Add GPS spoofing state

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;
+		}
 	}
 }