+        logDirectory = QDir(QStringLiteral(LOCATION_PLOTTER_SOURCE_DIR))
+                           .filePath(QStringLiteral("uart_logs"));
+    } else if (QDir::isRelativePath(logDirectory)) {
+        logDirectory = QDir::current().absoluteFilePath(logDirectory);
+    }
+
+    if (!QDir().mkpath(logDirectory)) {
+        const QString message = QStringLiteral("UART log klasoru olusturulamadi: %1")
+                                    .arg(logDirectory);
+        m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
+        statusBar()->showMessage(message, 8000);
+        return false;
+    }
+
+    const QString fileName = QStringLiteral("uart_%1.log").arg(
+        QDateTime::currentDateTime().toString(QStringLiteral("yyyyMMdd_HHmmss_zzz")));
+    m_uartLogPath = QDir(logDirectory).filePath(fileName);
+    m_uartLogFile = new QFile(m_uartLogPath, this);
+    if (!m_uartLogFile->open(QIODevice::WriteOnly | QIODevice::Text)) {
+        const QString message = QStringLiteral("UART log dosyasi acilamadi: %1")
+                                    .arg(m_uartLogFile->errorString());
+        m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
+        statusBar()->showMessage(message, 8000);
+        delete m_uartLogFile;
+        m_uartLogFile = nullptr;
+        m_uartLogPath.clear();
+        return false;
+    }
+
+    const QString header = QStringLiteral("[%1] [SESSION START] port=%2 baud=%3\n")
+        .arg(QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm:ss.zzz")),
+             port)
+        .arg(baudRate);
+    m_uartLogFile->write(header.toUtf8());
+    m_uartLogFile->flush();
+    statusBar()->showMessage(QStringLiteral("UART log kaydi: %1").arg(m_uartLogPath), 8000);
+    return true;
+}
+
+void MainWindow::stopUartLogging()
+{
+    if (m_uartLogFile == nullptr) {
+        return;
+    }
+    if (m_uartLogFile->isOpen()) {
+        const QString footer = QStringLiteral("[%1] [SESSION END]\n").arg(
+            QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm:ss.zzz")));
+        m_uartLogFile->write(footer.toUtf8());
+        m_uartLogFile->flush();
+        m_uartLogFile->close();
+    }
+    delete m_uartLogFile;
+    m_uartLogFile = nullptr;
+    m_uartLogPath.clear();
+}
+
+void MainWindow::appendUartLogLine(const QString &line)
+{
+    if (m_uartLogFile == nullptr || !m_uartLogFile->isOpen()) {
+        return;
+    }
+    QString cleanLine = line;
+    cleanLine.replace(QLatin1Char('\r'), QStringLiteral("\\r"));
+    cleanLine.replace(QLatin1Char('\n'), QStringLiteral("\\n"));
+    const QString entry = QStringLiteral("[%1] %2\n")
+        .arg(QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm:ss.zzz")),
+             cleanLine);
+    m_uartLogFile->write(entry.toUtf8());
+    m_uartLogFile->flush();
+}
+
 void MainWindow::clearPoints()
 {
    if (m_locationTimeoutTimer != nullptr) {
@@ -422,6 +615,8 @@ void MainWindow::clearPoints()

 bool MainWindow::loadTelemetryLog(const QString &filePath)
 {
+    m_replay->stop();
+    updateConnectionControls();
    QFile file(filePath);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
        const QString message = QStringLiteral("Log acilamadi: %1").arg(file.errorString());
@@ -464,6 +659,95 @@ void MainWindow::openTelemetryLog()
    }
 }

+void MainWindow::openUartReplay()
+{
+    if (m_replay->isRunning()) {
+        stopUartReplay();
+        return;
+    }
+
+    QSettings settings;
+    QDialog dialog(this);
+    dialog.setWindowTitle(QStringLiteral("UART Log Replay"));
+    dialog.setMinimumWidth(620);
+
+    auto *layout = new QVBoxLayout(&dialog);
+    auto *form = new QFormLayout();
+    auto *fileRow = new QWidget(&dialog);
+    auto *fileLayout = new QHBoxLayout(fileRow);
+    fileLayout->setContentsMargins(0, 0, 0, 0);
+    auto *pathEdit = new QLineEdit(fileRow);
+    pathEdit->setObjectName(QStringLiteral("uartReplayPathInput"));
+    pathEdit->setText(settings.value(QStringLiteral("replay/file")).toString());
+    pathEdit->setPlaceholderText(QStringLiteral("UART .log veya .txt dosyasi"));
+    auto *browseButton = new QPushButton(QStringLiteral("Sec..."), fileRow);
+    fileLayout->addWidget(pathEdit, 1);
+    fileLayout->addWidget(browseButton);
+    form->addRow(QStringLiteral("Kayitli UART verisi"), fileRow);
+
+    auto *gpsInterval = new QSpinBox(&dialog);
+    gpsInterval->setObjectName(QStringLiteral("uartReplayGpsIntervalInput"));
+    gpsInterval->setRange(1, 60000);
+    gpsInterval->setSuffix(QStringLiteral(" ms"));
+    gpsInterval->setValue(settings.value(QStringLiteral("replay/gpsIntervalMs"), 200).toInt());
+    form->addRow(QStringLiteral("Raw GPS guncelleme"), gpsInterval);
+
+    auto *sensorInterval = new QSpinBox(&dialog);
+    sensorInterval->setObjectName(QStringLiteral("uartReplaySensorIntervalInput"));
+    sensorInterval->setRange(1, 60000);
+    sensorInterval->setSuffix(QStringLiteral(" ms"));
+    sensorInterval->setValue(settings.value(
+        QStringLiteral("replay/sensorIntervalMs"), 50).toInt());
+    form->addRow(QStringLiteral("Sensor / fused guncelleme"), sensorInterval);
+    layout->addLayout(form);
+
+    auto *hint = new QLabel(QStringLiteral(
+        "Log zaman damgasi gerektirmez. source=gps kayitlari GPS hizinda; "
+        "source=imu_corrected ve [FUSION] kayitlari sensor hizinda yeniden uretilir."),
+        &dialog);
+    hint->setWordWrap(true);
+    layout->addWidget(hint);
+
+    auto *buttons = new QDialogButtonBox(
+        QDialogButtonBox::Cancel | QDialogButtonBox::Ok, &dialog);
+    buttons->button(QDialogButtonBox::Ok)->setText(QStringLiteral("Replay Baslat"));
+    layout->addWidget(buttons);
+
+    connect(browseButton, &QPushButton::clicked, &dialog, [this, pathEdit] {
+        QString initialPath = pathEdit->text().trimmed();
+        if (initialPath.isEmpty()) {
+            initialPath = QDir(QStringLiteral(LOCATION_PLOTTER_SOURCE_DIR))
+                              .filePath(QStringLiteral("uart_logs"));
+        }
+        const QString filePath = QFileDialog::getOpenFileName(
+            this, QStringLiteral("UART replay logunu sec"), initialPath,
+            QStringLiteral("UART logs (*.log *.txt);;All files (*)"));
+        if (!filePath.isEmpty()) {
+            pathEdit->setText(filePath);
+        }
+    });
+    connect(buttons, &QDialogButtonBox::rejected, &dialog, &QDialog::reject);
+    connect(buttons, &QDialogButtonBox::accepted, &dialog, [&dialog, pathEdit] {
+        const QFileInfo selectedFile(pathEdit->text().trimmed());
+        if (!selectedFile.exists() || !selectedFile.isFile()) {
+            QMessageBox::warning(&dialog, QStringLiteral("UART Replay"),
+                                 QStringLiteral("Gecerli bir UART log dosyasi secin."));
+            return;
+        }
+        dialog.accept();
+    });
+
+    if (dialog.exec() != QDialog::Accepted) {
+        return;
+    }
+
+    const QString filePath = QFileInfo(pathEdit->text().trimmed()).absoluteFilePath();
+    settings.setValue(QStringLiteral("replay/file"), filePath);
+    settings.setValue(QStringLiteral("replay/gpsIntervalMs"), gpsInterval->value());
+    settings.setValue(QStringLiteral("replay/sensorIntervalMs"), sensorInterval->value());
+    startUartReplay(filePath, gpsInterval->value(), sensorInterval->value());
+}
+
 void MainWindow::refreshSerialPorts()
 {
    const QString previousPort = m_portCombo->currentText().trimmed();
@@ -494,18 +778,28 @@ void MainWindow::refreshSerialPorts()

 void MainWindow::handleSerialLine(const QString &line)
 {
+    appendUartLogLine(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+(?:prn[_ -]?indices|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);
    }

@@ -561,6 +855,7 @@ void MainWindow::handleSerialStatus(const QString &status)

 void MainWindow::handleSerialError(const QString &message)
 {
+    stopUartLogging();
    flushPendingLogLines();
    m_statusLabel->setText(message);
    m_log->appendPlainText(QStringLiteral("[ERROR] ") + message);
@@ -809,7 +1104,7 @@ 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"));
@@ -824,6 +1119,11 @@ void MainWindow::buildUi()
    m_openLogButton = new QPushButton(QStringLiteral("Senaryo Logu Ac"), this);
    m_openLogButton->setObjectName(QStringLiteral("openLogButton"));
    m_openLogButton->setIcon(style()->standardIcon(QStyle::SP_DialogOpenButton));
+    m_replayButton = new QPushButton(QStringLiteral("UART Replay"), this);
+    m_replayButton->setObjectName(QStringLiteral("uartReplayButton"));
+    m_replayButton->setIcon(style()->standardIcon(QStyle::SP_MediaPlay));
+    m_replayButton->setToolTip(QStringLiteral(
+        "Kayitli UART verisini GPS ve sensor guncelleme hizlariyla yeniden oynat"));

    m_autoFollowCheck = new QCheckBox(QStringLiteral("Kamerayi takip et"), this);
    m_autoFollowCheck->setChecked(true);
@@ -844,6 +1144,7 @@ void MainWindow::buildUi()
    toolbarLayout->addWidget(m_maxPointsSpin);
    toolbarLayout->addWidget(m_connectButton);
    toolbarLayout->addWidget(m_openLogButton);
+    toolbarLayout->addWidget(m_replayButton);
    toolbarLayout->addWidget(m_clearButton);
    toolbarLayout->addWidget(m_autoFollowCheck);
    toolbarLayout->addWidget(zoomOutButton);
@@ -856,7 +1157,25 @@ 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);
@@ -1061,6 +1380,7 @@ void MainWindow::buildUi()
    connect(m_connectButton, &QPushButton::clicked, this, &MainWindow::toggleSerial);
    connect(m_clearButton, &QPushButton::clicked, this, &MainWindow::clearPoints);
    connect(m_openLogButton, &QPushButton::clicked, this, &MainWindow::openTelemetryLog);
+    connect(m_replayButton, &QPushButton::clicked, this, &MainWindow::openUartReplay);
    connect(refreshPortsButton, &QToolButton::clicked, this, &MainWindow::refreshSerialPorts);
    connect(m_maxPointsSpin, qOverload<int>(&QSpinBox::valueChanged), this,
            &MainWindow::trimToMaxPoints);
@@ -1095,16 +1415,25 @@ void MainWindow::buildUi()
 void MainWindow::updateConnectionControls()
 {
    const bool open = m_serial->isOpen();
+    const bool replaying = m_replay->isRunning();
    m_connectButton->setText(open ? QStringLiteral("Durdur") : QStringLiteral("Dinle"));
    m_connectButton->setIcon(style()->standardIcon(open ? QStyle::SP_MediaStop : QStyle::SP_MediaPlay));
-    m_portCombo->setEnabled(!open);
-    m_baudCombo->setEnabled(!open);
+    m_connectButton->setEnabled(!replaying);
+    m_portCombo->setEnabled(!open && !replaying);
+    m_baudCombo->setEnabled(!open && !replaying);
+    m_openLogButton->setEnabled(!replaying);
+    m_replayButton->setText(replaying ? QStringLiteral("Replay Durdur")
+                                     : QStringLiteral("UART Replay"));
+    m_replayButton->setIcon(style()->standardIcon(
+        replaying ? QStyle::SP_MediaStop : QStyle::SP_MediaPlay));
 }

 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 +1445,21 @@ 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 +1551,12 @@ 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 +1638,5 @@ int MainWindow::selectedBaudRate() const
 {
    bool ok = false;
    const int baudRate = m_baudCombo->currentText().toInt(&ok);
-    return ok ? baudRate : 115200;
+    return ok ? baudRate : 460800;
 }
@@ -18,12 +18,15 @@ class QPushButton;
 class QSpinBox;
 class QTableView;
 class QTimer;
+class QCloseEvent;
+class QFile;

 class MapWidget;
 class GlobeWidget;
 class RinexNavigation;
 class SerialReader;
 class TelemetryTableModel;
+class UartReplay;

 class MainWindow : public QMainWindow {
    Q_OBJECT
@@ -31,6 +34,11 @@ class MainWindow : public QMainWindow {
 public:
    explicit MainWindow(QWidget *parent = nullptr);
    bool loadTelemetryLog(const QString &filePath);
+    bool startUartReplay(const QString &filePath, int gpsIntervalMs = 200,
+                         int sensorIntervalMs = 50);
+
+protected:
+    void closeEvent(QCloseEvent *event) override;

 private slots:
    void toggleSerial();
@@ -43,7 +51,11 @@ private slots:
    void updateReferenceLocation();
    void flushUiUpdates();
    void openTelemetryLog();
+    void openUartReplay();
+    void stopUartReplay();
    void refreshSerialPorts();
+    bool startUartLogging(const QString &port, int baudRate);
+    void stopUartLogging();

 private:
    void buildUi();
@@ -60,9 +72,11 @@ private:
    void scheduleTelemetryRefresh();
    void refreshTelemetryViews();
    void flushPendingLogLines();
+    void appendUartLogLine(const QString &line);
    int selectedBaudRate() const;

    SerialReader *m_serial = nullptr;
+    UartReplay *m_replay = nullptr;
    MapWidget *m_map = nullptr;
    GlobeWidget *m_globe = nullptr;
    RinexNavigation *m_rinex = nullptr;
@@ -74,6 +88,8 @@ private:
    QPushButton *m_connectButton = nullptr;
    QPushButton *m_clearButton = nullptr;
    QPushButton *m_openLogButton = nullptr;
+    QPushButton *m_replayButton = nullptr;
+    QPushButton *m_refreshRinexButton = nullptr;
    QCheckBox *m_autoFollowCheck = nullptr;
    QCheckBox *m_showTelemetryCheck = nullptr;
    QCheckBox *m_showRecentPointsCheck = nullptr;
@@ -97,6 +113,8 @@ private:
    QPlainTextEdit *m_log = nullptr;
    QTimer *m_locationTimeoutTimer = nullptr;
    QTimer *m_uiRefreshTimer = nullptr;
+    QFile *m_uartLogFile = nullptr;
+    QString m_uartLogPath;

    QVector<TelemetryPoint> m_points;
    QStringList m_pendingLogLines;
@@ -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()
@@ -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);
@@ -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 +155,14 @@ 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")
+                           .arg(positions.size())
+                           .arg(date.toString(QStringLiteral("dd.MM.yyyy")))
+                           .arg(now.toLocalTime().toString(
+                               QStringLiteral("HH:mm:ss t"))), false);
 }

 bool RinexNavigation::loadCache()
@@ -224,12 +170,17 @@ 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")
+                           .arg(positions.size())
+                           .arg(now.toLocalTime().toString(
+                               QStringLiteral("HH:mm:ss t"))), true);
    return true;
 }

@@ -241,28 +192,36 @@ 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 +233,8 @@ 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 +280,95 @@ 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);
+}
@@ -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;
 };
@@ -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;
@@ -0,0 +1,207 @@
+#include "UartReplay.h"
+
+#include "LocationParser.h"
+
+#include <QFile>
+#include <QRegularExpression>
+#include <QTimer>
+
+#include <algorithm>
+#include <limits>
+
+UartReplay::UartReplay(QObject *parent)
+    : QObject(parent)
+    , m_timer(new QTimer(this))
+{
+    m_timer->setSingleShot(true);
+    connect(m_timer, &QTimer::timeout, this, &UartReplay::emitNext);
+}
+
+bool UartReplay::isRunning() const
+{
+    return m_running;
+}
+
+int UartReplay::locationCount() const
+{
+    return m_locationCount;
+}
+
+bool UartReplay::start(const QString &filePath, int gpsIntervalMs, int sensorIntervalMs)
+{
+    stop();
+
+    if (gpsIntervalMs < 1 || sensorIntervalMs < 1) {
+        emit errorOccurred(QStringLiteral("Replay araliklari en az 1 ms olmalidir"));
+        return false;
+    }
+
+    QFile file(filePath);
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        emit errorOccurred(QStringLiteral("UART replay logu acilamadi: %1")
+                               .arg(file.errorString()));
+        return false;
+    }
+
+    qint64 nextGpsMs = 0;
+    qint64 nextSensorMs = 0;
+    qint64 lastDueMs = 0;
+    bool pendingLatitude = false;
+    bool pendingLongitude = false;
+    LocationSource pendingSource = LocationSource::Generic;
+    const QList<QByteArray> rawLines = file.readAll().split('\n');
+    m_lines.reserve(rawLines.size());
+
+    for (const QByteArray &rawLine : rawLines) {
+        const QString line = removeRecorderTimestamp(QString::fromUtf8(rawLine));
+        if (line.isEmpty() || line.startsWith(QLatin1Char('#'))
+            || line.startsWith(QStringLiteral("[SESSION START]"))
+            || line.startsWith(QStringLiteral("[SESSION END]"))) {
+            continue;
+        }
+
+        Stream stream = classifyLine(line);
+        const std::optional<ParsedTelemetry> telemetry = LocationParser::parseLine(line);
+        if (telemetry.has_value() && telemetry->hasLocation()) {
+            pendingLatitude = false;
+            pendingLongitude = false;
+            pendingSource = LocationSource::Generic;
+        } else if (telemetry.has_value()) {
+            if (telemetry->latitude.has_value()) {
+                if (pendingLatitude) {
+                    pendingLongitude = false;
+                }
+                pendingLatitude = true;
+                pendingSource = telemetry->source;
+            }
+            if (telemetry->longitude.has_value()) {
+                pendingLongitude = true;
+                if (telemetry->source != LocationSource::Generic) {
+                    pendingSource = telemetry->source;
+                }
+            }
+            if (pendingLatitude && pendingLongitude) {
+                stream = pendingSource == LocationSource::ImuCorrected
+                        || pendingSource == LocationSource::Trajectory
+                    ? Stream::Sensor : Stream::Gps;
+                pendingLatitude = false;
+                pendingLongitude = false;
+                pendingSource = LocationSource::Generic;
+            }
+        }
+        qint64 dueMs = lastDueMs;
+        if (stream == Stream::Gps) {
+            dueMs = std::max(lastDueMs, nextGpsMs);
+            nextGpsMs = dueMs + gpsIntervalMs;
+            ++m_locationCount;
+        } else if (stream == Stream::Sensor) {
+            dueMs = std::max(lastDueMs, nextSensorMs);
+            nextSensorMs = dueMs + sensorIntervalMs;
+            ++m_locationCount;
+        }
+
+        ReplayLine replayLine;
+        replayLine.text = line;
+        replayLine.delayBeforeMs = static_cast<int>(std::min<qint64>(
+            dueMs - lastDueMs, std::numeric_limits<int>::max()));
+        m_lines.push_back(std::move(replayLine));
+        lastDueMs = dueMs;
+    }
+
+    if (m_locationCount == 0) {
+        m_lines.clear();
+        emit errorOccurred(QStringLiteral(
+            "UART replay logunda GPS veya fused konum kaydi bulunamadi"));
+        return false;
+    }
+
+    m_running = true;
+    emit replayStarted(m_lines.size(), m_locationCount);
+    m_timer->start(0);
+    return true;
+}
+
+void UartReplay::stop()
+{
+    if (!m_running && m_lines.isEmpty()) {
+        return;
+    }
+    m_timer->stop();
+    m_running = false;
+    m_lines.clear();
+    m_index = 0;
+    m_locationCount = 0;
+}
+
+void UartReplay::emitNext()
+{
+    if (!m_running) {
+        return;
+    }
+
+    constexpr int MaxImmediateLines = 250;
+    int emitted = 0;
+    while (m_index < m_lines.size() && emitted < MaxImmediateLines) {
+        const ReplayLine &line = m_lines.at(m_index);
+        if (line.delayBeforeMs > 0) {
+            if (emitted > 0) {
+                emit progressChanged(m_index, m_lines.size());
+            }
+            const int delay = line.delayBeforeMs;
+            m_lines[m_index].delayBeforeMs = 0;
+            m_timer->start(delay);
+            return;
+        }
+
+        emit lineReady(line.text);
+        ++m_index;
+        ++emitted;
+    }
+
+    emit progressChanged(m_index, m_lines.size());
+    if (m_index >= m_lines.size()) {
+        finish();
+    } else {
+        m_timer->start(0);
+    }
+}
+
+QString UartReplay::removeRecorderTimestamp(const QString &line)
+{
+    QString result = line.trimmed();
+    static const QRegularExpression timestampPrefix(
+        QStringLiteral(R"(^\[\d{4}-\d{2}-\d{2}[ T]\d{2}:\d{2}:\d{2}(?:[\.,]\d+)?\]\s*)"));
+    result.remove(timestampPrefix);
+    return result.trimmed();
+}
+
+UartReplay::Stream UartReplay::classifyLine(const QString &line)
+{
+    const std::optional<ParsedTelemetry> telemetry = LocationParser::parseLine(line);
+    if (!telemetry.has_value() || !telemetry->hasLocation()) {
+        return Stream::Diagnostic;
+    }
+
+    switch (telemetry->source) {
+    case LocationSource::Gps:
+        return Stream::Gps;
+    case LocationSource::ImuCorrected:
+    case LocationSource::Trajectory:
+        return Stream::Sensor;
+    case LocationSource::Generic:
+    default:
+        // Older firmware used a [FUSION] record without an explicit source.
+        return line.startsWith(QStringLiteral("[FUSION]"), Qt::CaseInsensitive)
+            ? Stream::Sensor : Stream::Gps;
+    }
+}
+
+void UartReplay::finish()
+{
+    m_timer->stop();
+    m_running = false;
+    m_lines.clear();
+    m_index = 0;
+    m_locationCount = 0;
+    emit replayFinished();
+}
@@ -0,0 +1,54 @@
+#pragma once
+
+#include <QObject>
+#include <QString>
+#include <QVector>
+
+class QTimer;
+
+class UartReplay final : public QObject {
+    Q_OBJECT
+
+public:
+    explicit UartReplay(QObject *parent = nullptr);
+
+    [[nodiscard]] bool isRunning() const;
+    [[nodiscard]] int locationCount() const;
+
+public slots:
+    bool start(const QString &filePath, int gpsIntervalMs = 200,
+               int sensorIntervalMs = 50);
+    void stop();
+
+signals:
+    void lineReady(const QString &line);
+    void replayStarted(int lineCount, int locationCount);
+    void progressChanged(int linesProcessed, int lineCount);
+    void replayFinished();
+    void errorOccurred(const QString &message);
+
+private slots:
+    void emitNext();
+
+private:
+    enum class Stream {
+        Diagnostic,
+        Gps,
+        Sensor
+    };
+
+    struct ReplayLine {
+        QString text;
+        int delayBeforeMs = 0;
+    };
+
+    static QString removeRecorderTimestamp(const QString &line);
+    static Stream classifyLine(const QString &line);
+    void finish();
+
+    QTimer *m_timer = nullptr;
+    QVector<ReplayLine> m_lines;
+    int m_index = 0;
+    int m_locationCount = 0;
+    bool m_running = false;
+};
@@ -1,18 +1,24 @@
 #include "../src/MainWindow.h"
+#include "../src/GlobeWidget.h"
 #include "../src/MapWidget.h"

 #include <QApplication>
 #include <QCheckBox>
 #include <QComboBox>
 #include <QDoubleSpinBox>
+#include <QDir>
+#include <QFile>
 #include <QLabel>
 #include <QLineEdit>
 #include <QMetaObject>
 #include <QSpinBox>
+#include <QPushButton>
+#include <QRegularExpression>
 #include <QTableView>
 #include <QTabWidget>
 #include <QSplitter>
 #include <QTemporaryFile>
+#include <QTemporaryDir>

 #include <cassert>

@@ -41,6 +47,32 @@ int main(int argc, char **argv)
    MainWindow window;
    qunsetenv("LOCATION_PLOTTER_PORT");

+    {
+        QTemporaryDir uartLogDirectory;
+        assert(uartLogDirectory.isValid());
+        qputenv("LOCATION_PLOTTER_UART_LOG_DIR", uartLogDirectory.path().toUtf8());
+        bool loggingStarted = false;
+        assert(QMetaObject::invokeMethod(
+            &window, "startUartLogging", Qt::DirectConnection,
+            Q_RETURN_ARG(bool, loggingStarted),
+            Q_ARG(QString, QStringLiteral("/dev/test-uart")), Q_ARG(int, 460800)));
+        assert(loggingStarted);
+        sendLine(window, QStringLiteral("raw uart test line"));
+        assert(QMetaObject::invokeMethod(&window, "stopUartLogging", Qt::DirectConnection));
+        qunsetenv("LOCATION_PLOTTER_UART_LOG_DIR");
+
+        const QStringList logFiles = QDir(uartLogDirectory.path()).entryList(
+            {QStringLiteral("uart_*.log")}, QDir::Files);
+        assert(logFiles.size() == 1);
+        QFile logFile(QDir(uartLogDirectory.path()).filePath(logFiles.constFirst()));
+        assert(logFile.open(QIODevice::ReadOnly | QIODevice::Text));
+        const QString contents = QString::fromUtf8(logFile.readAll());
+        assert(contents.contains(QStringLiteral("[SESSION START] port=/dev/test-uart baud=460800")));
+        assert(contents.contains(QRegularExpression(
+            QStringLiteral(R"(\[\d{4}-\d{2}-\d{2} \d{2}:\d{2}:\d{2}\.\d{3}\] raw uart test line)"))));
+        assert(contents.contains(QStringLiteral("[SESSION END]")));
+    }
+
    auto *table = window.findChild<QTableView *>();
    auto *referenceLatInput = window.findChild<QLineEdit *>(QStringLiteral("referenceLatInput"));
    auto *referenceLonInput = window.findChild<QLineEdit *>(QStringLiteral("referenceLonInput"));
@@ -51,6 +83,8 @@ 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 +103,9 @@ 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 +119,15 @@ int main(int argc, char **argv)
    assert(sideSplitter != nullptr);
    assert(sideSplitter->orientation() == Qt::Vertical);

+    sendLine(window, QStringLiteral("[TRK] tracked satellites=2 prn_indices=[2,7]"));
+    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 prn_indices=[13]"));
+    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 +231,27 @@ 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"));
@@ -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
@@ -156,6 +186,25 @@ int main(int argc, char **argv)
        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G32")}));
    }

+    {
+        const QSet<QString> prns = LocationParser::parseGpsPrns(
+            QStringLiteral("[TRK] tracked satellites=3 prn_indices=[0,7,31]"));
+        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G08"),
+                                     QStringLiteral("G32")}));
+    }
+
+    {
+        const QSet<QString> prns = LocationParser::parseGpsPrns(
+            QStringLiteral("[TRK] tracked satellites=2 prns=[0,7]"));
+        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G08")}));
+    }
+
+    {
+        const QSet<QString> prns = LocationParser::parseGpsPrns(
+            QStringLiteral("[TRK] tracked satellites=2 prn_indices=[0,G08]"));
+        assert(prns == QSet<QString>({QStringLiteral("G01"), QStringLiteral("G08")}));
+    }
+
    {
        const auto parsed = LocationParser::parseLine(QStringLiteral(
            "[OK] [NAV] DOP GDOP=7.0907891622 PDOP=5.6333862175 "
@@ -181,11 +230,14 @@ 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));
    }
@@ -198,6 +250,14 @@ int main(int argc, char **argv)
        assert(parsed->satellites == 5);
    }

+    {
+        const auto parsed = LocationParser::parseLine(QStringLiteral(
+            "[FUSION] state=moving lat=40.7357 lon=31.5986 height=811"));
+        assert(parsed.has_value());
+        assert(parsed->hasLocation());
+        assert(parsed->source == LocationSource::ImuCorrected);
+    }
+
    {
        const auto parsed = LocationParser::parseLine(QStringLiteral(
            "[LOCATION] source=trajectory lat=40.7358 lon=31.5987 height=810 tracked=4 used=4"));
@@ -207,6 +267,36 @@ 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));
+
+        // A local wall-clock representation must not move the satellites.
+        // 11:48 at UTC+03 and 08:48 UTC represent the same physical instant.
+        const auto localTimeSatellites = RinexNavigation::parseGpsNavigation(
+            syntheticGpsNavigation(gpsLabel, gpsWeek, toe),
+            matchingUtc.toOffsetFromUtc(3 * 60 * 60), &error);
+        assert(error.isEmpty());
+        assert(localTimeSatellites.size() == satellites.size());
+        assert(closeTo(localTimeSatellites[0].x, satellites[0].x, 0.001));
+        assert(closeTo(localTimeSatellites[0].y, satellites[0].y, 0.001));
+        assert(closeTo(localTimeSatellites[0].z, satellites[0].z, 0.001));
+    }
+
    const QString rinexPath = qEnvironmentVariable("LOCATION_PLOTTER_TEST_RINEX");
    if (!rinexPath.isEmpty()) {
        QFile file(rinexPath);
@@ -0,0 +1,70 @@
+#include "../src/UartReplay.h"
+
+#include <QCoreApplication>
+#include <QElapsedTimer>
+#include <QEventLoop>
+#include <QTemporaryFile>
+#include <QTimer>
+
+#include <cassert>
+
+int main(int argc, char **argv)
+{
+    QCoreApplication app(argc, argv);
+
+    QTemporaryFile log;
+    assert(log.open());
+    log.write(
+        "[2026-08-12 10:00:00.000] [SESSION START] port=/dev/test baud=460800\n"
+        "[2026-08-12 10:00:00.001] [LOCATION] source=gps lat=40.0 lon=29.0\n"
+        "diagnostic line without timestamp\n"
+        "[LOCATION] source=imu_corrected lat=40.1 lon=29.1\n"
+        "[FUSION] lat=40.2 lon=29.2 height=10\n"
+        "[LOCATION] source=gps lat=40.3 lon=29.3\n"
+        "[2026-08-12 10:00:00.999] [SESSION END]\n");
+    log.flush();
+
+    UartReplay replay;
+    QStringList received;
+    QVector<qint64> receivedAt;
+    QElapsedTimer elapsed;
+    QEventLoop loop;
+    QObject::connect(&replay, &UartReplay::lineReady, &loop, [&](const QString &line) {
+        received.push_back(line);
+        receivedAt.push_back(elapsed.elapsed());
+    });
+    QObject::connect(&replay, &UartReplay::replayFinished, &loop, &QEventLoop::quit);
+    QTimer::singleShot(2000, &loop, &QEventLoop::quit);
+
+    elapsed.start();
+    assert(replay.start(log.fileName(), 20, 10));
+    assert(replay.locationCount() == 4);
+    loop.exec();
+
+    assert(!replay.isRunning());
+    assert(received.size() == 5);
+    assert(received.first().startsWith(QStringLiteral("[LOCATION] source=gps")));
+    assert(received.at(1) == QStringLiteral("diagnostic line without timestamp"));
+    assert(received.at(3).startsWith(QStringLiteral("[FUSION]")));
+    assert(receivedAt.last() >= 15);
+
+    QTemporaryFile splitLog;
+    assert(splitLog.open());
+    splitLog.write("latitude: 40.25\nlongitude: 29.50\n");
+    splitLog.flush();
+    received.clear();
+    receivedAt.clear();
+    elapsed.restart();
+    assert(replay.start(splitLog.fileName(), 1, 1));
+    assert(replay.locationCount() == 1);
+    loop.exec();
+    assert(received.size() == 2);
+
+    QTemporaryFile invalidLog;
+    assert(invalidLog.open());
+    invalidLog.write("only diagnostics\n");
+    invalidLog.flush();
+    assert(!replay.start(invalidLog.fileName(), 200, 50));
+
+    return 0;
+}
Author	SHA1	Message	Date
Onur Cayan	498757b502	Add source-aware UART log replay Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled Details Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled Details	2026-08-12 13:54:11 +03:00
onur	9ced0da0b2	Normalize zero-based firmware satellite indices Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled Details Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled Details	2026-07-24 12:06:09 +03:00
onur	73589204f5	Verify satellite propagation is timezone invariant	2026-07-24 11:58:24 +03:00
onur	6ffa76139c	Show RINEX status time in local timezone	2026-07-24 11:50:48 +03:00
onur	8b7256ed9d	Prefer corrected position for map following Ubuntu build / build-and-test (ubuntu-22.04) (push) Has been cancelled Details Ubuntu build / build-and-test (ubuntu-24.04) (push) Has been cancelled Details	2026-07-23 23:55:25 +03:00
onur	24b08ee518	Improve satellite view and fused location telemetry	2026-07-23 23:19:52 +03:00