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Add GPS resilience monitoring with GNSS_INTEGRITY message (#13812)
1 parent 0110962 commit 01aa2ba

17 files changed

+588
-10
lines changed

‎qgcimages.qrc‎

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@@ -103,6 +103,8 @@
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<file alias="GeoFenceLight.svg">src/AutoPilotPlugins/PX4/Images/GeoFenceLight.svg</file>
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<file alias="GeoTagIcon.svg">src/AnalyzeView/GeoTagIcon.svg</file>
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<file alias="Gps.svg">src/UI/toolbar/Images/Gps.svg</file>
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<file alias="GpsAuthentication.svg">src/UI/toolbar/Images/GpsAuthentication.svg</file>
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<file alias="GpsInterference.svg">src/UI/toolbar/Images/GpsInterference.svg</file>
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<file alias="Hamburger.svg">src/UI/toolbar/Images/Hamburger.svg</file>
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<file alias="HamburgerThin.svg">src/UI/toolbar/Images/HamburgerThin.svg</file>
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<file alias="Help.svg">src/FlightMap/Images/Help.svg</file>

‎src/FirmwarePlugin/FirmwarePlugin.cc‎

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@@ -195,6 +195,7 @@ const QVariantList &FirmwarePlugin::toolIndicators(const Vehicle*)
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if (_toolIndicatorList.isEmpty()) {
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_toolIndicatorList = QVariantList({
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QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/VehicleGPSIndicator.qml")),
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QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GPSResilienceIndicator.qml")),
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QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/TelemetryRSSIIndicator.qml")),
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QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RCRSSIIndicator.qml")),
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QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/BatteryIndicator.qml")),

‎src/QmlControls/GPSIndicatorPage.qml‎

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@@ -54,6 +54,30 @@ ToolIndicatorPage {
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updateSettingsDisplayId()
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}
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function errorText() {
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if (!_activeVehicle) {
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return qsTr("Disconnected");
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}
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switch (_activeVehicle.gps.systemErrors.value) {
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case 1:
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return qsTr("Incoming correction");
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case 2:
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return qsTr("Configuration");
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case 4:
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return qsTr("Software");
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case 8:
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return qsTr("Antenna");
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case 16:
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return qsTr("Event congestion");
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case 32:
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return qsTr("CPU overload");
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case 64:
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return qsTr("Output congestion");
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default:
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return qsTr("Multiple errors");
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}
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}
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contentComponent: Component {
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ColumnLayout {
@@ -87,6 +111,12 @@ ToolIndicatorPage {
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label: qsTr("Course Over Ground")
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labelText: activeVehicle ? activeVehicle.gps.courseOverGround.valueString : valueNA
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}
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LabelledLabel {
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label: qsTr("GPS Error")
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labelText: errorText()
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visible: activeVehicle && activeVehicle.gps.systemErrors.value > 0
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}
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}
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SettingsGroupLayout {

‎src/UI/toolbar/CMakeLists.txt‎

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@@ -10,6 +10,7 @@ qt_add_qml_module(ToolbarModule
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EscIndicatorPage.qml
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GCSControlIndicator.qml
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GimbalIndicator.qml
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GPSResilienceIndicator.qml
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JoystickIndicator.qml
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ModeIndicator.qml
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MultiVehicleSelector.qml

‎src/UI/toolbar/GPSResilienceIndicator.qml‎

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/****************************************************************************
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*
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* (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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import QtQuick
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import QtQuick.Layouts
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import QGroundControl
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import QGroundControl.Controls
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//-------------------------------------------------------------------------
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//-- GPS Resilience Indicator
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Item {
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id: control
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width: height
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anchors.top: parent.top
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anchors.bottom: parent.bottom
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visible: showIndicator
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property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
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property var _gpsAggregate: _activeVehicle ? _activeVehicle.gpsAggregate : null
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property var qgcPal: QGroundControl.globalPalette
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property bool showIndicator: _activeVehicle && _gpsAggregate && (
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(_gpsAggregate.authenticationState.value > 0 && _gpsAggregate.authenticationState.value < 255) ||
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(_gpsAggregate.spoofingState.value > 0 && _gpsAggregate.spoofingState.value < 255) ||
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(_gpsAggregate.jammingState.value > 0 && _gpsAggregate.jammingState.value < 255)
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)
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// Authentication Icon (Outer/Bottom Layer)
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QGCColoredImage {
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id: authIcon
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width: parent.height * 0.95
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height: parent.height * 0.95
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anchors.centerIn: parent
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source: "/qmlimages/GpsAuthentication.svg"
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fillMode: Image.PreserveAspectFit
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sourceSize.height: height
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color: _authColor()
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visible: _gpsAggregate && _gpsAggregate.authenticationState.value > 0 && _gpsAggregate.authenticationState.value < 255
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}
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// Interference Icon (Inner/Top Layer)
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QGCColoredImage {
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id: interfIcon
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width: parent.height * 0.55
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height: parent.height * 0.55
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anchors.centerIn: parent
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source: "/qmlimages/GpsInterference.svg"
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fillMode: Image.PreserveAspectFit
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sourceSize.height: height
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color: _interfColor()
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visible: _gpsAggregate && (Math.max(_gpsAggregate.spoofingState.value, _gpsAggregate.jammingState.value) > 0) && (Math.max(_gpsAggregate.spoofingState.value, _gpsAggregate.jammingState.value) < 255)
60+
}
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62+
function _authColor() {
63+
if (!_gpsAggregate) return qgcPal.colorGrey;
64+
switch (_gpsAggregate.authenticationState.value) {
65+
case 1: return qgcPal.colorYellow; // Initializing
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case 2: return qgcPal.colorRed; // Error
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case 3: return qgcPal.colorGreen; // OK
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default: return qgcPal.colorGrey; // Unknown or Disabled
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}
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}
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72+
function _interfColor() {
73+
if (!_gpsAggregate) return qgcPal.colorGrey;
74+
let maxState = Math.max(_gpsAggregate.spoofingState.value, _gpsAggregate.jammingState.value);
75+
switch (maxState) {
76+
case 1: return qgcPal.colorGreen; // Not spoofed/jammed
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case 2: return qgcPal.colorOrange; // Mitigated
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case 3: return qgcPal.colorRed; // Detected
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default: return qgcPal.colorGrey; // Unknown
80+
}
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}
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MouseArea {
84+
anchors.fill: parent
85+
onClicked: mainWindow.showIndicatorDrawer(resiliencePopup, control)
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}
87+
88+
Component {
89+
id: resiliencePopup
90+
ToolIndicatorPage {
91+
showExpand: expandedComponent ? true : false
92+
contentComponent: resilienceContent
93+
}
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}
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96+
Component {
97+
id: resilienceContent
98+
ColumnLayout {
99+
spacing: ScreenTools.defaultFontPixelHeight / 2
100+
101+
// Unified GPS Resilience Status
102+
SettingsGroupLayout {
103+
heading: qsTr("GPS Resilience Status")
104+
showDividers: true
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LabelledLabel {
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label: qsTr("GPS Jamming")
108+
labelText: _gpsAggregate ? (_gpsAggregate.jammingState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
109+
visible: _gpsAggregate && _gpsAggregate.jammingState.value > 0 && _gpsAggregate.jammingState.value < 255
110+
}
111+
112+
LabelledLabel {
113+
label: qsTr("GPS Spoofing")
114+
labelText: _gpsAggregate ? (_gpsAggregate.spoofingState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
115+
visible: _gpsAggregate && _gpsAggregate.spoofingState.value > 0 && _gpsAggregate.spoofingState.value < 255
116+
}
117+
118+
LabelledLabel {
119+
label: qsTr("GPS Authentication")
120+
labelText: _gpsAggregate ? (_gpsAggregate.authenticationState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
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visible: _gpsAggregate && _gpsAggregate.authenticationState.value > 0 && _gpsAggregate.authenticationState.value < 255
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}
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}
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125+
// GPS 1 Details
126+
SettingsGroupLayout {
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heading: qsTr("GPS 1 Details")
128+
showDividers: true
129+
visible: _activeVehicle && _activeVehicle.gps && (
130+
(_activeVehicle.gps.jammingState.value > 0 && _activeVehicle.gps.jammingState.value < 255) ||
131+
(_activeVehicle.gps.spoofingState.value > 0 && _activeVehicle.gps.spoofingState.value < 255) ||
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(_activeVehicle.gps.authenticationState.value > 0 && _activeVehicle.gps.authenticationState.value < 255)
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)
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LabelledLabel {
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label: qsTr("Jamming")
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labelText: (_activeVehicle && _activeVehicle.gps) ? (_activeVehicle.gps.jammingState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
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visible: _activeVehicle.gps.jammingState.value > 0 && _activeVehicle.gps.jammingState.value < 255
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}
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LabelledLabel {
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label: qsTr("Spoofing")
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labelText: (_activeVehicle && _activeVehicle.gps) ? (_activeVehicle.gps.spoofingState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
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visible: _activeVehicle.gps.spoofingState.value > 0 && _activeVehicle.gps.spoofingState.value < 255
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}
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LabelledLabel {
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label: qsTr("Authentication")
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labelText: (_activeVehicle && _activeVehicle.gps) ? (_activeVehicle.gps.authenticationState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
148+
visible: _activeVehicle.gps.authenticationState.value > 0 && _activeVehicle.gps.authenticationState.value < 255
149+
}
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}
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// GPS 2 Details
153+
SettingsGroupLayout {
154+
heading: qsTr("GPS 2 Details")
155+
showDividers: true
156+
visible: _activeVehicle && _activeVehicle.gps2 && (
157+
(_activeVehicle.gps2.jammingState.value > 0 && _activeVehicle.gps2.jammingState.value < 255) ||
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(_activeVehicle.gps2.spoofingState.value > 0 && _activeVehicle.gps2.spoofingState.value < 255) ||
159+
(_activeVehicle.gps2.authenticationState.value > 0 && _activeVehicle.gps2.authenticationState.value < 255)
160+
)
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LabelledLabel {
163+
label: qsTr("Jamming")
164+
labelText: (_activeVehicle && _activeVehicle.gps2) ? (_activeVehicle.gps2.jammingState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
165+
visible: _activeVehicle.gps2.jammingState.value > 0 && _activeVehicle.gps2.jammingState.value < 255
166+
}
167+
LabelledLabel {
168+
label: qsTr("Spoofing")
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labelText: (_activeVehicle && _activeVehicle.gps2) ? (_activeVehicle.gps2.spoofingState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
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visible: _activeVehicle.gps2.spoofingState.value > 0 && _activeVehicle.gps2.spoofingState.value < 255
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}
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LabelledLabel {
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label: qsTr("Authentication")
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labelText: (_activeVehicle && _activeVehicle.gps2) ? (_activeVehicle.gps2.authenticationState.enumStringValue || qsTr("n/a")) : qsTr("n/a")
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visible: _activeVehicle.gps2.authenticationState.value > 0 && _activeVehicle.gps2.authenticationState.value < 255
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}
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}
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}
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}
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}

‎src/UI/toolbar/Images/GpsAuthentication.svg‎

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‎src/UI/toolbar/Images/GpsInterference.svg‎

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‎src/Vehicle/FactGroups/CMakeLists.txt‎

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@@ -27,6 +27,8 @@ target_sources(${CMAKE_PROJECT_NAME}
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VehicleGPS2FactGroup.h
2828
VehicleGPSFactGroup.cc
2929
VehicleGPSFactGroup.h
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VehicleGPSAggregateFactGroup.cc
31+
VehicleGPSAggregateFactGroup.h
3032
VehicleLocalPositionFactGroup.cc
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VehicleLocalPositionFactGroup.h
3234
VehicleLocalPositionSetpointFactGroup.cc

‎src/Vehicle/FactGroups/GPSFact.json‎

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"name": "count",
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"shortDesc": "Sat Count",
6060
"type": "uint32"
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},
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{
63+
"name": "systemErrors",
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"shortDesc": "General System Errors",
65+
"type": "uint32"
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},
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{
68+
"name": "spoofingState",
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"shortDesc": "Signal Spoofing State",
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"type": "uint8",
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"enumStrings": "Unknown,Not spoofed,Mitigated,Ongoing",
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"enumValues": "0,1,2,3",
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"decimalPlaces": 0
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},
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{
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"name": "jammingState",
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"shortDesc": "Signal Jamming State",
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"type": "uint8",
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"enumStrings": "Unknown,Not jammed,Mitigated,Ongoing",
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"enumValues": "0,1,2,3",
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"decimalPlaces": 0
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},
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{
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"name": "authenticationState",
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"shortDesc": "Signal Authentication State",
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"type": "uint8",
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"enumStrings": "Unknown,Initializing,Error,Ok,Disabled",
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"enumValues": "0,1,2,3,4",
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"decimalPlaces": 0
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},
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{
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"name": "correctionsQuality",
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"shortDesc": "Corrections Quality",
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"type": "uint8"
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},
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{
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"name": "systemQuality",
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"shortDesc": "System Status Quality",
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"type": "uint8"
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},
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{
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"name": "gnssSignalQuality",
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"shortDesc": "Gnss Signal Quality",
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"type": "uint8"
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},
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{
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"name": "postProcessingQuality",
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"shortDesc": "Post Processing Quality",
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"type": "uint8"
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}
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]
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}

‎src/Vehicle/FactGroups/VehicleGPS2FactGroup.cc‎

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#include "VehicleGPS2FactGroup.h"
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#include "Vehicle.h"
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#include "QGCGeo.h"
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#include "development/mavlink_msg_gnss_integrity.h"
45

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#include <QtPositioning/QGeoCoordinate>
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@@ -12,6 +13,9 @@ void VehicleGPS2FactGroup::handleMessage(Vehicle *vehicle, const mavlink_message
1213
case MAVLINK_MSG_ID_GPS2_RAW:
1314
_handleGps2Raw(message);
1415
break;
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case MAVLINK_MSG_ID_GNSS_INTEGRITY:
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_handleGnssIntegrity(message);
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break;
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default:
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break;
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}

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