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docs/en/sensor/inertiallabs.md
-1
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@@ -5,7 +5,6 @@ A universal protocol is used for [all Inertial Labs sensors](https://inertiallab
![INS-U](../../assets/hardware/sensors/inertial/ilabs-ins-u.png)
Benefits to PX4 users:
- Higher accuracy heading, pitch, and roll estimates
docs/en/sensor/microstrain.md
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@@ -40,14 +40,11 @@ To use the MicroStrain driver:
1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE)
- To use the MicroStrain sensor to provide raw IMU data to EKF2
1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0
2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor.
3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1
4. To prioritize MicroStrain sensor output, adjust the priority level of individual sensors from 0-100 using the following parameters:
- [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO)
- [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO)
- [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO)
@@ -57,7 +54,6 @@ To use the MicroStrain driver:
::: tip
Sensors can be identified by their device id, which can be found by checking the parameters:
- [CAL_ACCn_ID](../advanced_config/parameter_reference.md#CAL_ACC0_ID)
- [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID)
- [CAL_MAGn_ID](../advanced_config/parameter_reference.md#CAL_MAG0_ID)
@@ -76,32 +72,26 @@ To use the MicroStrain driver:
## MicroStrain Configuration
1. Rates:
- By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz.
This can be changed by adjusting the following parameters:
- [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ)
- [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ)
- [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ)
- Global position, local position, attitude and odometry will be published at 250 Hz by default.
This can be configured via:
- [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ)
- For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default.
This can be changed using:
- [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ)
- The driver will automatically configure data outputs based on the specific sensor model and available data streams.
- The driver is scheduled to run at twice the fastest configured data rate.
2. Aiding measurements:
- If supported, GNSS position and velocity aiding are always enabled.
- Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters:
- [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN)
- [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN)
- [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN)
@@ -109,7 +99,6 @@ To use the MicroStrain driver:
- [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN)
- The aiding frames for external sources can be configured using the following parameters:
- [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW)
- [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL)
- [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH)
@@ -120,7 +109,6 @@ To use the MicroStrain driver:
- [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT)
- The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters:
- [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT)
- [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT)
@@ -131,33 +119,24 @@ To use the MicroStrain driver:
:::
3. Initial heading alignment:
- Initial heading alignment is set to kinematic by default. This can be changed by adjusting
- [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT)
4. GNSS Aiding Source Control (GNSS/INS only)
- The Source of the GNSS aiding data can be configured using:
- [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC)
5. Sensor to vehicle transform:
- If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using
- [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN)
- The transform is defined using the following parameters
- [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL)
- [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH)
- [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW)
6. IMU ranges:
- The accelerometer and gyroscope ranges on the device are configurable using:
- [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE)
- [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE)
@@ -168,15 +147,12 @@ To use the MicroStrain driver:
:::
7. GNSS Lever arm offsets:
- The lever arm offset for the external GNSS receiver can be configured using:
- [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X)
- [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y)
- [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z)
- For dual-antenna configurations, the second GNSS receiver’s offset is configured using:
- [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X)
- [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y)
- [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z)
docs/en/sensor/optical_flow.md
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@@ -55,7 +55,7 @@ Reducing the optical flow scale factor can improve the situation.
It has a PAW3902 optical flow sensor, Broadcom AFBR-S50LV85D 30 meter distance sensor, and Invensense ICM-42688-P 6-Axis IMU.
[ARK Flow MR](../dronecan/ark_flow_mr.md) is a [DroneCAN](../dronecan/index.md) optical flow sensor, [distance sensor](../sensor/rangefinders.md), and IMU, for mid-range applications.
It has a PixArt PAA3905 optical flow sensor, Broadcom AFBR-S50LX85D 50 meter distance sensor, and Invensense IIM-42653 6-Axis IMU.
It has a PixArt PAA3905 optical flow sensor, Broadcom AFBR-S50LX85D 50 meter distance sensor, and Invensense IIM-42653 6-Axis IMU.
### Holybro H-Flow
docs/en/sensor/sbgecom.md
+1 -2
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@@ -76,8 +76,7 @@ To use the sbgECom driver:
In this case, MAVLink messages will be updated with the newly selected sensor.
If you don't want to have this fallback mechanism, you must disable unwanted sensors.
:::
4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
::: 4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
6. Restart PX4.
docs/en/sensor/sfxx_lidar.md
+2 -2
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@@ -15,8 +15,8 @@ The following models are supported by PX4, and can be connected to either the I2
| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder
| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder
| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder |
| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder |
::: details Discontinued
docs/en/sensor/vectornav.md
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@@ -55,11 +55,9 @@ To use the VectorNav driver:
1. Disable magnetometer preflight checks by setting [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) to `0`.
1. Allow the VectorNav driver to initialize by restarting PX4.
1. Configure driver as either an external INS or to provide raw data:
- If using the VectorNav as an external INS, set [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) to `INS`.
This disables EKF2.
- If using the VectorNav as external inertial sensors:
1. Set [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) to `Sensors Only`
1. If internal sensors are enabled, prioritize VectorNav 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.).