EKF2: Spoofing GPS check #23366
Merged
EKF2: Spoofing GPS check #23366
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
dagar
reviewed
Jul 5, 2024
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
Outdated
Show resolved
Hide resolved
dagar
reviewed
Jul 5, 2024
dagar
reviewed
Jul 5, 2024
dagar
reviewed
Jul 5, 2024
|
Here is a log with an example with false positive spoofing. We probably want spoofing state to be >=2 for a period of time before failing the check. https://review.px4.io/plot_app?log=8e03bae1-1551-4c93-bf6b-19c22e3c78a1
|
…to completely stop fusion
|
I now changed it to: |
bresch
requested changes
Jul 9, 2024
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
Outdated
Show resolved
Hide resolved
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
Outdated
Show resolved
Hide resolved
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
Outdated
Show resolved
Hide resolved
bresch
requested changes
Jul 9, 2024
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
Outdated
Show resolved
Hide resolved
haumarco
force-pushed
the
pr-ekf2_disable_gps_fusion_w_spoofing
branch
from
7ae41a4
to
30211ab
Compare
bresch
previously approved these changes
Jul 9, 2024
bresch
approved these changes
Jul 9, 2024
|
@haumarco @bresch Looks like the CI for synching the px4_msgs repo failed on the deploy here. They are now out of synch, causing issues if you use the px4_ros2_interface_lib. Would you mind rerunning the action synching the msgs? |
vertiq-jordan
pushed a commit
to iq-motion-control/PX4-Autopilot
that referenced
this pull request
Aug 21, 2024
* 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
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Solved Problem
Currently the spoofing state, which gets set by the GPS driver, does not have any effect on the estimator.
Solution
One can now add the spoofing state to the EKF2_GPS_CHECK. For it to fail, the spoofing flag has to be consistently true over a second and vice-versa for it to pass again.
There is now also a event which gets sent once when the first spoofed message arrives. This will notify the user, independent of the settings chosen in EKF2_GPS_CHECK.