From 9dbf46bb3def3a2be84a3552cca91f2a15b12d68 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Mon, 9 Feb 2026 00:59:00 -0900
Subject: [PATCH] uavcannode: publisher for gnss.quality

---
 .../uavcannode/Publishers/GnssQuality.hpp     | 99 +++++++++++++++++++
 src/drivers/uavcannode/UavcanNode.cpp         |  2 +
 2 files changed, 101 insertions(+)
 create mode 100644 src/drivers/uavcannode/Publishers/GnssQuality.hpp

diff --git a/src/drivers/uavcannode/Publishers/GnssQuality.hpp b/src/drivers/uavcannode/Publishers/GnssQuality.hpp
new file mode 100644
index 0000000000..d9f530b04e
--- /dev/null
+++ b/src/drivers/uavcannode/Publishers/GnssQuality.hpp
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanPublisherBase.hpp"
+
+#include <uavcan/equipment/gnss/Quality.hpp>
+
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_gps.h>
+
+namespace uavcannode
+{
+
+class GnssQuality :
+	public UavcanPublisherBase,
+	public uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<uavcan::equipment::gnss::Quality>
+{
+public:
+	GnssQuality(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(uavcan::equipment::gnss::Quality::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gps)),
+		uavcan::Publisher<uavcan::equipment::gnss::Quality>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::Default);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       uavcan::equipment::gnss::Quality::getDataTypeFullName(),
+			       id());
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		using uavcan::equipment::gnss::Quality;
+
+		// sensor_gps -> uavcan::equipment::gnss::Quality
+		sensor_gps_s gps;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&gps)) {
+			uavcan::equipment::gnss::Quality quality{};
+
+			quality.noise              = gps.noise_per_ms;
+			quality.agc                = gps.automatic_gain_control;
+			quality.jamming_state      = gps.jamming_state;
+			quality.jamming_indicator  = gps.jamming_indicator;
+			quality.spoofing_state     = gps.spoofing_state;
+			quality.auth_state         = gps.authentication_state;
+			quality.diff_age           = gps.diff_age;
+			quality.antenna_status     = gps.antenna_status;
+			quality.antenna_power      = gps.antenna_power;
+			quality.fix_quality        = gps.fix_quality;
+			quality.system_errors      = gps.system_error;
+
+			uavcan::Publisher<uavcan::equipment::gnss::Quality>::broadcast(quality);
+
+			// ensure callback is registered
+			uORB::SubscriptionCallbackWorkItem::registerCallback();
+		}
+	}
+};
+} // namespace uavcannode
diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index 0940791c90..2e38b1c259 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -59,6 +59,7 @@
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 #include "Publishers/GnssFix2.hpp"
 #include "Publishers/GnssAuxiliary.hpp"
+#include "Publishers/GnssQuality.hpp"
 #endif // CONFIG_UAVCANNODE_GNSS_FIX
 
 #if defined(CONFIG_UAVCANNODE_INDICATED_AIR_SPEED)
@@ -385,6 +386,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 	_publisher_list.add(new GnssFix2(this, _node));
 	_publisher_list.add(new GnssAuxiliary(this, _node));
+	_publisher_list.add(new GnssQuality(this, _node));
 #endif // CONFIG_UAVCANNODE_GNSS_FIX
 
 #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)