Release Notes — v0.7.12¶

QZSS L6 service routing¶

Release date: 2026-10-29 Type: Feature + bug-fix release — QZSS L6 decoding/routing changes (behaviour change for SBF QZS5, UBX MADOCA iono and format = "l6e" in CLAS mode); mrtk l6extract output names change; public API change in the stream byte counters Branch: release/v0.7.12

Overview¶

QZSS broadcasts several services on L6 — CLAS (L6D), MADOCA-PPP clock/orbit (L6E), MADOCA-PPP ionosphere (L6D, PRN 200/201) and QZNMA (L6E) — and the mapping of services to PRNs has changed over time. MRTKLIB used to decide the service from the PRN or from the receiver container (SBF block, Source field, UBX message type), with six slightly different copies of the header decoding. v0.7.12 classifies every L6 frame by its own header — vendor ID and MADOCA correction service ID (IS-QZSS-L6-008, IS-QZSS-MDC-004, IS-QZSS-SAS-001) — on every input path, and adds the first regression tests that replay real QZSS L6 satellite handovers.

This is the first release of the claslib 0.9.0 / CLAS CMA work (epic #356): the CMA itself (authentication) follows in v0.8.x; v0.7.12 delivers the routing it needs and the independent upstream fixes.

QZSS L6 routing (#351)¶

• Header parser include/mrtklib/mrtk_l6.h / src/data/mrtk_l6.c: l6_parse_header(), l6_is_null(), l6_file_type(), l6_file_service(), and an auxiliary PRN table used only for the ionosphere region slot and warnings, never for classification (PR #366, refactor, no behaviour change).
• Receiver routing (PR #369):

• Post-processing input (PR #370): .l6d (routed by content: CLAS, or MADOCA ionosphere) and .l6e (MADOCA-PPP L6E; reserved for CLAS CMA in CLAS mode, ignored with a warning until v0.8.x). L6 files are no longer handed to the RINEX reader. New parity test against upstream claslib 0.9.0 (CMA off): 3D RMS 3.0 cm.
• mrtk l6extract (#362): signal and PRN from the L6 header; outputs are now {prefix}.{PRN}.l6d / {prefix}.{PRN}.l6e (official MADOCA L6E naming) instead of {prefix}_J{PRN}_{l6d|l6e}.l6, readable by mrtk post directly. Fixes mosaic-CLAS block 4069 written as L6E, L6E PRNs 210/211 dropped, and UBX L6E named by the satellite PRN. Update scripts that use the old names.
• Null messages (#344): CLAS drops L6 null messages ("do not use CLAS", IS-QZSS-L6-008 5.4.4) instead of splicing them into the subframe, as upstream claslib 0.9.0 does; UBX/SBF L6D null frames are no longer passed to the CLAS demux. Tested with synthetic null frames inserted into real CLAS files (no capture contains one).
• claslib 0.9.0 guards: RINEX 2 navigation QZSS PRN 93..99 (#347), CLAS signal-mode bound (#348), UBX RXM-QZSSL6 debug counter bound (#364).

QZSS L6 handover regression tests (#372)¶

Five 15-minute windows around real CLAS satellite handovers (DOY 2026-286): NEO-D9C UBX L6 (two channels, both transmit patterns) with mosaic-G5 observations, and mosaic-CLAS single-channel streams covering both transmit-pattern changes. All five are post-processed and replayed in real time with mrtk run; the mosaic-CLAS pattern 1 → 2 case is replayed with l6_merge = 0 and 1 (six replays). The RT replays include the single-channel relock path (l6_merge = 0), which had no coverage before.

• RT replay (6 tests) and post-processing (5 tests, run in CI) are gated on behaviour, not RMS: no solution freeze (#205 / #218), fix before the handover, fix held again within a per-case limit, bounded non-fixed epochs, satellite count.
• Absolute accuracy of the post-processed windows against the antenna reference point (24 h static PPP-AR with CODE MGEX finals; JAXA finals agree within 1.5 cm): 3D 1σ 4–14 cm, gate 0.25 m.
• Finding: post-processing holds fix through the handovers where the RT replays lose it for ~30–80 s, starting ~30 s after the switch. Tracked in #389 (RT-only fix loss) and #390 (l6_merge = 1 worse than 0 after a single-channel pattern change). The tests gate the current behaviour and will be tightened when these are fixed.

Test datasets as release assets (#386)¶

Large test datasets are no longer committed here. They are immutable release assets of h-shiono/mrtklib-data, pinned by SHA256 in tests/data/datasets.cmake, fetched by the ctest fixtures on first use and cached in ~/.cache/mrtklib-data (-DMRTK_TEST_DATA_CACHE; offline: -DMRTK_TEST_DATA_DIR; prefetch: cmake --build build --target fetch-test-data). Configure and build stay offline. First datasets: has-v1 (Galileo HAS, moved from the repository) and handover-v1. The remaining in-tree datasets move in follow-up PRs, one dataset each.

Streams and configuration¶

• 64-bit stream byte counters — public API change (#368). The mrtk relay status went negative after 2 GiB. stream_t.inb/outb/inbt/outbt are uint64_t, and strsum(stream_t*, uint64_t* inb, int* inr, uint64_t* outb, int* outr), strsvrstat(strsvr_t*, int*, int*, uint64_t* byte, int* bps, char*). Code calling these functions must update its variables. The mrtk run console stream command reads the counters under the stream lock.
• SO_REUSEADDR now reaches the library's server sockets: a restarted mrtk relay / mrtk run rebinds a tcpsvr port with a client still connected (#367).
• Serial writes return the bytes written, and a full output buffer no longer marks the port as failed (#343).
• mrtk run console save <file>.toml reports an error instead of saving a file without the positioning options (interim fix, #342; full TOML save in v0.7.13 — use a .conf file meanwhile).

Upgrade notes¶

• mrtk l6extract output names changed (see above).
• External code using strsum() / strsvrstat() must pass uint64_t* for the byte counts.
• Running ctest needs network access once (or -DMRTK_TEST_DATA_DIR) for the datasets now hosted as release assets.
• .l6e inputs to mrtk post in CLAS mode are ignored with a warning (they are reserved for CLAS CMA).

Test status¶

Full suite ctest -j1: 171 / 171 (macOS, Accelerate). RT replay tests are timing-sensitive and can false-fail under CPU contention (for example with another mrtk run on the same machine); re-run them in isolation.

Next¶

v0.7.13: BeiDou PPP-B2b; full TOML save for mrtk run (#342); post-processing of several PRN files per CLAS channel (#373). v0.8.x: CLAS CMA authentication.