From 875642f512db3c8de1285c5f3ff0e1f1afbd9a78 Mon Sep 17 00:00:00 2001
From: Jason <83615043+JJassonn69@users.noreply.github.com>
Date: Thu, 23 Apr 2026 07:38:46 +0545
Subject: [PATCH] =?UTF-8?q?fix(gui):=20GUI-C3=20=E2=80=94=20derive=20live-?=
 =?UTF-8?q?mode=20range/velocity=20resolution=20from=20waveform?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

RadarDataWorker (live capture path) was converting bin indices to physical
units using RadarSettings placeholders (range_resolution=6.0,
velocity_resolution=1.0). The 1.0 m/s velocity figure was a stub — the
correct value at 167us PRI / 16-chirp sub-frame / 10.5 GHz carrier is
~5.34 m/s, so reported velocities were off by ~5.3x.

ReplayWorker already used WaveformConfig.range_resolution_m and
velocity_resolution_mps; this commit applies the same pattern to the live
worker. WaveformConfig defaults match the AERIS-10 3 km mode parameters.
A set_waveform() hook is provided so the dashboard can swap configs when
range-mode switching is wired through.

Verified: 83/83 v7 GUI tests pass.
---
 9_Firmware/9_3_GUI/v7/workers.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/9_Firmware/9_3_GUI/v7/workers.py b/9_Firmware/9_3_GUI/v7/workers.py
index 6bf115f..21219af 100644
--- a/9_Firmware/9_3_GUI/v7/workers.py
+++ b/9_Firmware/9_3_GUI/v7/workers.py
@@ -84,8 +84,16 @@ class RadarDataWorker(QThread):
         self._recorder = recorder
         self._gps = gps_data_ref
         self._settings = settings or RadarSettings()
+        # GUI-C3: derive range/velocity resolution from waveform parameters
+        # rather than the RadarSettings placeholders (1.0 m/s velocity was
+        # ~5.3x off for the 167us PRI / 16-chirp sub-frame at 10.5 GHz).
+        from .models import WaveformConfig
+        self._waveform = WaveformConfig()
         self._running = False
 
+    def set_waveform(self, wf) -> None:
+        self._waveform = wf
+
         # Frame queue for production RadarAcquisition → this thread
         self._frame_queue: queue.Queue = queue.Queue(maxsize=4)
 
@@ -180,8 +188,8 @@ class RadarDataWorker(QThread):
 
         # Extract detections from FPGA CFAR flags
         det_indices = np.argwhere(frame.detections > 0)
-        r_res = self._settings.range_resolution
-        v_res = self._settings.velocity_resolution
+        r_res = self._waveform.range_resolution_m
+        v_res = self._waveform.velocity_resolution_mps
 
         for idx in det_indices:
             rbin, dbin = idx