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septentrio: implement jamming/spoofing state #25084

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septentrio: implement jamming/spoofing state #25084

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alexcekay
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Solved Problem

The jamming/spoofing state is not yet implemented for septentrio modules.

Solution

  • Use the Flags of the RFStatus
  • Bit1 directly indicates that message authentication failed, this is used for the spoofing state
  • Bit 0 indicates that the signal may be jammed or spoofed, this is used for a jamming warning, as the description contains the word "may", which fits the semantic of a jamming warning, but not a spoofing indicated

Changelog Entry

For release notes:

Feature/Bugfix implement jamming/spoofing state for septentrio

Alternatives

  • To even better differentiate we could also take values like AGC gain into consideration, but this is for a follow-up

Test coverage

  • Tested on the bench with a septentrio mosaic-go

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github-actions bot commented Jun 20, 2025 •
edited
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🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 16 byte (0 %)] 
    FILE SIZE        VM SIZE    
--------------  -------------- 
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px4_fmu-v6x [Total VM Diff: 176 byte (0.01 %)] 
    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%    +176  +0.0%    +176    .text
   +24%    +104   +24%    +104    septentrio::sbf::Decoder::parse()
  +4.8%     +60  +4.8%     +60    septentrio::SeptentrioDriver::process_message()
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  -3.4%      -4  -3.4%      -4    GPSHelper::storeUpdateRates()
  [DEL]     -16  [DEL]     -16    CSWTCH.270
  [DEL]     -16  [DEL]     -16    CSWTCH.271
  [DEL]     -40  [DEL]     -40    CSWTCH.269
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  [NEW]     +11  [ = ]       0    CSWTCH.272
  [NEW]     +11  [ = ]       0    CSWTCH.274
   +14%     +51  [ = ]       0    septentrio::sbf::Decoder::parse()
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  [DEL]     -32  [ = ]       0    CSWTCH.269
  [DEL]     -32  [ = ]       0    CSWTCH.270
  [DEL]     -32  [ = ]       0    CSWTCH.271
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 +98% +3.83Ki  [ = ]       0    [Unmapped]
+0.0% +4.31Ki  +0.0%    +176    TOTAL

Updated: 2025-06-20T11:40:33

@mrpollo
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mrpollo commented Jun 20, 2025

Hey @alexcekay did you check this out #25012 ?

@alexcekay
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alexcekay commented Jun 20, 2025 •
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@mrpollo : Ahh nice thanks, didn't check this as it is so new. Awesome, then I can close this.

@alexcekay alexcekay closed this Jun 20, 2025
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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/46972/1

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@alexcekay @mrpollo @DronecodeBot