dont introduce more GPS namings, GNSS instead

PX4 · Jul 9, 2024 · 30211ab · 30211ab
1 parent ef8696f
commit 30211ab
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Showing 4 changed files with 10 additions and 11 deletions.
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -319,19 +319,19 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 		_gps_was_fused = ekf_gps_fusion;
 
 		if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) {
-			if (!_gps_spoofed) {
-				_gps_spoofed = true;
+			if (!_gnss_spoofed) {
+				_gnss_spoofed = true;
 
 				if (reporter.mavlink_log_pub()) {
-					mavlink_log_critical(reporter.mavlink_log_pub(), "GPS signal spoofed\t");
+					mavlink_log_critical(reporter.mavlink_log_pub(), "GNSS signal spoofed\t");
 				}
 
-				events::send(events::ID("check_estimator_gps_warning_spoofing"), {events::Log::Alert, events::LogInternal::Info},
-					     "GPS signal spoofed");
+				events::send(events::ID("check_estimator_gnss_warning_spoofing"), {events::Log::Alert, events::LogInternal::Info},
+					     "GNSS signal spoofed");
 			}
 
 		} else {
-			_gps_spoofed = false;
+			_gnss_spoofed = false;
 		}
 
 		if (!context.isArmed() && ekf_gps_check_fail) {
@@ -699,7 +699,7 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report &
 	}
 }
 
-void EstimatorChecks::checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position)
+void EstimatorChecks::checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const
 {
 	if (vehicle_gps_position.jamming_state == sensor_gps_s::JAMMING_STATE_CRITICAL) {
 		/* EVENT

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -64,7 +64,7 @@ class EstimatorChecks : public HealthAndArmingCheckBase
 	void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
 	void checkEstimatorStatusFlags(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
 				       const vehicle_local_position_s &lpos);
-	void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position);
+	void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const;
 	void lowPositionAccuracy(const Context &context, Report &reporter, const vehicle_local_position_s &lpos) const;
 	void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz,
 				     const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position,
@@ -101,7 +101,7 @@ class EstimatorChecks : public HealthAndArmingCheckBase
 	bool _position_reliant_on_optical_flow{false};
 
 	bool _gps_was_fused{false};
-	bool _gps_spoofed{false};
+	bool _gnss_spoofed{false};
 
 	bool _nav_failure_imminent_warned{false};
 

diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
@@ -137,7 +137,6 @@ void Ekf::collect_gps(const gnssSample &gps)
 
 bool Ekf::runGnssChecks(const gnssSample &gps)
 {
-	// Check GPS spoofing
 	_gps_check_fail_status.flags.spoofed = gps.spoofed;
 
 	// Check the fix type

diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
@@ -537,7 +537,7 @@ union gps_check_fail_status_u {
 		uint16_t vdrift : 1; ///< 7 - true if vertical drift is excessive (can only be used when stationary on ground)
 		uint16_t hspeed : 1; ///< 8 - true if horizontal speed is excessive (can only be used when stationary on ground)
 		uint16_t vspeed : 1; ///< 9 - true if vertical speed error is excessive
-		uint16_t spoofed: 1; ///< 10 - true if the GPS data is spoofed
+		uint16_t spoofed: 1; ///< 10 - true if the GNSS data is spoofed
 	} flags;
 	uint16_t value;
 };