gps(resilience): reimplement resilience using official new message

Use the official new MAVLink message for the implementation of resilience. wip
mavlink · Jun 21, 2024 · 68a91da · 68a91da
1 parent 4a09fbf
commit 68a91da
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Showing 4 changed files with 20 additions and 12 deletions.
diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0
diff --git a/src/Comms/MockLink/MockLink.cc b/src/Comms/MockLink/MockLink.cc
@@ -1323,11 +1323,7 @@ void MockLink::_sendGpsRawInt(void)
                                       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,                                    // No system errors
-                                      0,                                    // No authentication info provided
-                                      0,                                    // No jamming info provided
-                                      0);                                   // No spoofing info provided
+                                      65535);
     respondWithMavlinkMessage(msg);
 }
 

diff --git a/src/Vehicle/FactGroups/VehicleGPSFactGroup.cc b/src/Vehicle/FactGroups/VehicleGPSFactGroup.cc
@@ -10,6 +10,7 @@
 #include "VehicleGPSFactGroup.h"
 #include "Vehicle.h"
 #include "QGCGeo.h"
+#include "development/mavlink_msg_gnss_integrity.h"
 
 VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
@@ -57,6 +58,9 @@ void VehicleGPSFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_
     case MAVLINK_MSG_ID_HIGH_LATENCY2:
         _handleHighLatency2(message);
         break;
+    case MAVLINK_MSG_ID_GNSS_INTEGRITY:
+        _handleGnssIntegrity(message);
+        break;
     default:
         break;
     }
@@ -75,9 +79,6 @@ void VehicleGPSFactGroup::_handleGpsRawInt(mavlink_message_t& message)
     vdop()->setRawValue                 (gpsRawInt.epv == UINT16_MAX ? qQNaN() : gpsRawInt.epv / 100.0);
     courseOverGround()->setRawValue     (gpsRawInt.cog == UINT16_MAX ? qQNaN() : gpsRawInt.cog / 100.0);
     lock()->setRawValue                 (gpsRawInt.fix_type);
-    systemErrors()->setRawValue         (gpsRawInt.system_errors);
-    spoofingState()->setRawValue        (gpsRawInt.spoofing_state);
-    authenticationState()->setRawValue  (gpsRawInt.authentication_state);
 }
 
 void VehicleGPSFactGroup::_handleHighLatency(mavlink_message_t& message)
@@ -113,3 +114,13 @@ void VehicleGPSFactGroup::_handleHighLatency2(mavlink_message_t& message)
     hdop()->setRawValue (highLatency2.eph == UINT8_MAX ? qQNaN() : highLatency2.eph / 10.0);
     vdop()->setRawValue (highLatency2.epv == UINT8_MAX ? qQNaN() : highLatency2.epv / 10.0);
 }
+
+void VehicleGPSFactGroup::_handleGnssIntegrity(mavlink_message_t& message)
+{
+    mavlink_gnss_integrity_t gnssIntegrity;
+    mavlink_msg_gnss_integrity_decode(&message, &gnssIntegrity);
+
+    systemErrors()->setRawValue       (gnssIntegrity.system_errors);
+    spoofingState()->setRawValue      (gnssIntegrity.spoofing_state);
+    authenticationState()->setRawValue(gnssIntegrity.authentication_state);
+}
diff --git a/src/Vehicle/FactGroups/VehicleGPSFactGroup.h b/src/Vehicle/FactGroups/VehicleGPSFactGroup.h
@@ -47,9 +47,10 @@ class VehicleGPSFactGroup : public FactGroup
     virtual void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
 
 protected:
-    void _handleGpsRawInt   (mavlink_message_t& message);
-    void _handleHighLatency (mavlink_message_t& message);
-    void _handleHighLatency2(mavlink_message_t& message);
+    void _handleGpsRawInt    (mavlink_message_t& message);
+    void _handleHighLatency  (mavlink_message_t& message);
+    void _handleHighLatency2 (mavlink_message_t& message);
+    void _handleGnssIntegrity(mavlink_message_t& message);
 
     const QString _latFactName =                 QStringLiteral("lat");
     const QString _lonFactName =                 QStringLiteral("lon");
+2 −2		ASLUAV/ASLUAV.h
+1 −1		ASLUAV/mavlink.h
+1 −1		ASLUAV/version.h
+1 −1		AVSSUAS/AVSSUAS.h
+1 −1		AVSSUAS/mavlink.h
+1 −1		AVSSUAS/version.h
+4 −4		all/all.h
+1 −1		all/mavlink.h
+1 −1		all/version.h
+2 −2		ardupilotmega/ardupilotmega.h
+1 −1		ardupilotmega/mavlink.h
+1 −1		ardupilotmega/version.h
+4 −4		common/common.h
+1 −1		common/mavlink.h
+1 −1		common/version.h
+1 −1		csAirLink/csAirLink.h
+1 −1		csAirLink/mavlink.h
+1 −1		csAirLink/version.h
+1 −1		cubepilot/cubepilot.h
+1 −1		cubepilot/mavlink.h
+1 −1		cubepilot/version.h
+88 −5		development/development.h
+1 −1		development/mavlink.h
+6 −6		development/mavlink_msg_battery_status_v2.h
+456 −0		development/mavlink_msg_fuel_status.h
+568 −0		development/mavlink_msg_gnss_integrity.h
+138 −0		development/testsuite.h
+1 −1		development/version.h
+1 −1		icarous/icarous.h
+1 −1		icarous/mavlink.h
+1 −1		icarous/version.h
+2 −2		matrixpilot/matrixpilot.h
+1 −1		matrixpilot/mavlink.h
+1 −1		matrixpilot/version.h
+2 −2		message_definitions/all.xml
+8 −7		message_definitions/common.xml
+140 −2		message_definitions/development.xml
+1 −1		message_definitions/matrixpilot.xml
+1 −1		minimal/mavlink.h
+1 −1		minimal/minimal.h
+1 −1		minimal/version.h
+1 −1		paparazzi/mavlink.h
+1 −1		paparazzi/paparazzi.h
+1 −1		paparazzi/version.h
+1 −1		python_array_test/mavlink.h
+1 −1		python_array_test/python_array_test.h
+1 −1		python_array_test/version.h
+1 −1		standard/mavlink.h
+1 −1		standard/standard.h
+1 −1		standard/version.h
+1 −1		storm32/mavlink.h
+2 −2		storm32/storm32.h
+1 −1		storm32/version.h
+1 −1		test/mavlink.h
+1 −1		test/test.h
+1 −1		test/version.h
+1 −1		uAvionix/mavlink.h
+1 −1		uAvionix/uAvionix.h
+1 −1		uAvionix/version.h
+1 −1		ualberta/mavlink.h
+1 −1		ualberta/ualberta.h
+1 −1		ualberta/version.h