some fixes and improvements

python_app/orchestration/live_processing_config.py

@@ -36,6 +36,16 @@ class ProcessingLiveConfig:
     gpr_draw_top_m_objects: int = 2
     gpr_speed_m_s: float = 0.0
     gpr_look_angle_deg: float = 0.0
+    # Motion-model knobs for the legacy GPR pipeline. `direction_sign` flips
+    # which way later events appear deeper (+1) vs shallower (-1) along Z.
+    # `apply_freq_phase_correction` enables intra-sweep frequency-domain phase
+    # compensation that fires *before* the IFFT — needed when the radar moves
+    # appreciably during one sweep.
+    gpr_direction_sign: float = 1.0
+    gpr_apply_freq_phase_correction: bool = True
+    # Anchor for the motion model's per-event `dt_ref`: 'frame_center' (default)
+    # or 'first_tx_event'. Mirrors Python `MOTION_CONFIG.reference_mode`.
+    gpr_reference_mode: str = "frame_center"
     gpr_snr_thresh: float = 4.5
     gpr_snr_comp_max: float = 25.0
     gpr_start_freq_mhz: float = 3000.0
@@ -93,6 +103,9 @@ class ProcessingLiveConfig:
             "gpr_draw_top_m_objects": int(self.gpr_draw_top_m_objects),
             "gpr_speed_m_s": float(self.gpr_speed_m_s),
             "gpr_look_angle_deg": float(self.gpr_look_angle_deg),
+            "gpr_direction_sign": float(self.gpr_direction_sign),
+            "gpr_apply_freq_phase_correction": bool(self.gpr_apply_freq_phase_correction),
+            "gpr_reference_mode": str(self.gpr_reference_mode),
             "gpr_snr_thresh": float(self.gpr_snr_thresh),
             "gpr_snr_comp_max": float(self.gpr_snr_comp_max),
             "gpr_start_freq_mhz": float(self.gpr_start_freq_mhz),