Release Notes — v0.7.6¶

TOML configuration redesign, IGS PPP-AR receiver code bias, and CLAS periodic filter reset¶

Release date: 2026-07-12 Type: Configuration redesign (backward compatible via deprecation aliases) + PPP features Branch: release/v0.7.6

Overview¶

v0.7.6 re-organizes the TOML configuration vocabulary that MRTKLIB has carried since the v0.5.0 TOML migration. The change is broad but deliberately non-disruptive:

Old configs keep working. Every renamed section/key is accepted through a deprecation alias: the loader applies the value and prints a one-line warning pointing at the new location. When both the old and new paths are present, the new path wins. The full old → new mapping is reproduced in section 4 below and in the configuration guide's migration section.
Unknown keys warn instead of vanishing. A key the loader does not recognize now emits TOML: unknown key [section].key (ignored) instead of silently falling back to a default — so a typo is visible rather than silently ineffective.
No results change for shipped/default configurations. The redesign fixes several option-slot collisions (two unrelated settings sharing one storage slot in the positioning code), but none of these fixes alters the output of any shipped conf/ sample or default configuration.
The generated config reference is now CI-gated. docs/reference/config-options.md is produced by scripts/docs/gen_config_ref.py, and a new config-ref CI job fails the build if the committed reference drifts from a fresh generator run.

Alongside the configuration work, v0.7.6 also ships two positioning features: receiver code-bias support plus an opt-in uncorrected-pseudorange gate for IGS PPP-AR (#263), and the claslib periodic full-filter reset ported to post-processing PPP-RTK (#264).

This is the largest configuration-facing release to date. If you author or maintain conf/ files by hand, read section 4 — every old path still loads, but re-saving a config always writes the new layout.

1. Configuration redesign¶

Sections regrouped by consumer¶

The historical grab-bag [receiver] and [server] sections are dismantled and re-grouped by the engine that actually consumes each setting:

[positioning.ppp] — PPP-family options (satellite clock / phase bias, clock jump, uncorrected-code gate, options, …).
[positioning.relative] — baseline / max-age / time-interpolation options.
[positioning.spp] — single-point-positioning options.
[positioning.madoca] — MADOCA-PPP options.
[positioning.clas.*] — CLAS PPP-RTK / VRS options, including [positioning.clas.ambiguities], [positioning.clas.resilience], and [positioning.clas.adaptive_filter].
[input.*] — stream/format inputs ([input.rinex], [input.rtcm], [input.sbas]).

The former [adaptive_filter] section is nested as [positioning.clas.adaptive_filter] because it is consumed by the CLAS PPP-RTK / VRS engines only. All shipped conf/ samples and docs use the new layout; old paths continue to load via the aliases in section 4.

Other key changes¶

Change	Detail
`excluded_sats` is a string list	`excluded_sats = ["G05", "+G26"]`; the old single-string form still loads. `+` cannot force-include a satellite that has no ephemeris.
`[input.sbas].satellite`	Integer PRN selector for the SBAS satellite.
`[positioning.corrections].snr_fixed`	Renamed from `reserved`; an integer dB-Hz value routed to its own option slot.
Config-reference metadata audited	Per-option mode applicability corrected (phase windup and Shapiro delay are PPP-family options, etc.).
RT CLAS test references relocated	Moved out of the source tree into the build directory so parallel `ctest` invocations no longer collide.

2. New PPP features¶

Receiver code bias in IGS PPP-AR (#263)¶

Station-level OSB records in a Bias-SINEX product (matched against the RINEX marker name) are now applied to pseudoranges in the uncombined PPP-AR engine, with satellite-specific and system-wide fallback paths. Products without station records are unaffected.

`[positioning.ppp].drop_uncorrected_code` (opt-in, default off)¶

A port of the MADOCALIB unbias gate: pseudoranges without an applicable code bias are excluded from the solution instead of entering it uncorrected. Carrier phase is retained. Off by default, so existing IGS PPP-AR runs are unchanged unless the option is enabled.

`[positioning.clas.resilience].reset_interval` (opt-in, default off) (#264)¶

claslib's periodic full-filter reset, ported into post-processing ppp_rtk_pos() and covered by a trace-checked regression test. Off by default.

3. Option-slot collision fixes¶

Several unrelated settings shared a single storage slot in the positioning code; each now has its own. None of these changes the results of shipped/default configurations — the fixes prevent cross-contamination that only manifested under non-default combinations.

Collision	Fix
CLAS OSR gated the Shapiro delay on the phase windup option instead of `shapiro_delay`.	Now keyed to the correct option. `cssr2rtcm3` / `ssr2obs` explicitly enable it, so converter behavior is unchanged (PR #267).
`osr[].relatv` could carry a stale cross-epoch relativity term when the option was off.	Cleared per epoch (PR #267).
CLAS/VRS position process noise fell back to the IFB process-noise slots.	`[kalman_filter.process_noise].position_h` / `position_v` / `ifb` are now independent (PR #275).
PPP day-boundary clock-jump compensation shared a slot with CLAS `iono_compensation`.	Now its own `[positioning.ppp].clock_jump` option (default off, as before) (PR #278).
CLAS atmosphere variance terms shared slots with the SPP C/N0 error model (`snr_max` / `snr_error`).	Now dedicated `[kalman_filter.measurement_error].ionosphere` / `troposphere` options; the ionosphere variance is applied in `est-adaptive` mode too (PR #279).

An additional fix: rtkrcv previously printed every unknown-key warning twice (it loads the options file once for server options and once for system options). The unknown-key sweep now runs once per file fingerprint (PR #290).

4. Deprecated: old → new migration table¶

The old paths below still load with a one-line warning; they are planned for removal in a future minor release. Re-saving a config always writes the new layout.

Old path	New path
`[receiver].phase_shift` / `isb` / `reference_type`	`[positioning.clas.ambiguities]` (same key)
`[receiver].iono_correction`	`[positioning.madoca].iono_correction`
`[receiver].ignore_chi_error`	`[positioning.spp].ignore_chi_error`
`[receiver].ppp_sat_clock_bias` / `ppp_sat_phase_bias`	`[positioning.ppp].satellite_clock_bias` / `satellite_phase_bias`
`[receiver].max_bias_dt`	`[positioning.ppp].max_bias_dt`
`[receiver].uncorr_bias`	`[positioning.ppp].drop_uncorrected_code`
`[receiver].max_age` / `baseline_length` / `baseline_sigma`	`[positioning.relative]` (same key)
`[server].max_obs_loss` / `float_count`	`[positioning.clas.resilience]` (same key)
`[server].l6_margin`	`[positioning.clas.resilience].l6_merge`
`[server].regularly`	`[positioning.clas.resilience].reset_interval`
`[server].ppp_option`	`[positioning.ppp].options`
`[server].time_interpolation`	`[positioning.relative].time_interpolation`
`[server].rinex_option_1` / `rinex_option_2`	`[input.rinex].option_1` / `option_2`
`[server].rtcm_option`	`[input.rtcm].options`
`[server].sbas_satellite`	`[input.sbas].satellite`
`[adaptive_filter].*`	`[positioning.clas.adaptive_filter].*` (same keys)

5. Removed dead keys¶

The keys below had no effect (or, for position_uncertainty_*, a wrong one), so there is no replacement; setting them now triggers the unknown-key warning (PR #271, #280, #283):

Removed key	Note
`[ambiguity_resolution.thresholds].ratio2` / `ratio3` / `ratio4`	Unread
`[ambiguity_resolution.hold].gain`	No consumer
`[kalman_filter].sync_solution`	Unread
`[receiver].bds2_bias`, `[receiver].satellite_mode`	Unread
`[files].elevation_mask_file` / `geexe` / `solution_stat`	Unread
`[positioning.clas].position_uncertainty_x` / `_y` / `_z`	Miswired: they overwrote the rover ECEF position used by fixed-position modes instead of setting any uncertainty. Fixed-mode rover coordinates remain settable via the antenna-position options.

6. Validation¶

A five-perspective pre-release review (config loader, algorithm safety, config-sweep, docs, tests) was run against the series. The deprecation aliases and unknown-key warning are locked in by a new t_toml unit test (#286, PR #288–#290), and the new [positioning.clas.resilience].reset_interval path is covered by a trace-checked regression test.

Test suite: 114/115 on the release gate — the only failure is the known environment-dependent madocalib_pppar_ion_check (LAPACK-vs-reference tolerance), which reproduces on a clean develop build. The RT CLAS reference relocation (PR #282) removes the parallel-ctest port-collision false failures previously seen in rtkrcv_rt tests.

Compatibility & migration¶

No positioning-algorithm, matrix, physical-constant, or test-tolerance changes. Existing configurations continue to run: every renamed path loads through a deprecation alias (with a one-line warning pointing at the new location), and the option-slot collision fixes leave shipped/default configurations bit-for-bit unchanged. To migrate, either follow the table in section 4 or simply re-save each config — saved configs always use the new layout. See the configuration guide's migration section for a worked walkthrough.

Issues / PRs¶

PR #291 — release PR for v0.7.6.
Series PRs #256–#290 — the TOML configuration redesign, config-reference CI gate, IGS PPP-AR receiver code bias (#263), and the CLAS periodic filter reset (#264).

References¶

Configuration guide — including the migration section for the v0.7.6 layout.
docs/reference/config-options.md — the CI-gated generated configuration reference.