GNSS Resilience with Septentrio

[Louis-max-H]

Add support for GNSS receiver resilience information

Depend on this PX4-Autopilot PR : PX4/PX4-Autopilot#25012
Original PR : #11781

Description

This PR is mostly taken from @chiara-septentrio and @flyingthingsintothings PR.
The code is mostly the same, I have improved a little code structure and move some files to update code structure

If you want to have resilience information, you should use this PR of PX4 : PX4/PX4-Autopilot#25012
And set CONFIG_MAVLINK_DIALECT="development" to your default.px4board

Test Steps

I have used a Septentrio emulator that emulate Jamming, Spoofing and Authentication attacks which was impossible to test before.
The functionality run smoothly in all cases, tell me if you need a video of demonstration or something's else to merge the PR 😃

Checklist:

• [x ] Review Contribution Guidelines.
• [ x] Review Code of Conduct.
• [x ] I have tested my changes.

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.

[HTRamsey]

Let me know when that PX4 PR gets merged

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-dev-call-aug-06-2025-team-sync-and-community-q-a/46826/2

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-dev-call-aug-06-2025-team-sync-and-community-q-a/46826/1

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-dev-call-aug-13-2025-team-sync-and-community-q-a/46972/2

[Tory9]

@HTRamsey, hello. The PX4 side was merged this week. Can this pr be reviewed again ?

[Copilot]

Pull Request Overview

This PR adds GNSS resilience support with interference detection and authentication features for GPS receivers, particularly targeting Septentrio hardware integration. The implementation provides real-time monitoring of jamming, spoofing attacks, and authentication status through new toolbar indicators and vehicle telemetry.

• Adds new GPS fact fields for spoofing state, jamming state, authentication state, and various quality metrics
• Implements two new toolbar indicators for GPS interference and authentication status display
• Integrates GNSS integrity message handling from MAVLink development dialect

Reviewed Changes

Copilot reviewed 14 out of 16 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
src/Vehicle/FactGroups/VehicleGPSFactGroup.h	Adds new fact properties for GNSS resilience monitoring
src/Vehicle/FactGroups/VehicleGPSFactGroup.cc	Implements GNSS integrity message handling and fact initialization
src/Vehicle/FactGroups/GPSFact.json	Defines metadata for new GPS resilience facts with enums
src/UI/toolbar/GPSInterferenceIndicator.qml	Creates interference status indicator with jamming/spoofing display
src/UI/toolbar/GPSAuthenticationIndicator.qml	Creates authentication status indicator with color-coded states
src/FirmwarePlugin/FirmwarePlugin.cc	Registers new toolbar indicators in the UI
translations/qgc-json.ts	Adds translation strings for new GPS fact descriptions

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[Tory9]

@HTRamsey thank you for the review, I have applied the suggested changes

[HTRamsey]

Looks good to me but I'll get Don to double check. Only comment I have (and it's not required but would be nice) would be to use an enum and switch in the QML files kinda similar to how this is done in RemoteIDSettings.h/RemoteIDSettings.qml

[HTRamsey]

Actually can't you just return the enum string from the fact in qml for spoofingState, jammingState, and authenticationState?

[Tory9]

Thank you, I applied the suggestion. Let me know if it looks better now. I have limited access to hardware to test these new changes, but if you confirm the code is fine, I’ll test the final version on hardware and let you know that everything works as expected