GNSS bring-up diagnostics and mag-primary heading - #71
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Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…PVTGeodetic revisions Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The bring-up relied on the receiver's default resolution (Fixed); a short baseline may never fix its ambiguities, so emit Float explicitly to keep heading available. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
With the dual-antenna GNSS aux port dead, the mag is the only heading reference, but heading was reported valid only after a GNSS fix that can never arrive: output() returned FLT_MAX variance until _initialized, so the rudder saw heading as permanently untrustworthy. Report the real variance once heading is anchored by GNSS or a mag offset seed. Guard against steering on an unconverged mag: surface the BNO Rotation Vector calibration accuracy (0-3) through ImuSample and FusionOutput, and require at least medium accuracy in heading_trustworthy (the rudder gate). Persist the calibration once it converges (auto Save-DCD) so later boots start calibrated. Tighten p0_offset_deg2 and set the calibrated offset_seed_deg so the trusted mag holds heading under the rudder's bound. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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The dual-antenna GNSS aux (ANT_2) RF input on the mosaic-go-H is confirmed dead (fault follows the port across an antenna swap; clear-sky main tracks 27 sats, aux 0-1), so the unit is being RMA'd. Until a replacement, heading comes solely from the BNO085 magnetometer.
GNSS
Mag-primary heading
Tests
217 host tests pass, including new regression coverage: mag-primary steerable heading, the accuracy gate, BNO accuracy parse, Save-DCD layout.
Provisional on hardware: verify heading reads correct and valid at magnetic north and is repeatable across a reboot.