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https://github.com/PX4/PX4-Autopilot.git
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419652b9fe
* estimator gps check fail flag for spoofing * warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion * dont introduce more GPS namings, GNSS instead * flash: exclude mantis for cuav_x7pro
21 lines
1.4 KiB
Plaintext
21 lines
1.4 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool checks_passed
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bool check_fail_gps_fix # 0 : insufficient fix type (no 3D solution)
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bool check_fail_min_sat_count # 1 : minimum required sat count fail
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bool check_fail_max_pdop # 2 : maximum allowed PDOP fail
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bool check_fail_max_horz_err # 3 : maximum allowed horizontal position error fail
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bool check_fail_max_vert_err # 4 : maximum allowed vertical position error fail
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bool check_fail_max_spd_err # 5 : maximum allowed speed error fail
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bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
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bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
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bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
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bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
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bool check_fail_spoofed_gps # 10 : GPS signal is spoofed
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float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
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float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
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float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)
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