Septentrio resillience reporting by Louis-max-H · Pull Request #25012 · PX4/PX4-Autopilot

Louis-max-H · 2025-06-11T14:46:01Z

Solved Problem

When errors occur in attached GNSS receivers, there is no way to report them to the user so they know what is going wrong.

This PR is needed by QGC : mavlink/qgroundcontrol#13009
This is an update of PR made by @flyingthingsintothings #23096

Solution

Add automatic configuration for Septentrio receivers to report resilience information every second
Add to Septentrio parser so it can parse the new message
Change the uORB message for GNSS information to support this new
MAVLink message is in development.xml, you need to pass CONFIG_MAVLINK_DIALECT="development" to your default.px4board

Changelog Entry

For release notes:

Feature: Report resilience information from GNSS receivers
Documentation: Need to clarify page ...

Test coverage

I have tested this PR using a Septentrio receiver to emulate jamming, there was just a typo that has now been fixed.

Context

Link to old PR : gps(septentrio): add resilience information reporting #23096
Link to QGC PR : GNSS Resilience with Septentrio mavlink/qgroundcontrol#13009

DronecodeBot · 2025-06-11T16:09:36Z

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-june-11-2025-team-sync-and-community-q-a/45976/1

Louis-max-H

I have tested this version with Septentrio receiver and Jamming/Spoofing emulation.

Louis-max-H · 2025-06-25T14:54:17Z

Hi 👋
Here is a quick update of this PR before the dev call,

Mavlink message have now 0 for default value (encoding 0 to 10 value to 1 to 11) has discussed in Mavlink discord channel. PR link : Update gnss quality info mavlink/mavlink#2293
I have renamed spoofing and jamming to match mavlink message :
JAMMING_STATE_WARNING -> JAMMING_STATE_MITIGATED
JAMMING_STATE_CRITICAL -> JAMMING_STATE_DETECTED
SPOOFING_STATE_NONE -> SPOOFING_STATE_OK
SPOOFING_STATE_INDICATED -> SPOOFING_STATE_MITIGATED
SPOOFING_STATE_MULTIPLE -> SPOOFING_STATE_DETECTED
GNSS_INTEGRITY.hpp have been simplified, no more constant needed
I have tested my change with a Septentrio receiver

I need more time to check raim (default value is not 0 in mavlink message)
I will test on Ublox before re-opening this PR.

DronecodeBot · 2025-06-25T15:07:19Z

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-june-25-2025-team-sync-and-community-q-a/46161/3

mrpollo · 2025-06-25T15:28:48Z

@hamishwillee can you check wha'ts wrong with the docs ci?

DronecodeBot · 2025-06-25T15:31:05Z

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-june-25-2025-team-sync-and-community-q-a/46161/1

hamishwillee · 2025-06-26T03:12:52Z

@hamishwillee can you check wha'ts wrong with the docs ci?

Yes, it's an error in a translation file that should have been removed. I'm fixing this in #25120

dakejahl

Wouldn't it make more sense to create a new separate uORB message for this data? As far as I know this data is specific to Septentrio GPSs. If we used a separate publisher we wouldn't have the issue with zero initialization for these added fields, and this wouldn't impact any of the other GPS code. The GNSS_INTEGRITY mavlink stream could then subscribe to this new message, such that the mavlink message is only emitted when a septentrio receiver is connected and publishing.

Louis-max-H · 2025-07-02T11:57:03Z

I have updated this PR to :

Add uORB gps_status that include all 4 quality metrics
Update GNSS_INTEGRITY.hpp to :
- Send one message when at least, sensor_gps or gps_status is updated
- Set value to 0 for gps_sensor and 255 for gps_status when we have no data for a long time
Send gps status information in Septentrio receiver

I have tested on QGroundControl, values are correctly set for Septentrio receiver.

Feel free to ask me some changes if needed, I may have time to do it before the dev call :)

Ps: I am not passing SITL test, should I change something ?

DronecodeBot · 2025-09-03T15:58:34Z

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-sep-3-2025-team-sync-and-community-q-a/47287/1

Tory9 · 2025-09-04T11:10:28Z

@dagar, hi. I have applied your suggestions and tested. let me know if I should adjust it more

DronecodeBot · 2025-09-10T15:38:12Z

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-sep-10-2025-team-sync-and-community-q-a/47336/1

Tory9 · 2025-09-10T16:05:27Z

hey @dagar, only MacOS build failed. is it ready for final review/ merge 🥺?

DronecodeBot · 2025-09-17T14:39:28Z

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-sep-17-2025-team-sync-and-community-q-a/47445/2

hamishwillee · 2025-09-18T00:49:22Z

What's this waiting on now then @dagar - should we merge it?

mrpollo · 2025-09-24T16:05:27Z

Congrats @Tory9 @Louis-max-H

hamishwillee · 2025-09-24T23:13:16Z

Congrats @Tory9 @Louis-max-H

And from me!

Louis-max-H · 2025-09-26T19:50:21Z

Yes, thanks everyone !
It has been a good first experience with open source development : )

Co-authored-by: Tory9 <vvpost05@gmail.com>

DronecodeBot · 2026-01-29T02:41:50Z

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/gps-jamming-and-spoofing/48265/2

Co-authored-by: Tory9 <vvpost05@gmail.com>

Louis-max-H mentioned this pull request Jun 11, 2025

GNSS Resilience with Septentrio mavlink/qgroundcontrol#13009

Closed

mrpollo changed the title ~~Pr resillience2~~ Septentrio resillience reporting Jun 12, 2025

Louis-max-H force-pushed the pr-resillience2 branch from 1c18d9f to 4587160 Compare June 16, 2025 07:47

mrpollo reviewed Jun 17, 2025

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Comment thread src/drivers/gnss/septentrio/CMakeLists.txt Outdated

Comment thread src/drivers/ins/vectornav/VectorNav.cpp Outdated

Louis-max-H commented Jun 18, 2025

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Comment thread src/drivers/gnss/septentrio/CMakeLists.txt Outdated

Comment thread src/drivers/ins/vectornav/VectorNav.cpp Outdated

Comment thread src/drivers/gnss/septentrio/CMakeLists.txt Outdated

dagar reviewed Jun 18, 2025

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Comment thread src/modules/mavlink/streams/GNSS_INTEGRITY.hpp Outdated

dagar reviewed Jun 18, 2025

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Comment thread src/modules/mavlink/streams/GNSS_INTEGRITY.hpp Outdated

mrpollo mentioned this pull request Jun 20, 2025

septentrio: implement jamming/spoofing state #25084

Closed

Louis-max-H marked this pull request as draft June 25, 2025 14:50

Louis-max-H mentioned this pull request Jun 25, 2025

Update gnss quality info mavlink/mavlink#2293

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dakejahl reviewed Jun 26, 2025

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Louis-max-H force-pushed the pr-resillience2 branch from 790eaf6 to 784a25a Compare July 2, 2025 09:42

Louis-max-H added 7 commits July 2, 2025 11:48

Initial PR

b86cd20

rebase with main

72f330d

Fix uavcan gps sensor NAN for quality fields

1e47499

Update following community advices

d1c5a0d

Update defaults values

8bdfb1f

Add GpsStatus and update GNSS_INTEGRITY.hpp

e896905

Restore default mavlink module and board config

67b544b

Louis-max-H force-pushed the pr-resillience2 branch from 784a25a to 67b544b Compare July 2, 2025 09:48

dagar reviewed Jul 2, 2025

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Comment thread msg/CMakeLists.txt Outdated

mrpollo mentioned this pull request Jul 2, 2025

GNSS Spoofing Warning Sensitivity Adjustment #25144

Merged

Louis-max-H force-pushed the pr-resillience2 branch from ae9a21f to a491864 Compare July 4, 2025 12:01

Tory9 mentioned this pull request Sep 3, 2025

Septentrio: Add GNSS resilience reporting Tory9/ardupilot#3

Closed

dagar self-requested a review September 3, 2025 15:23

dagar reviewed Sep 3, 2025

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Comment thread src/modules/mavlink/streams/GNSS_INTEGRITY.hpp Outdated

dagar reviewed Sep 3, 2025

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Comment thread src/modules/mavlink/streams/GNSS_INTEGRITY.hpp Outdated

mavlink suggestions from dagar applied

b45902e

Tory9 mentioned this pull request Sep 4, 2025

Septentrio: Add GNSS resilience reporting ArduPilot/ardupilot#31040

Open

timeout changed to 3s

a73101d

dagar reviewed Sep 10, 2025

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Comment thread boards/cubepilot/cubeorangeplus/default.px4board Outdated

Update boards/cubepilot/cubeorangeplus/default.px4board

7758022

mrpollo removed the Documentation 📑 label Sep 12, 2025

dagar approved these changes Sep 17, 2025

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Merge branch 'main' into pr-resillience2

2663ed1

hamishwillee approved these changes Sep 18, 2025

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dagar merged commit e71faf3 into PX4:main Sep 24, 2025
67 checks passed

Antonio-Noel-Juarez pushed a commit to tamu-edu-students/PX4-Autopilot-Fork that referenced this pull request Oct 8, 2025

Septentrio GNSS resilience reporting (PX4#25012)

84a4344

Co-authored-by: Tory9 <vvpost05@gmail.com>

kpbMarques pushed a commit to x-tidal/xtuav_px4_autopilot that referenced this pull request Oct 9, 2025

Septentrio GNSS resilience reporting (PX4#25012)

51202eb

Co-authored-by: Tory9 <vvpost05@gmail.com>

mrpollo pushed a commit that referenced this pull request Nov 24, 2025

Septentrio GNSS resilience reporting (#25012)

832f7a3

Co-authored-by: Tory9 <vvpost05@gmail.com>

Tory9 mentioned this pull request Nov 26, 2025

Rename the jamming and spoofing states within GNSS_INTEGRITY for clarity mavlink/mavlink#2385

Merged

Tory9 mentioned this pull request Dec 25, 2025

Add GPS resilience monitoring with GNSS_INTEGRITY message mavlink/qgroundcontrol#13812

Merged

mbjd pushed a commit that referenced this pull request Feb 17, 2026

Septentrio GNSS resilience reporting (#25012)

82789e9

Co-authored-by: Tory9 <vvpost05@gmail.com>

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