Subedit

docs/en/SUMMARY.md

@@ -278,8 +278,8 @@
       - [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md)
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
-      - [VectorNav](sensor/vectornav.md)
       - [InertialLabs](sensor/inertiallabs.md)
+      - [VectorNav](sensor/vectornav.md)
     - [Optical Flow](sensor/optical_flow.md)
       - [ARK Flow](dronecan/ark_flow.md)
       - [ARK Flow MR](dronecan/ark_flow_mr.md)

docs/en/sensor/inertial_navigation_systems.md

@@ -6,6 +6,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 
 Systems that can be used in this way include:
 
+- [InertialLabs](sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 
 ## Glossary
@@ -20,7 +21,7 @@ The magnetometer, if present, provides sensor data that can be used to provide t
 
 An AHRS system that includes both an IMU and a processing system that can provide attitude and heading information from the IMUs raw data.
 
-### Inertial Navigation System (INS) 
+### Inertial Navigation System (INS)
 
 An INS is a navigation device that uses accelerometers, gyroscopes, possibly magnetometers, and a computer to calculate the attitude, position, and velocity of a moving object without the need for external references.
 Essentially it is an AHRS that also includes position/velocity estimation.

docs/en/sensor/inertiallabs.md

@@ -4,8 +4,9 @@ Inertial Labs designs and develops [IMU](https://inertiallabs.com/products/imu-i
 
 ![INS-U](../../assets/hardware/sensors/inertial/ilabs-ins-u.png)
 
-Sensors connection is "plug-and-play" and it uses universal protocol for [all Inertial Labs sensors](https://inertiallabs.com/).
-Benefits to PX4 users and can be integrated for:
+Sensors connection is near plug-and-play, and a universal protocol is used for [all Inertial Labs sensors](https://inertiallabs.com/).
+
+Benefits to PX4 users:
 
 - Higher accuracy heading, pitch, and roll estimates
 - More robust and reliable GNSS positioning
@@ -13,13 +14,10 @@ Benefits to PX4 users and can be integrated for:
 - Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
 - Work in different spoofing and jamming conditions
 
-PX4 can use these as an [external INS](../sensor/inertial_navigation_systems.md).
-Sensor outputs configuration:
+PX4 can use these as in a mode that provides only raw sensor output (the default), or as an [external INS](../sensor/inertial_navigation_systems.md) that provides both sensor output and INS data such as position and velocity estimates.
+The mode is configurable using a parameter.
 
-- Only raw sensor output (the default).
-- Sensor output and INS data such as position and velocity estimates proccessed by internal EKF algorithm.
-
-## Where to buy
+## Where to Buy
 
 [Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
 Recommended sensors:
@@ -35,7 +33,8 @@ Connect the sensor to any unused flight controller serial interface, such as a s
 
 ### Mounting
 
-The Inertial Labs sensors can be mounted in any orientation. Coordinates rotation is configurable.
+The Inertial Labs sensors can be mounted in any orientation.
+Coordinates rotation is configurable.
 
 ## Firmware Configuration
 
@@ -43,14 +42,21 @@ The Inertial Labs sensors can be mounted in any orientation. Coordinates rotatio
 
 To use the Inertial Labs driver:
 
-1. Build the firmware with InertialLabs module. Include it in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig): Drivers -> INS -> ilabs.
-1. [Set the parameter](../advanced_config/parameters.md) [SENS_ILABS_CFG](../advanced_config/parameter_reference.md#SENS_ILABS_CFG) to the hardware port connected to the sensor, such as a spare `GPS` or `TELEM`. For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
-1. Allow the driver to initialize by restarting PX4.
+1. Build the firmware with the [ilabs](../modules/modules_driver_ins.md#ilabs) module.
+
+   The module is included by default for many boards.
+   You can check by searching for the keys `CONFIG_COMMON_INS` (all INS drivers) and `CONFIG_DRIVERS_INS_ILABS` (ilabs driver) in the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board.
+
+   If it is not present, you can add the key to your `default.px4board` file, or include it using the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig): Drivers -> INS -> ilabs.
+
+1. [Set the parameter](../advanced_config/parameters.md) [SENS_ILABS_CFG](../advanced_config/parameter_reference.md#SENS_ILABS_CFG) to the hardware port connected to the sensor, such as a spare `GPS` or `TELEM`.
+   Make sure that nothing else is configured to use the port (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
+1. Restart PX4.
 1. Configure driver as either an external INS or to provide raw data:
    - For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
-   - For raw inertial sensors data:
-     1. Set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`
-     1. If internal sensors are enabled, prioritize Inertial Labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
+   - For raw inertial sensors, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`.
+
+     You can then prioritize inertial labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where `n` is the instance number of the IMU component (0, 1, etc.).
 
      ::: tip
      In most cases the external IMU is the highest-numbered.
@@ -61,26 +67,28 @@ To use the Inertial Labs driver:
 
 Once enabled, the module will be detected on boot.
 
-## Inertial Labs sensor Configuration
+## Inertial Labs Sensor Configuration
 
 You can find configuration details in the device ICD.
 This process is usually short and takes a few minutes, depending on the sensor and the installation conditions on the vehicle.
 
 ## Published Data
 
+These uORB topics are published:
+
 - [sensor_accel](../msg_docs/SensorAccel.md)
 - [sensor_gyro](../msg_docs/SensorGyro.md)
 - [sensor_mag](../msg_docs/SensorMag.md)
 - [sensor_baro](../msg_docs/SensorBaro.md)
 - [sensor_gps](../msg_docs/SensorGps.md)
 
-and, if enabled as an external INS, publishes:
+If enabled as an external INS, publishes:
 
 - [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
 - [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
 - [vehicle_attitude](../msg_docs/VehicleAttitude.md)
 
-or, if enabled as external sensor only, publishes:
+If enabled as external sensor only:
 
 - `external_ins_local_position`
 - `external_ins_global_position`