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GNSS Spoofing Warning Sensitivity Adjustment (#25144)
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This commit is contained in:
Marco Hauswirth
GitHub
@@ -605,29 +605,6 @@ void EstimatorChecks::checkGps(const Context &context, Report &reporter, const s
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mavlink_log_critical(reporter.mavlink_log_pub(), "GPS reports critical jamming state\t");
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}
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}
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if (vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_INDICATED) {
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::None, health_component_t::gps,
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events::ID("check_estimator_gps_spoofing_indicated"),
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events::Log::Critical, "GPS reports spoofing indicated");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "GPS reports spoofing indicated\t");
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}
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} else if (vehicle_gps_position.spoofing_state == sensor_gps_s::SPOOFING_STATE_MULTIPLE) {
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/* EVENT
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*/
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reporter.armingCheckFailure(NavModes::None, health_component_t::gps,
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events::ID("check_estimator_gps_multiple_spoofing_indicated"),
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events::Log::Critical, "GPS reports multiple spoofing indicated");
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "GPS reports multiple spoofing indicated\t");
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}
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}
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}
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void EstimatorChecks::lowPositionAccuracy(const Context &context, Report &reporter,
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