Currently the spoofing state, which gets set by the GPS driver, does not have any effect on the estimator. Solution One can now add the spoofing state to the EKF2_GPS_CHECK. For it to fail, the spoofing flag has to be consistently true over a second and vice-versa for it to pass ...
message ="Preflight%s: GPS signal spoofed"; breschmarked this conversation as resolved. Show resolvedHide resolved haumarcomarked this conversation as resolved. Show resolvedHide resolved /*EVENT * @description * <profile name="dev"> * This check can be configured via EKF2_GPS_CHECK parameter....
_gps_was_fused = ekf_gps_fusion; if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) { if (!_gps_spoofed) { _gps_spoofed = true; haumarco marked this conversation as resolved. Show resolved if (reporter.mavlink_log_pub()) { mavlink_...