Ekf2 add jamming to gnss checks (#26085)

* add jamming check to gnss checks

* keep original order of gnss_check params for default backwards compability

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -272,6 +272,22 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 			_gnss_spoofed = false;
 		}
 
+		if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_JAMMED)) {
+			if (!_gnss_jammed) {
+				_gnss_jammed = true;
+
+				if (reporter.mavlink_log_pub()) {
+					mavlink_log_critical(reporter.mavlink_log_pub(), "GNSS signal jammed\t");
+				}
+
+				events::send(events::ID("check_estimator_gnss_warning_jamming"), {events::Log::Alert, events::LogInternal::Info},
+					     "GNSS signal jammed");
+			}
+
+		} else {
+			_gnss_jammed = false;
+		}
+
 		if (!context.isArmed() && ekf_gps_check_fail) {
 			NavModesMessageFail required_modes;
 			events::Log log_level;
@@ -435,6 +451,18 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 							    events::ID("check_estimator_gps_spoofed"),
 							    log_level, "GPS signal spoofed");
 
+			} else if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_JAMMED)) {
+				message = "Preflight%s: GPS signal jammed";
+				/* EVENT
+				 * @description
+				 * <profile name="dev">
+				 * Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
+				 * </profile>
+				 */
+				reporter.armingCheckFailure(required_modes, health_component_t::gps,
+							    events::ID("check_estimator_gps_jammed"),
+							    log_level, "GPS signal jammed");
+
 			} else {
 				if (!ekf_gps_fusion) {
 					// Likely cause unknown

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp

@@ -103,6 +103,7 @@ private:
 
 	bool _gps_was_fused{false};
 	bool _gnss_spoofed{false};
+	bool _gnss_jammed{false};
 
 	bool _nav_failure_imminent_warned{false};