fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 23:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF2: Spoofing GPS check (#23366)

Browse Source 
* 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/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
+14 -10
View File
@@ -48,15 +48,16 @@
#include <mathlib/mathlib.h>
// GPS pre-flight check bit locations
#define MASK_GPS_NSATS (1<<0)
#define MASK_GPS_PDOP (1<<1)
#define MASK_GPS_HACC (1<<2)
#define MASK_GPS_VACC (1<<3)
#define MASK_GPS_SACC (1<<4)
#define MASK_GPS_HDRIFT (1<<5)
#define MASK_GPS_VDRIFT (1<<6)
#define MASK_GPS_HSPD (1<<7)
#define MASK_GPS_VSPD (1<<8)
#define MASK_GPS_NSATS (1<<0)
#define MASK_GPS_PDOP (1<<1)
#define MASK_GPS_HACC (1<<2)
#define MASK_GPS_VACC (1<<3)
#define MASK_GPS_SACC (1<<4)
#define MASK_GPS_HDRIFT (1<<5)
#define MASK_GPS_VDRIFT (1<<6)
#define MASK_GPS_HSPD (1<<7)
#define MASK_GPS_VSPD (1<<8)
#define MASK_GPS_SPOOFED (1<<9)
void Ekf::collect_gps(const gnssSample &gps)
{
@@ -136,6 +137,8 @@ void Ekf::collect_gps(const gnssSample &gps)
bool Ekf::runGnssChecks(const gnssSample &gps)
{
_gps_check_fail_status.flags.spoofed = gps.spoofed;
// Check the fix type
_gps_check_fail_status.flags.fix = (gps.fix_type < 3);
@@ -240,7 +243,8 @@ bool Ekf::runGnssChecks(const gnssSample &gps)
(_gps_check_fail_status.flags.hdrift && (_params.gps_check_mask & MASK_GPS_HDRIFT)) ||
(_gps_check_fail_status.flags.vdrift && (_params.gps_check_mask & MASK_GPS_VDRIFT)) ||
(_gps_check_fail_status.flags.hspeed && (_params.gps_check_mask & MASK_GPS_HSPD)) ||
(_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD))
(_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD)) ||
(_gps_check_fail_status.flags.spoofed && (_params.gps_check_mask & MASK_GPS_SPOOFED))
) {
_last_gps_fail_us = _time_delayed_us;
return false;
src/modules/ekf2/EKF/common.h
+2
View File
@@ -183,6 +183,7 @@ struct gnssSample {
float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])
float yaw_acc{}; ///< 1-std yaw error (rad)
float yaw_offset{}; ///< Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET
bool spoofed{}; ///< true if GNSS data is spoofed
};
struct magSample {
@@ -536,6 +537,7 @@ union gps_check_fail_status_u {
uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground)
uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground)
uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive
uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed
} flags;
uint16_t value;
};
src/modules/ekf2/EKF2.cpp
+2
View File
@@ -1253,6 +1253,7 @@ void EKF2::PublishGpsStatus(const hrt_abstime &timestamp)
estimator_gps_status.check_fail_max_vert_drift = _ekf.gps_check_fail_status_flags().vdrift;
estimator_gps_status.check_fail_max_horz_spd_err = _ekf.gps_check_fail_status_flags().hspeed;
estimator_gps_status.check_fail_max_vert_spd_err = _ekf.gps_check_fail_status_flags().vspeed;
estimator_gps_status.check_fail_spoofed_gps = _ekf.gps_check_fail_status_flags().spoofed;
estimator_gps_status.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_gps_status_pub.publish(estimator_gps_status);
@@ -2460,6 +2461,7 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
.yaw = vehicle_gps_position.heading, //TODO: move to different message
.yaw_acc = vehicle_gps_position.heading_accuracy,
.yaw_offset = vehicle_gps_position.heading_offset,
.spoofed = vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_MULTIPLE,
};
_ekf.setGpsData(gnss_sample);
src/modules/ekf2/module.yaml
+3 -2
View File
@@ -136,7 +136,7 @@ parameters:
run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal
speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle
is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy
set by EKF2_REQ_VDRIFT'
set by EKF2_REQ_VDRIFT. 9: Fails if GPS driver detects consistent spoofing'
type: bitmask
bit:
0: Min sat count (EKF2_REQ_NSATS)
@@ -148,9 +148,10 @@ parameters:
6: Max vertical position rate (EKF2_REQ_VDRIFT)
7: Max horizontal speed (EKF2_REQ_HDRIFT)
8: Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
9: Spoofing check
default: 245
min: 0
max: 511
max: 1023
EKF2_REQ_EPH:
description:
short: Required EPH to use GPS