GPS: Add support for GNSS receiver resilience information #11781
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@julianoes Would it be possible to have some feedback on it shortly? I unfortunatly will soon finish my internship and will have a harder time testing changes |
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@chiara-septentrio thanks for this. I've put it on my list for next week when I'm back. |
| } else if (_activeVehicle.gps.systemErrors.value === 64) { | ||
| return qsTr("Output congestion") | ||
| } | ||
| return "Multiple errors" |
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Would it be worthwhile to concatenate all errors or does that not fit? I'm just thinking "Multiple errors" might not be very helpful, right?
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I was worried that too many errors would make it too crowdy even if it's unlikely to happen, I could try concatenatinge all them as it would make it clearer though
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This change was probably not on purpose, right?
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I was not, the fork was created a while ago and had the old bash file and I modified it to make it work correctly before updating it. I accidentally added it to a commit and removed it later when I realized, it still shows up in the pull request though
| @@ -1312,7 +1312,7 @@ 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 | |||
| @@ -0,0 +1,26 @@ | |||
| find_package(Qt6 REQUIRED COMPONENTS Core Qml) | |||
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| add_custom_target(UiToolbarQml | |||
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Not really necessary as this doesn't actually do anything
Co-authored-by: Julian Oes <[email protected]>
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@chiara-septentrio if you have plans to do an update to this, I am definitely interested in it |
Added support for GNSS receivers' resilience information
Description
This pull request modifies the UI to adapt to the resilience information for GPS interference (jamming and spoofing) as well as status for the GPS that were both recently added to mavlink. These changes only impact users that have GPS that use those mavlink messages, otherwise nothing new will show and it won't crowd the UI.
Interference
For interference, the status are shown with a new icon that colors depending on the status:
A drop-down menu will then allow user to have more insight into the kind of interference happening, for example:
Authentication
GNSS authentication is another way to check for interference, for example using Galileo OSNMA. An icon was also added for this purpose the same as the interference with a drop-down menu :
GPS Status
The added GPS status message allow to know the error concerning the GPS. If one or more error happen, to warn the user, the GPS icon will turn red and a field, GPS status, will be added to the drop-down menu (it isn't visible otherwise).
NB
Test Steps
I used PX4 with the resilience message enabled with a Pixhawk4 and a Septentrio Mosaic go. Not all status could be easily recreated, interference was hard-coded to test its impact on the UI and not all error were tested, only ones that could be provoked.
As of creating this pull request, the resilience PR has to be approved after a minor style change and its logic will not be modified, it can be safely used for testing.
Checklist:
Related Issue
By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.