GNSS Resilience with Septentrio

qgcimages.qrc

@@ -105,6 +105,8 @@
         <file alias="Gps.svg">src/UI/toolbar/Images/Gps.svg</file>
         <file alias="Hamburger.svg">src/UI/toolbar/Images/Hamburger.svg</file>
         <file alias="HamburgerThin.svg">src/UI/toolbar/Images/HamburgerThin.svg</file>
+        <file alias="GpsAuthentication.svg">src/UI/toolbar/Images/GpsAuthentication.svg</file>
+        <file alias="GpsInterference.svg">src/UI/toolbar/Images/GpsInterference.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
         <file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
         <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>

src/Comms/MockLink/MockLink.cc

@@ -1357,23 +1357,22 @@ void MockLink::_sendGpsRawInt()
         _vehicleComponentId,
         mavlinkChannel(),
         &msg,
-        timeTick++,                             // time since boot
+        timeTick++,                           // time since boot
         GPS_FIX_TYPE_3D_FIX,
-        static_cast<int32_t>(_vehicleLatitude * 1E7),
-        static_cast<int32_t>(_vehicleLongitude * 1E7),
-        static_cast<int32_t>(_vehicleAltitudeAMSL * 1000),
-        3 * 100,                                // hdop
-        3 * 100,                                // vdop
-        UINT16_MAX,                             // velocity not known
-        UINT16_MAX,                             // course over ground not known
-        8,                                      // satellites visible
+        (int32_t)(_vehicleLatitude  * 1E7),
+        (int32_t)(_vehicleLongitude * 1E7),
+        (int32_t)(_vehicleAltitudeAMSL  * 1000),
+        UINT16_MAX, UINT16_MAX,               // HDOP/VDOP not known
+        UINT16_MAX,                           // velocity not known
+        UINT16_MAX,                           // course over ground not known
+        8,                                    // satellites visible
         //-- Extension
-        0,                                      // Altitude (above WGS84, EGM96 ellipsoid), in meters * 1000 (positive for up).
-        0,                                      // Position uncertainty in meters * 1000 (positive for up).
-        0,                                      // Altitude uncertainty in meters * 1000 (positive for up).
-        0,                                      // Speed uncertainty in meters * 1000 (positive for up).
-        0,                                      // Heading / track uncertainty in degrees * 1e5.
-        65535                                   // Yaw not provided
+        0,                                    // Altitude (above WGS84, EGM96 ellipsoid), in meters * 1000 (positive for up).
+        0,                                    // Position uncertainty in meters * 1000 (positive for up).
+        0,                                    // Altitude uncertainty in meters * 1000 (positive for up).
+        0,                                    // Speed uncertainty in meters * 1000 (positive for up).
+        0,                                    // Heading / track uncertainty in degrees * 1e5.
+        65535                                 // Yaw not provided
     );
     respondWithMavlinkMessage(msg);
 }

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -205,6 +205,8 @@ const QVariantList &FirmwarePlugin::toolIndicators(const Vehicle*)
         _toolIndicatorList = QVariantList({
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/FlightModeIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/VehicleGPSIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GPSInterferenceIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GPSAuthenticationIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/TelemetryRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RCRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/BatteryIndicator.qml")),

src/QmlControls/GPSIndicatorPage.qml

@@ -64,6 +64,27 @@ ToolIndicatorPage {
     }
 
 
+    function errorText() {
+        if(!_activeVehicle){
+            return qsTr("Disconnected")
+        } else if (_activeVehicle.gps.systemErrors.value === 1) {
+            return qsTr("Incoming correction")
+        } else if (_activeVehicle.gps.systemErrors.value === 2) {
+            return qsTr("Configuration")
+        } else if (_activeVehicle.gps.systemErrors.value === 4) {
+            return qsTr("Software")
+        } else if (_activeVehicle.gps.systemErrors.value === 8) {
+            return qsTr("Antenna")
+        } else if (_activeVehicle.gps.systemErrors.value === 16) {
+            return qsTr("Event congestion")
+        } else if (_activeVehicle.gps.systemErrors.value === 32) {
+            return qsTr("CPU overload")
+        } else if (_activeVehicle.gps.systemErrors.value === 64) {
+            return qsTr("Output congestion")
+        }
+        return qsTr("Multiple errors")
+    }
+
     contentComponent: Component {
         ColumnLayout {
             spacing: ScreenTools.defaultFontPixelHeight / 2
@@ -96,6 +117,12 @@ ToolIndicatorPage {
                     label:      qsTr("Course Over Ground")
                     labelText:  activeVehicle ? activeVehicle.gps.courseOverGround.valueString : valueNA
                 }
+
+                LabelledLabel {
+                    label: qsTr("GPS Error")
+                    labelText: errorText()
+                    visible: _activeVehicle && _activeVehicle.gps.systemErrors.value > 0
+                }
             }
 
             SettingsGroupLayout {

src/QmlControls/QGCPalette.cc

@@ -74,6 +74,7 @@ void QGCPalette::_buildMap()
     DECLARE_QGC_COLOR(colorRed,             "#b52b2b", "#b52b2b", "#f32836", "#f32836")
     DECLARE_QGC_COLOR(colorGrey,            "#808080", "#808080", "#bfbfbf", "#bfbfbf")
     DECLARE_QGC_COLOR(colorBlue,            "#1a72ff", "#1a72ff", "#536dff", "#536dff")
+    DECLARE_QGC_COLOR(colorWhite,           "#222222", "#222222", "#ffffff", "#ffffff")
     DECLARE_QGC_COLOR(alertBackground,      "#eecc44", "#eecc44", "#eecc44", "#eecc44")
     DECLARE_QGC_COLOR(alertBorder,          "#808080", "#808080", "#808080", "#808080")
     DECLARE_QGC_COLOR(alertText,            "#000000", "#000000", "#000000", "#000000")

src/QmlControls/QGCPalette.h

@@ -144,6 +144,7 @@ class QGCPalette : public QObject
     DEFINE_QGC_COLOR(colorRed,                      setColorRed)
     DEFINE_QGC_COLOR(colorGrey,                     setColorGrey)
     DEFINE_QGC_COLOR(colorBlue,                     setColorBlue)
+    DEFINE_QGC_COLOR(colorWhite,                    setColorWhite)
     DEFINE_QGC_COLOR(alertBackground,               setAlertBackground)
     DEFINE_QGC_COLOR(alertBorder,                   setAlertBorder)
     DEFINE_QGC_COLOR(alertText,                     setAlertText)

src/UI/toolbar/CMakeLists.txt

@@ -14,6 +14,8 @@ qt_add_qml_module(ToolbarModule
         EscIndicatorPage.qml
         GCSControlIndicator.qml
         GimbalIndicator.qml
+        GPSAuthenticationIndicator.qml
+        GPSInterferenceIndicator.qml
         JoystickIndicator.qml
         LinkIndicator.qml
         ModeIndicator.qml

src/UI/toolbar/GPSAuthenticationIndicator.qml

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.ScreenTools
+import QGroundControl.Palette
+
+//-------------------------------------------------------------------------
+//-- GPS Authentication Indicator
+Item {
+    id:             control
+    width:          height
+    anchors.top:    parent.top
+    anchors.bottom: parent.bottom
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
+    property bool   showIndicator: _activeVehicle && _activeVehicle.gps.authenticationState.value > 0
+
+    function authenticationIconColor() {
+        if(!_activeVehicle){
+            return qgcPal.colorGrey   // Not connected
+        }
+
+        switch (_activeVehicle.gps.authenticationState.value) {
+        case 1: // Initializing
+            return qgcPal.colorYellow;
+        case 2: // Error
+            return qgcPal.colorRed;
+        case 3: // OK
+            return qgcPal.colorGreen;
+        case 0: // Unknown
+        case 4: // Disabled
+        default:
+            return qgcPal.colorGrey;
+        }
+    }
+
+    QGCColoredImage {
+        id:                 gpsAuthenticationIcon
+        width:              height
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        source:             "/qmlimages/GpsAuthentication.svg"
+        fillMode:           Image.PreserveAspectFit
+        sourceSize.height:  height
+        opacity:            1
+        color:              authenticationIconColor()
+    }
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked:      mainWindow.showIndicatorDrawer(authenticationContentComponent, control)
+    }
+
+    Component{
+        id: authenticationContentComponent
+
+        ColumnLayout{
+            spacing: ScreenTools.defaultFontPixelHeight / 2
+
+            SettingsGroupLayout {
+                heading: qsTr("GPS Authentication")
+                contentSpacing: 0
+                showDividers: false
+
+                LabelledLabel {
+                    label: qsTr("Status")
+                    labelText:  _activeVehicle ? (_activeVehicle.gps.authenticationState.valueString || qsTr("n/a")) : qsTr("n/a")
+                }
+            }
+        }
+    }
+}

src/UI/toolbar/GPSInterferenceIndicator.qml

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.ScreenTools
+import QGroundControl.Palette
+
+//-------------------------------------------------------------------------
+//-- GPS Interference Indicator
+Item {
+    id:             control
+    width:          height
+    anchors.top:    parent.top
+    anchors.bottom: parent.bottom
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
+    property bool   showIndicator: _activeVehicle && (_activeVehicle.gps.spoofingState.value > 0 || _activeVehicle.gps.jammingState.value > 0)
+
+    QGCColoredImage {
+        id:                 gpsSpoofingIcon
+        width:              height
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        source:             "/qmlimages/GpsInterference.svg"
+        fillMode:           Image.PreserveAspectFit
+        sourceSize.height:  height
+        opacity:            1
+        color: {
+            if(!_activeVehicle){
+                return qgcPal.colorGrey
+            }
+
+            let maxState = Math.max(_activeVehicle.gps.spoofingState.value, _activeVehicle.gps.jammingState.value);
+
+            switch (maxState) {
+            case 3:
+                return qgcPal.colorRed;
+            case 2:
+                return qgcPal.colorOrange;
+            case 1:
+                return qgcPal.colorWhite;
+            default:
+                return qgcPal.colorGrey;
+            }
+        }
+    }
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked:      mainWindow.showIndicatorDrawer(gpsSpoofingPopup, control)
+    }
+
+    Component {
+        id: gpsSpoofingPopup
+
+        ToolIndicatorPage {
+            showExpand: expandedComponent ? true : false
+            contentComponent: spoofingContentComponent
+        }
+    }
+
+    Component{
+        id: spoofingContentComponent
+
+        ColumnLayout{
+            spacing: ScreenTools.defaultFontPixelHeight / 2
+
+            SettingsGroupLayout {
+                heading: qsTr("GPS Interference Status")
+                showDividers: true
+
+                LabelledLabel {
+                    label: qsTr("GPS Jamming")
+                    labelText: _activeVehicle ? (_activeVehicle.gps.jammingState.valueString || qsTr("n/a")) : qsTr("n/a")
+                }
+
+                LabelledLabel {
+                    label: qsTr("GPS Spoofing")
+                    labelText: _activeVehicle ? (_activeVehicle.gps.spoofingState.valueString || qsTr("n/a")) : qsTr("n/a")
+                }
+            }
+        }
+    }
+}