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EKF2: Spoofing GPS check (#23366)

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* estimator gps check fail flag for spoofing

* warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion

* dont introduce more GPS namings, GNSS instead

* flash: exclude mantis for cuav_x7pro
This commit is contained in:
Marco Hauswirth
2024-07-09 16:31:11 +02:00
committed by GitHub
parent 62ff39a669
commit 419652b9fe
9 changed files with 53 additions and 13 deletions
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msg/EstimatorGpsStatus.msg
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@@ -13,6 +13,7 @@ bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift
bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
bool check_fail_spoofed_gps # 10 : GPS signal is spoofed
float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)