Add GPS spoofing state

msg/SensorGps.msg

@@ -30,6 +30,12 @@ uint8 JAMMING_STATE_CRITICAL = 3
 uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
 int32 jamming_indicator		# indicates jamming is occurring
 
+uint8 SPOOFING_STATE_UNKNOWN   = 0
+uint8 SPOOFING_STATE_NONE      = 1
+uint8 SPOOFING_STATE_INDICATED = 2
+uint8 SPOOFING_STATE_MULTIPLE  = 3
+uint8 spoofing_state		# indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+
 float32 vel_m_s			# GPS ground speed, (metres/sec)
 float32 vel_n_m_s		# GPS North velocity, (metres/sec)
 float32 vel_e_m_s		# GPS East velocity, (metres/sec)

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;
+		}
 	}
 }
 

src/examples/fake_gps/FakeGps.cpp

@@ -82,6 +82,7 @@ void FakeGps::Run()
 	sensor_gps.heading_offset = 0.0000;
 	sensor_gps.fix_type = 4;
 	sensor_gps.jamming_state = 0;
+	sensor_gps.spoofing_state = 0;
 	sensor_gps.vel_ned_valid = true;
 	sensor_gps.satellites_used = 14;
 	sensor_gps.timestamp = hrt_absolute_time();

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