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septentrio: implement jamming/spoofing state

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This commit is contained in:
Alexander Lerach
2025-06-20 13:34:52 +02:00
parent 2e6fd9dd72
commit dfe1c91bfc
2 changed files with 12 additions and 2 deletions
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src/drivers/gnss/septentrio/sbf/decoder.cpp
+1 -1
View File
@@ -163,7 +163,7 @@ int Decoder::parse(QualityInd *message) const
int Decoder::parse(RFStatus *message) const
{
if (can_parse() && id() == BlockID::PVTGeodetic) {
if (can_parse() && id() == BlockID::RFStatus) {
static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
memcpy(message, _message.payload, sizeof(RFStatus) - sizeof(RFStatus::rf_band));
src/drivers/gnss/septentrio/septentrio.cpp
+11 -1
View File
@@ -112,7 +112,7 @@ constexpr const char *k_command_reset_hot = "erst,soft,none\n";
constexpr const char *k_command_reset_warm = "erst,soft,PVTData\n";
constexpr const char *k_command_reset_cold = "erst,hard,SatData\n";
constexpr const char *k_command_sbf_output_pvt =
"sso,Stream%lu,%s,PVTGeodetic+VelCovGeodetic+DOP+AttEuler+AttCovEuler+EndOfPVT+ReceiverStatus,%s\n";
"sso,Stream%lu,%s,PVTGeodetic+VelCovGeodetic+DOP+AttEuler+AttCovEuler+EndOfPVT+ReceiverStatus+RFStatus,%s\n";
constexpr const char *k_command_set_sbf_output =
"sso,Stream%lu,%s,%s%s,%s\n";
constexpr const char *k_command_clear_sbf = "sso,Stream%lu,%s,none,off\n";
@@ -1212,6 +1212,16 @@ int SeptentrioDriver::process_message()
}
case BlockID::RFStatus: {
SEP_TRACE_PARSING("Processing RFStatus SBF message");
RFStatus rf_status;
if (_sbf_decoder.parse(&rf_status) == PX4_OK) {
// The signal may be jammed or spoofed. No clear indication, so report as a jamming warning.
_message_gps_state.jamming_state = rf_status.flags_inauthentic_gnss_signals ? sensor_gps_s::JAMMING_STATE_WARNING : sensor_gps_s::JAMMING_STATE_OK;
// The message authentication failed, good spoofing indicator.
_message_gps_state.spoofing_state = rf_status.flags_inauthentic_navigation_message ? sensor_gps_s::SPOOFING_STATE_INDICATED : sensor_gps_s::SPOOFING_STATE_NONE;
}
break;
}
case BlockID::GALAuthStatus: {