Add support for GNSS receiver resilience information

qgcimages.qrc

@@ -96,6 +96,8 @@
         <file alias="GeoTagIcon">src/AnalyzeView/GeoTagIcon.svg</file>
         <file alias="Gps.svg">src/UI/toolbar/Images/Gps.svg</file>
         <file alias="Hamburger.svg">src/UI/toolbar/Images/Hamburger.svg</file>
+        <file alias="GpsAuthentication.svg">src/UI/toolbar/Images/GpsAuthentication.svg</file>
+        <file alias="GpsInterference.svg">src/UI/toolbar/Images/GpsInterference.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
         <file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
         <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>

qgroundcontrol.qrc

@@ -13,6 +13,8 @@
         <file alias="TelemetryRSSIIndicator.qml">src/UI/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="VTOLModeIndicator.qml">src/UI/toolbar/VTOLModeIndicator.qml</file>
         <file alias="APMSupportForwardingIndicator.qml">src/UI/toolbar/APMSupportForwardingIndicator.qml</file>
+        <file alias="GPSAuthenticationIndicator.qml">src/UI/toolbar/GPSAuthenticationIndicator.qml</file>
+        <file alias="GPSInterferenceIndicator.qml">src/UI/toolbar/GPSInterferenceIndicator.qml</file>
     </qresource>
     <qresource prefix="/checklists">
         <file alias="DefaultChecklist.qml">src/FlightDisplay/DefaultChecklist.qml</file>

src/Comms/MockLink/MockLink.cc

@@ -1323,7 +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
+                                      65535);
     respondWithMavlinkMessage(msg);
 }
 

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -311,6 +311,8 @@ const QVariantList& FirmwarePlugin::toolIndicators(const Vehicle*)
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/FlightModeIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/MessageIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSInterferenceIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSAuthenticationIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/TelemetryRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/BatteryIndicator.qml")),

src/QmlControls/QGCPalette.cc

@@ -69,6 +69,7 @@ void QGCPalette::_buildMap()
     DECLARE_QGC_COLOR(mapIndicator,         "#585858", "#be781c", "#585858", "#be781c")
     DECLARE_QGC_COLOR(mapIndicatorChild,    "#585858", "#766043", "#585858", "#766043")
     DECLARE_QGC_COLOR(colorGreen,           "#009431", "#009431", "#00e04b", "#00e04b")
+    DECLARE_QGC_COLOR(colorYellow,          "#ffdb00", "#ffdb00", "#e1c100", "#e1c100")
     DECLARE_QGC_COLOR(colorOrange,          "#b95604", "#b95604", "#de8500", "#de8500")
     DECLARE_QGC_COLOR(colorRed,             "#ed3939", "#ed3939", "#f32836", "#f32836")
     DECLARE_QGC_COLOR(colorGrey,            "#808080", "#808080", "#bfbfbf", "#bfbfbf")

src/QmlControls/QGCPalette.h

@@ -138,6 +138,7 @@ class QGCPalette : public QObject
     DEFINE_QGC_COLOR(brandingPurple,                setBrandingPurple)
     DEFINE_QGC_COLOR(brandingBlue,                  setBrandingBlue)
     DEFINE_QGC_COLOR(colorGreen,                    setColorGreen)
+    DEFINE_QGC_COLOR(colorYellow,                   setColorYellow)
     DEFINE_QGC_COLOR(colorOrange,                   setColorOrange)
     DEFINE_QGC_COLOR(colorRed,                      setColorRed)
     DEFINE_QGC_COLOR(colorGrey,                     setColorGrey)

src/UI/toolbar/GPSAuthenticationIndicator.qml

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.ScreenTools
+import QGroundControl.Palette
+
+//-------------------------------------------------------------------------
+//-- GPS Authentication Indicator
+Item {
+    id:             control
+    width:          height
+    anchors.top:    parent.top
+    anchors.bottom: parent.bottom
+
+    property bool showIndicator: _activeVehicle.gps.authenticationState.value !== 0
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
+    function authenticationIconColor() {
+        if (_activeVehicle.gps.authenticationState.value === 0) {
+            return qgcPal.colorGrey
+        } else if (_activeVehicle.gps.authenticationState.value === 1) {
+            return qgcPal.colorYellow
+        } else if (_activeVehicle.gps.authenticationState.value === 2) {
+            return qgcPal.colorRed
+        } else if (_activeVehicle.gps.authenticationState.value === 3) {
+            return qgcPal.colorGreen
+        } else if (_activeVehicle.gps.authenticationState.value === 4) {
+            return qgcPal.colorGrey
+        }
+    }
+
+    QGCColoredImage {
+        id:                 gpsAuthenticationIcon
+        width:              height
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        source:             "/qmlimages/GpsAuthentication.svg"
+        fillMode:           Image.PreserveAspectFit
+        sourceSize.height:  height
+        opacity:            1
+        color:              authenticationIconColor()
+    }
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked:      mainWindow.showIndicatorDrawer(gpsIndicatorPage, control)
+    }
+
+    Component {
+        id: gpsIndicatorPage
+
+        GPSIndicatorPage {
+
+        }
+    }
+}

src/UI/toolbar/GPSIndicator.qml

@@ -37,7 +37,7 @@ Item {
         fillMode:           Image.PreserveAspectFit
         sourceSize.height:  height
         opacity:            (_activeVehicle && _activeVehicle.gps.count.value >= 0) ? 1 : 0.5
-        color:              qgcPal.buttonText
+        color:              (_activeVehicle && _activeVehicle.gps.systemErrors.value !== 0) ? qgcPal.colorRed : qgcPal.buttonText
     }
 
     Column {

src/UI/toolbar/GPSInterferenceIndicator.qml

@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.ScreenTools
+import QGroundControl.Palette
+
+//-------------------------------------------------------------------------
+//-- GPS Interference Indicator
+Item {
+    id:             control
+    width:          height
+    anchors.top:    parent.top
+    anchors.bottom: parent.bottom
+
+    property bool showIndicator: _activeVehicle.gps.authenticationState.value !== 0
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
+    function interferenceIconColor() {
+        if (_activeVehicle.gps.spoofingState.value === 1) {
+            return qgcPal.colorGreen
+        } else if (_activeVehicle.gps.spoofingState.value === 2) {
+            return qgcPal.colorRed
+        } else if (_activeVehicle.gps.spoofingState.value === 3) {
+            return qgcPal.colorBlue
+        }
+    }
+
+    QGCColoredImage {
+        id:                 gpsSpoofingIcon
+        width:              height
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        source:             "/qmlimages/GpsInterference.svg"
+        fillMode:           Image.PreserveAspectFit
+        sourceSize.height:  height
+        opacity:            1
+        color:              interferenceIconColor()
+    }
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked:      mainWindow.showIndicatorDrawer(gpsIndicatorPage, control)
+    }
+
+    Component {
+        id: gpsIndicatorPage
+
+        GPSIndicatorPage {
+
+        }
+    }
+}

src/Vehicle/FactGroups/GPSFact.json

@@ -51,6 +51,21 @@
     "name":             "count",
     "shortDesc": "Sat Count",
     "type":             "uint32"
+},
+{
+    "name":             "systemErrors",
+    "shortDesc": "General System Errors",
+    "type":             "uint32"
+},
+{
+    "name":             "spoofingState",
+    "shortDesc": "Signal Spoofing State",
+    "type":             "uint8"
+},
+{
+    "name":             "authenticationState",
+    "shortDesc": "Signal Authentication State",
+    "type":             "uint8"
 }
 ]
 }

src/Vehicle/FactGroups/VehicleGPSFactGroup.cc

@@ -10,17 +10,21 @@
 #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)
-    , _latFact              (0, _latFactName,               FactMetaData::valueTypeDouble)
-    , _lonFact              (0, _lonFactName,               FactMetaData::valueTypeDouble)
-    , _mgrsFact             (0, _mgrsFactName,              FactMetaData::valueTypeString)
-    , _hdopFact             (0, _hdopFactName,              FactMetaData::valueTypeDouble)
-    , _vdopFact             (0, _vdopFactName,              FactMetaData::valueTypeDouble)
-    , _courseOverGroundFact (0, _courseOverGroundFactName,  FactMetaData::valueTypeDouble)
-    , _countFact            (0, _countFactName,             FactMetaData::valueTypeInt32)
-    , _lockFact             (0, _lockFactName,              FactMetaData::valueTypeInt32)
+    , _latFact                 (0, _latFactName,                 FactMetaData::valueTypeDouble)
+    , _lonFact                 (0, _lonFactName,                 FactMetaData::valueTypeDouble)
+    , _mgrsFact                (0, _mgrsFactName,                FactMetaData::valueTypeString)
+    , _hdopFact                (0, _hdopFactName,                FactMetaData::valueTypeDouble)
+    , _vdopFact                (0, _vdopFactName,                FactMetaData::valueTypeDouble)
+    , _courseOverGroundFact    (0, _courseOverGroundFactName,    FactMetaData::valueTypeDouble)
+    , _countFact               (0, _countFactName,               FactMetaData::valueTypeInt32)
+    , _lockFact                (0, _lockFactName,                FactMetaData::valueTypeInt32)
+    , _systemErrorsFact        (0, _systemErrorsFactName,        FactMetaData::valueTypeUint32)
+    , _spoofingStateFact       (0, _spoofingStateFactName,       FactMetaData::valueTypeUint8)
+    , _authenticationStateFact (0, _authenticationStateFactName, FactMetaData::valueTypeUint8)
 {
     _addFact(&_latFact,                 _latFactName);
     _addFact(&_lonFact,                 _lonFactName);
@@ -30,6 +34,9 @@ VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
     _addFact(&_courseOverGroundFact,    _courseOverGroundFactName);
     _addFact(&_lockFact,                _lockFactName);
     _addFact(&_countFact,               _countFactName);
+    _addFact(&_systemErrorsFact,        _systemErrorsFactName);
+    _addFact(&_spoofingStateFact,       _spoofingStateFactName);
+    _addFact(&_authenticationStateFact, _authenticationStateFactName);
 
     _latFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
     _lonFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
@@ -51,6 +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;
     }
@@ -61,14 +71,14 @@ void VehicleGPSFactGroup::_handleGpsRawInt(mavlink_message_t& message)
     mavlink_gps_raw_int_t gpsRawInt;
     mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);
 
-    lat()->setRawValue              (gpsRawInt.lat * 1e-7);
-    lon()->setRawValue              (gpsRawInt.lon * 1e-7);
-    mgrs()->setRawValue             (QGCGeo::convertGeoToMGRS(QGeoCoordinate(gpsRawInt.lat * 1e-7, gpsRawInt.lon * 1e-7)));
-    count()->setRawValue            (gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
-    hdop()->setRawValue             (gpsRawInt.eph == UINT16_MAX ? qQNaN() : gpsRawInt.eph / 100.0);
-    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);
+    lat()->setRawValue                  (gpsRawInt.lat * 1e-7);
+    lon()->setRawValue                  (gpsRawInt.lon * 1e-7);
+    mgrs()->setRawValue                 (QGCGeo::convertGeoToMGRS(QGeoCoordinate(gpsRawInt.lat * 1e-7, gpsRawInt.lon * 1e-7)));
+    count()->setRawValue                (gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
+    hdop()->setRawValue                 (gpsRawInt.eph == UINT16_MAX ? qQNaN() : gpsRawInt.eph / 100.0);
+    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);
 }
 
 void VehicleGPSFactGroup::_handleHighLatency(mavlink_message_t& message)
@@ -104,3 +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);
+}

src/Vehicle/FactGroups/VehicleGPSFactGroup.h

@@ -19,31 +19,38 @@ class VehicleGPSFactGroup : public FactGroup
 public:
     VehicleGPSFactGroup(QObject* parent = nullptr);
 
-    Q_PROPERTY(Fact* lat                READ lat                CONSTANT)
-    Q_PROPERTY(Fact* lon                READ lon                CONSTANT)
-    Q_PROPERTY(Fact* mgrs               READ mgrs               CONSTANT)
-    Q_PROPERTY(Fact* hdop               READ hdop               CONSTANT)
-    Q_PROPERTY(Fact* vdop               READ vdop               CONSTANT)
-    Q_PROPERTY(Fact* courseOverGround   READ courseOverGround   CONSTANT)
-    Q_PROPERTY(Fact* count              READ count              CONSTANT)
-    Q_PROPERTY(Fact* lock               READ lock               CONSTANT)
+    Q_PROPERTY(Fact* lat                    READ lat                    CONSTANT)
+    Q_PROPERTY(Fact* lon                    READ lon                    CONSTANT)
+    Q_PROPERTY(Fact* mgrs                   READ mgrs                   CONSTANT)
+    Q_PROPERTY(Fact* hdop                   READ hdop                   CONSTANT)
+    Q_PROPERTY(Fact* vdop                   READ vdop                   CONSTANT)
+    Q_PROPERTY(Fact* courseOverGround       READ courseOverGround       CONSTANT)
+    Q_PROPERTY(Fact* count                  READ count                  CONSTANT)
+    Q_PROPERTY(Fact* lock                   READ lock                   CONSTANT)
+    Q_PROPERTY(Fact* systemErrors           READ systemErrors           CONSTANT)
+    Q_PROPERTY(Fact* spoofingState          READ spoofingState          CONSTANT)
+    Q_PROPERTY(Fact* authenticationState    READ authenticationState    CONSTANT)
 
-    Fact* lat               () { return &_latFact; }
-    Fact* lon               () { return &_lonFact; }
-    Fact* mgrs              () { return &_mgrsFact; }
-    Fact* hdop              () { return &_hdopFact; }
-    Fact* vdop              () { return &_vdopFact; }
-    Fact* courseOverGround  () { return &_courseOverGroundFact; }
-    Fact* count             () { return &_countFact; }
-    Fact* lock              () { return &_lockFact; }
+    Fact* lat                   () { return &_latFact; }
+    Fact* lon                   () { return &_lonFact; }
+    Fact* mgrs                  () { return &_mgrsFact; }
+    Fact* hdop                  () { return &_hdopFact; }
+    Fact* vdop                  () { return &_vdopFact; }
+    Fact* courseOverGround      () { return &_courseOverGroundFact; }
+    Fact* count                 () { return &_countFact; }
+    Fact* lock                  () { return &_lockFact; }
+    Fact* systemErrors          () { return &_systemErrorsFact; }
+    Fact* spoofingState         () { return &_spoofingStateFact; }
+    Fact* authenticationState   () { return &_authenticationStateFact; }
 
     // Overrides from 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");
@@ -53,6 +60,9 @@ class VehicleGPSFactGroup : public FactGroup
     const QString _courseOverGroundFactName =    QStringLiteral("courseOverGround");
     const QString _countFactName =               QStringLiteral("count");
     const QString _lockFactName =                QStringLiteral("lock");
+    const QString _systemErrorsFactName =        QStringLiteral("systemErrors");
+    const QString _spoofingStateFactName =       QStringLiteral("spoofingState");
+    const QString _authenticationStateFactName = QStringLiteral("authenticationState");
 
     Fact _latFact;
     Fact _lonFact;
@@ -62,4 +72,7 @@ class VehicleGPSFactGroup : public FactGroup
     Fact _courseOverGroundFact;
     Fact _countFact;
     Fact _lockFact;
+    Fact _systemErrorsFact;
+    Fact _spoofingStateFact;
+    Fact _authenticationStateFact;
 };