new GPR

data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp

@@ -44,10 +44,14 @@ struct ProcessingLiveConfig {
     std::vector<std::uint32_t> gpr_output_positions{};
     float gpr_min_depth_m = 2.0F;
     float gpr_max_depth_m = 14.0F;
-    float gpr_range_comp_power = 0.28F;
-    float gpr_angle_comp_power = 0.10F;
+    float gpr_range_comp_power = 0.1F;
+    float gpr_angle_comp_power = 0.0F;
     float gpr_comp_power = 0.2F;
     std::string gpr_score_mode = "combined";
+    // Backprojection intra-sweep speed-correction mode: "int_minus" (full
+    // correction) or "int_focus" (focusing residual only). Mirrors the Python
+    // Horns_motion_3libre.py MOTION_CORRECTION_MODE selector.
+    std::string gpr_motion_mode = "int_minus";
     float gpr_speed_m_s = 0.0F;
     float gpr_look_angle_deg = 0.0F;
     // Motion model parameters for the legacy GPR pipeline. The direction sign

data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp

@@ -60,6 +60,13 @@ using Json = nlohmann::json;
     throw std::runtime_error(field_name + " must be one of: peak, combined");
 }
 
+[[nodiscard]] auto parse_gpr_motion_mode(const std::string& value, const std::string& field_name) -> std::string {
+    if (value == "int_minus" || value == "int_focus") {
+        return value;
+    }
+    throw std::runtime_error(field_name + " must be one of: int_minus, int_focus");
+}
+
 void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::string& value) {
     if (value == "backprojection") {
         return;
@@ -266,6 +273,12 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
         }
         config.gpr_score_mode = parse_gpr_score_mode(found->get<std::string>(), "processing.gpr_score_mode");
     }
+    if (const auto found = root.find("gpr_motion_mode"); found != root.end()) {
+        if (!found->is_string()) {
+            throw std::runtime_error("processing.gpr_motion_mode must be string");
+        }
+        config.gpr_motion_mode = parse_gpr_motion_mode(found->get<std::string>(), "processing.gpr_motion_mode");
+    }
     if (const auto found = root.find("gpr_speed_m_s"); found != root.end()) {
         if (!found->is_number()) {
             throw std::runtime_error("processing.gpr_speed_m_s must be number");