Add GPS spoofing state

src/drivers/gps/CMakeLists.txt

@@ -40,6 +40,7 @@ px4_add_module(
 		-Wno-stringop-overflow # due to https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91707
 	SRCS
 		gps.cpp
+		devices/src/crc.cpp
 		devices/src/gps_helper.cpp
 		devices/src/mtk.cpp
 		devices/src/ashtech.cpp
@@ -48,6 +49,7 @@ px4_add_module(
 		devices/src/emlid_reach.cpp
 		devices/src/femtomes.cpp
 		devices/src/nmea.cpp
+		devices/src/unicore.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS

src/drivers/gps/gps.cpp

@@ -182,6 +182,8 @@ private:
 
 	sensor_gps_s			_report_gps_pos{};				///< uORB topic for gps position
 	satellite_info_s		*_p_report_sat_info{nullptr};			///< pointer to uORB topic for satellite info
+	uint8_t                         _spoofing_state{0};                             ///< spoofing state
+	uint8_t                         _jamming_state{0};                              ///< jamming state
 
 	uORB::PublicationMulti<sensor_gps_s>	_report_gps_pos_pub{ORB_ID(sensor_gps)};	///< uORB pub for gps position
 	uORB::PublicationMulti<sensor_gnss_relative_s> _sensor_gnss_relative_pub{ORB_ID(sensor_gnss_relative)};
@@ -1194,6 +1196,25 @@ GPS::publish()
 		// The uORB message definition requires this data to be set to a NAN if no new valid data is available.
 		_report_gps_pos.heading = NAN;
 		_is_gps_main_advertised.store(true);
+
+		if (_report_gps_pos.spoofing_state != _spoofing_state) {
+
+			if (_report_gps_pos.spoofing_state > sensor_gps_s::SPOOFING_STATE_NONE) {
+				PX4_WARN("GPS spoofing detected! (state: %d)", _report_gps_pos.spoofing_state);
+			}
+
+			_spoofing_state = _report_gps_pos.spoofing_state;
+		}
+
+		if (_report_gps_pos.jamming_state != _jamming_state) {
+
+			if (_report_gps_pos.jamming_state > sensor_gps_s::JAMMING_STATE_OK) {
+				PX4_WARN("GPS jamming detected! (state: %d) (indicator: %d)", _report_gps_pos.jamming_state,
+					 (uint8_t)_report_gps_pos.jamming_indicator);
+			}
+
+			_jamming_state = _report_gps_pos.jamming_state;
+		}
 	}
 }