GNSS: support MAVLink GNSS receiver status information

Add support for GNSS status information from MAVLink, which includes authentication, errors and interference status.
flyingthingsintothings · May 6, 2024 · dd16a83 · dd16a83
1 parent ba1c2f0
commit dd16a83
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Showing 4 changed files with 420 additions and 144 deletions.
diff --git a/ExtLibs/ArduPilot/CurrentState.cs b/ExtLibs/ArduPilot/CurrentState.cs
@@ -392,6 +392,22 @@ public float altasl
         [GroupText("Position")]
         public float gpsyaw { get; private set; }
 
+        [DisplayText("GPS System Errors")]
+        [GroupText("Position")]
+        public uint gpssystem_errors { get; private set; }
+
+        [DisplayText("GPS Authentication Status")]
+        [GroupText("Position")]
+        public byte gpsauthentication_state { get; private set; }
+
+        [DisplayText("GPS Jamming Status")]
+        [GroupText("Position")]
+        public byte gpsjamming_state { get; private set; }
+
+        [DisplayText("GPS Spoofing Status")]
+        [GroupText("Position")]
+        public byte gpsspoofing_state { get; private set; }
+
         [DisplayText("Latitude2 (dd)")]
         [GroupText("Position")]
         public double lat2 { get; set; }
@@ -3049,6 +3065,11 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
                                 gpsyaw = -1;
                             }
 
+                            gpssystem_errors = gps.system_errors;
+                            gpsauthentication_state = gps.authentication_state;
+                            gpsjamming_state = gps.jamming_state;
+                            gpsspoofing_state = gps.spoofing_state;
+
                             //MAVLink.packets[(byte)MAVLink.MSG_NAMES.GPS_RAW);
                         }