added legacy gpr

python_app/gui/controllers/app_window_pipeline_mixin.py

@@ -4,6 +4,8 @@ from __future__ import annotations
 
 import time
 
+from PyQt6.QtCore import QSignalBlocker
+
 from python_app.gui.runtime.constraints import validate_processing_mode_constraints
 from python_app.gui.runtime.history import build_run_history_signature, record_result_history
 from python_app.hardware_full.single_radar_service import create_single_radar_service
@@ -470,10 +472,21 @@ class AppWindowPipelineMixin:
         )
 
     def _drain_locator_speed_updates(self) -> None:
-        """Drain queued locator speed packets; coherent BP does not use motion speed."""
+        """Apply the newest queued locator speed packet to live processing settings."""
         if self._locator_service is None:
             return
-        self._locator_service.drain_speed_updates()
+        speed_m_s = self._locator_service.drain_speed_updates()
+        if speed_m_s is None:
+            return
+
+        previous_speed_m_s = float(self._gpr_speed_m_s.value())
+        with QSignalBlocker(self._gpr_speed_m_s):
+            self._gpr_speed_m_s.setValue(float(speed_m_s))
+        current_speed_m_s = float(self._gpr_speed_m_s.value())
+        if current_speed_m_s == previous_speed_m_s:
+            return
+
+        self._write_live_processing_config()
 
     def _publish_locator_snapshot_from_collection(self, collection: ResultCollection) -> None:
         """Publish one locator snapshot from a GPR result collection."""