GNSS Resilience with Septentrio #13009
Conversation
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Let me know when that PX4 PR gets merged |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-dev-call-aug-06-2025-team-sync-and-community-q-a/46826/2 |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-dev-call-aug-06-2025-team-sync-and-community-q-a/46826/1 |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-dev-call-aug-13-2025-team-sync-and-community-q-a/46972/2 |
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@HTRamsey, hello. The PX4 side was merged this week. Can this pr be reviewed again ? |
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Pull Request Overview
This PR adds GNSS resilience support with interference detection and authentication features for GPS receivers, particularly targeting Septentrio hardware integration. The implementation provides real-time monitoring of jamming, spoofing attacks, and authentication status through new toolbar indicators and vehicle telemetry.
- Adds new GPS fact fields for spoofing state, jamming state, authentication state, and various quality metrics
- Implements two new toolbar indicators for GPS interference and authentication status display
- Integrates GNSS integrity message handling from MAVLink development dialect
Reviewed Changes
Copilot reviewed 14 out of 16 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| src/Vehicle/FactGroups/VehicleGPSFactGroup.h | Adds new fact properties for GNSS resilience monitoring |
| src/Vehicle/FactGroups/VehicleGPSFactGroup.cc | Implements GNSS integrity message handling and fact initialization |
| src/Vehicle/FactGroups/GPSFact.json | Defines metadata for new GPS resilience facts with enums |
| src/UI/toolbar/GPSInterferenceIndicator.qml | Creates interference status indicator with jamming/spoofing display |
| src/UI/toolbar/GPSAuthenticationIndicator.qml | Creates authentication status indicator with color-coded states |
| src/FirmwarePlugin/FirmwarePlugin.cc | Registers new toolbar indicators in the UI |
| translations/qgc-json.ts | Adds translation strings for new GPS fact descriptions |
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Remove unnecessary empty lines at the end of the function.
Copilot uses AI. Check for mistakes.
| if(!_activeVehicle){ | ||
| return qsTr("Disconnected") | ||
| } else if (_activeVehicle.gps.authenticationState.value === 0) { | ||
| return qsTr("Unkown") |
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Fix spelling error: 'Unkown' should be 'Unknown'.
Copilot uses AI. Check for mistakes.
| } else if (_activeVehicle.gps.systemErrors.value === 64) { | ||
| return qsTr("Output congestion") | ||
| } | ||
| return "Multiple errors" |
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The string should use qsTr() for translation consistency with other UI strings in the function.
| return "Multiple errors" | |
| return qsTr("Multiple errors") |
Copilot uses AI. Check for mistakes.
Add support for GNSS receiver resilience information
Depend on this PX4-Autopilot PR : PX4/PX4-Autopilot#25012
Original PR : #11781
Description
This PR is mostly taken from @chiara-septentrio and @flyingthingsintothings PR.
The code is mostly the same, I have improved a little code structure and move some files to update code structure
If you want to have resilience information, you should use this PR of PX4 : PX4/PX4-Autopilot#25012
And set
CONFIG_MAVLINK_DIALECT="development"to yourdefault.px4boardTest Steps
I have used a Septentrio emulator that emulate Jamming, Spoofing and Authentication attacks which was impossible to test before.
The functionality run smoothly in all cases, tell me if you need a video of demonstration or something's else to merge the PR 😃
Checklist:
Related Issue
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