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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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src/modules/ekf2/EKF2.cpp
+2
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@@ -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);