Add GPS spoofing state

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

@@ -670,6 +670,29 @@ void EstimatorChecks::checkGps(const Context &context, Report &reporter, const s
 			mavlink_log_critical(reporter.mavlink_log_pub(), "GPS reports critical jamming state\t");
 		}
 	}
+
+	if (vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_INDICATED) {
+		/* EVENT
+		 */
+		reporter.armingCheckFailure(NavModes::None, health_component_t::gps,
+					    events::ID("check_estimator_gps_spoofing_indicated"),
+					    events::Log::Critical, "GPS reports spoofing indicated");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "GPS reports spoofing indicated\t");
+		}
+
+	} else if (vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_MULTIPLE) {
+		/* EVENT
+		 */
+		reporter.armingCheckFailure(NavModes::None, health_component_t::gps,
+					    events::ID("check_estimator_gps_multiple_spoofing_indicated"),
+					    events::Log::Critical, "GPS reports multiple spoofing indicated");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "GPS reports multiple spoofing indicated\t");
+		}
+	}
 }
 
 void EstimatorChecks::lowPositionAccuracy(const Context &context, Report &reporter,

src/modules/mavlink/mavlink_receiver.cpp

@@ -2449,6 +2449,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	gps.automatic_gain_control = 0;
 	gps.jamming_indicator = 0;
 	gps.jamming_state = 0;
+	gps.spoofing_state = 0;
 
 	gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
 	gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s

src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp

@@ -171,6 +171,7 @@ void SensorGpsSim::Run()
 		sensor_gps.heading_accuracy = 0;
 		sensor_gps.automatic_gain_control = 0;
 		sensor_gps.jamming_state = 0;
+		sensor_gps.spoofing_state = 0;
 		sensor_gps.vel_ned_valid = true;
 		sensor_gps.satellites_used = _sim_gps_used.get();
 

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -421,6 +421,7 @@ void SimulatorMavlink::handle_message_hil_gps(const mavlink_message_t *msg)
 		gps.automatic_gain_control = 0;
 		gps.jamming_indicator = 0;
 		gps.jamming_state = 0;
+		gps.spoofing_state = 0;
 
 		gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
 		gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s