Note: Under this project is the software following software used:

• PX4(version v1.11.3)
• QGroundControl
• ROS Noetic
• MAVROS
• Gazebo11
• Scipy

This is the folder where the gazebo plugin for the GPS module is change to be able simulate of spoofing the GPS signal. Where there are publish and subscriber topics from ROS to initiate the spoofing.

• The CMakeLists.txt file shall be placed at PX4-Autopilot/Tools/sitl_gazebo
• The gazebo_gps_plugin.cpp shall be placed at PX4-Autopilot/Tools/sitl_gazebo/src
• The gazebo_gps_plugin.h shall be placed at PX4-Autopilot/Tools/sitl_gazebo/include

For being able to run the drone in simulated environment of OptiTrack shall the two following files be placed:

• Place 1022_iris_optitrack in ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/
• Place iris_optitrack folder in ~/PX4-Autopilot/Tools/sitl_gazebo/models/

This is old work and shouldn't be used.

This is for the thesis where the job is to detect spoofing

The ES-EKF.py has the Error-state Extended Kalman Filter(ES-EKF) and Spoofing Detection included.

In this folder contains the 4 files. 2 of them is to spoof and 2 others is to send the position to the drone:

• GNSS_spoofing.py --> If the GPS-plugin in Gazebo is used, should this run for being able to spoof the signal. It converts the GPS to UTM and back agian to GPS.
• OptiTrack_spoofing.py --> If the OptiTack is used in SITL or physical, should this run for being able to spoof the signal.

The run the two files is done as: python3 <file.py> e.g. python3 GNSS_spoofing.py

• relay.py --> This program should run if the physical OptiTrack is used.
• Relay_gazebo.py --> This prorgam should be used if the SITL for the OptiTrack is used.

When all is installed and the files from the spoof_gps_plugin_files is placed the currect place can two environments be launched

The SITL GNSS environments - 2 terminal windows shall be used for this

• Terminal 1: roslaunch px4 posix_sitl.launch vehicle:=iri

• Terminal 2: roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

The SITL OptiTrack environments - 2 terminal windows shall be used for this

• Terminal 1: roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14580"
• Terminal 2: roslaunch px4 posix_sitl.launch vehicle:=iris_optitrack

When the one of the environment is launch the ES-EKF.py can be launch

Inside of the ES-EKF.py is the variable self.optiTrack to be set inside the program as:

• self.optiTrack = False - When SITL GNSS is used.
• self.optiTrack = True - when OptiTrack is used also when it's simulation.