GNSS Spoofing Warning Sensitivity Adjustment

[haumarco]

Solved Problem & Solution

The GNSS spoofing warning was previously too sensitive, as it relied solely on the GNSS message to trigger a warning—even though spoofing detection is also covered by the GNSS checks.

• Removed spoofing warnings based solely on the GNSS message (still gets logged per state change by driver)
  https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/gps/gps.cpp#L1212

• Users receive a spoofing warning only once per state change, and only when the spoofing-check is enabled.
  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp#L259-L273

• The spoofing check triggers a failure only if the driver explicitly reports a critical spoofing case (SPOOFING_STATE_MULTIPLE).
  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/ekf2/EKF2.cpp#L2449

• GNSS jamming detection remains unchanged: if the driver reports jamming, repeated warnings are still sent to the user immediately.

Test coverage

Tested in sim.

[github-actions]

🔎 FLASH Analysis

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px4_fmu-v6x [Total VM Diff: -312 byte (-0.02 %)]

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Updated: 2025-07-02T08:59:30

[bresch]

I initially thought spoofing would no longer deny arming, but it's also there:

PX4-Autopilot/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

Lines 426 to 436 in 81000f4

	} else if (estimator_status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_SPOOFED)) {
	message = "Preflight%s: GPS signal spoofed";
	/* EVENT
	* @description
	* <profile name="dev">
	* Can be configured with <param>EKF2_GPS_CHECK</param> and <param>COM_ARM_WO_GPS</param>.
	* </profile>
	*/
	reporter.armingCheckFailure(required_modes, health_component_t::gps,
	events::ID("check_estimator_gps_spoofed"),
	log_level, "GPS signal spoofed");

[mrpollo]

Just wanted to raise attention to this PR #25012