修正基线系标定默认：机械初值、地面ROI与航向偏移可配，并补充G90窗导出与契约测试

Co-authored-by: Cursor <cursoragent@cursor.com>

tools/rscap_v2/pipeline_common.py

@@ -131,6 +131,30 @@ def parse_heading(line: str) -> dict:
     }
 
 
+def parse_gnhpr(line: str) -> dict:
+    """Parse Wheeltec G90 ``$GNHPR`` heading/pitch output."""
+
+    fields = line[:line.rfind("*")].split(",")
+    if len(fields) < 7:
+        raise ValueError("GNHPR has too few fields")
+    quality = safe_int(fields[5], -1)
+    return {
+        "type": "GNHPR",
+        "position_time_utc": fields[1],
+        "raw_heading_deg": safe_float(fields[2]),
+        "pitch_deg": safe_float(fields[3]),
+        "roll_deg": safe_float(fields[4]),
+        "heading_quality": quality,
+        "satellites": safe_int(fields[6], -1),
+        "heading_solution": f"GNHPR_QUALITY_{quality}",
+        "baseline_length_m": None,
+        "heading_stddev_deg": None,
+        "pitch_stddev_deg": None,
+        "solution_satellites": safe_int(fields[6], -1),
+        "heading_valid": quality in {4, 5},
+    }
+
+
 def parse_pvtslna(line: str) -> dict:
     """Parse Unicore/G90 ``#PVTSLNA`` into GGA-compatible position fields.
 
@@ -221,6 +245,8 @@ def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
                     row.update(parse_pvtslna(line))
                 elif line.startswith("#UNIHEADINGA"):
                     row.update(parse_heading(line))
+                elif line.startswith("$GNHPR"):
+                    row.update(parse_gnhpr(line))
             except ValueError as ex:
                 row["parse_error"] = str(ex)
             rows.append(row)

tools/rscap_v2/pipeline_common_corrected.py

@@ -41,8 +41,14 @@ def source_for_span(chunks: list[RawChunk], start: int, end: int, segment_id: in
     }
 
 
-def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
+def parse_rtk_capture(
+    capture: CaptureFile,
+    accepted_prefixes: tuple[str, ...] | None = None,
+) -> list[dict]:
     rows = []
+    accepted_prefix_bytes = (
+        tuple(prefix.encode("ascii") for prefix in accepted_prefixes) if accepted_prefixes is not None else None
+    )
     for segment_id, chunks in iter_contiguous_segments(capture.chunks):
         stream = b"".join(chunk.raw for chunk in chunks)
         cursor = 0
@@ -56,6 +62,8 @@ def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
             cursor = end
             if not raw_line:
                 continue
+            if accepted_prefix_bytes is not None and not raw_line.startswith(accepted_prefix_bytes):
+                continue
             line = raw_line.decode("ascii", "replace")
             row = {"type": "UNKNOWN", "raw_line": line, "checksum_valid": parse_checksum(line)}
             row.update(source_for_span(chunks, start, end, segment_id))
@@ -66,6 +74,8 @@ def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
                     row.update(parse_pvtslna(line))
                 elif line.startswith("#UNIHEADINGA"):
                     row.update(parse_heading(line))
+                elif line.startswith("$GNHPR"):
+                    row.update(parse_gnhpr(line))
             except ValueError as ex:
                 row["parse_error"] = str(ex)
             rows.append(row)