修正基线系标定默认：机械初值、地面ROI与航向偏移可配，并补充G90窗导出与契约测试

Co-authored-by: Cursor <cursoragent@cursor.com>

tools/rscap_v2/pipeline_common.py

@@ -131,6 +131,30 @@ def parse_heading(line: str) -> dict:
     }
 
 
+def parse_gnhpr(line: str) -> dict:
+    """Parse Wheeltec G90 ``$GNHPR`` heading/pitch output."""
+
+    fields = line[:line.rfind("*")].split(",")
+    if len(fields) < 7:
+        raise ValueError("GNHPR has too few fields")
+    quality = safe_int(fields[5], -1)
+    return {
+        "type": "GNHPR",
+        "position_time_utc": fields[1],
+        "raw_heading_deg": safe_float(fields[2]),
+        "pitch_deg": safe_float(fields[3]),
+        "roll_deg": safe_float(fields[4]),
+        "heading_quality": quality,
+        "satellites": safe_int(fields[6], -1),
+        "heading_solution": f"GNHPR_QUALITY_{quality}",
+        "baseline_length_m": None,
+        "heading_stddev_deg": None,
+        "pitch_stddev_deg": None,
+        "solution_satellites": safe_int(fields[6], -1),
+        "heading_valid": quality in {4, 5},
+    }
+
+
 def parse_pvtslna(line: str) -> dict:
     """Parse Unicore/G90 ``#PVTSLNA`` into GGA-compatible position fields.
 
@@ -221,6 +245,8 @@ def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
                     row.update(parse_pvtslna(line))
                 elif line.startswith("#UNIHEADINGA"):
                     row.update(parse_heading(line))
+                elif line.startswith("$GNHPR"):
+                    row.update(parse_gnhpr(line))
             except ValueError as ex:
                 row["parse_error"] = str(ex)
             rows.append(row)