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Add GPS spoofing state

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This commit is contained in:
AlexKlimaj
2023-03-14 20:28:32 -04:00
committed by Daniel Agar
parent 2605562a69
commit e375e02974
9 changed files with 57 additions and 1 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+23
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@@ -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,