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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+28
View File
@@ -318,6 +318,22 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
_gps_was_fused = ekf_gps_fusion;
if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) {
if (!_gnss_spoofed) {
_gnss_spoofed = true;
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "GNSS signal spoofed\t");
}
events::send(events::ID("check_estimator_gnss_warning_spoofing"), {events::Log::Alert, events::LogInternal::Info},
"GNSS signal spoofed");
}
} else {
_gnss_spoofed = false;
}
if (!context.isArmed() && ekf_gps_check_fail) {
NavModes required_groups_gps = required_groups;
events::Log log_level = events::Log::Error;
@@ -450,6 +466,18 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
events::ID("check_estimator_gps_vert_speed_drift_too_high"),
log_level, "GPS Vertical Speed Drift too high");
} else if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) {
message = "Preflight%s: GPS signal spoofed";
/* EVENT
* @description
* <profile name="dev">
* This check can be configured via <param>EKF2_GPS_CHECK</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(required_groups_gps, health_component_t::gps,
events::ID("check_estimator_gps_spoofed"),
log_level, "GPS signal spoofed");
} else {
if (!ekf_gps_fusion) {
// Likely cause unknown
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+1 -1
View File
@@ -64,7 +64,6 @@ private:
void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
const vehicle_local_position_s &lpos);
void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const;
void lowPositionAccuracy(const Context &context, Report &reporter, const vehicle_local_position_s &lpos) const;
void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz,
@@ -102,6 +101,7 @@ private:
bool _position_reliant_on_optical_flow{false};
bool _gps_was_fused{false};
bool _gnss_spoofed{false};
bool _nav_failure_imminent_warned{false};