docs: update ackermann sih (#25418)

* docs: update ackermann sih * Update metadata to fix broken link --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
2026-10-03 07:28:54 +08:00 · 2025-08-14 11:03:07 +10:00
parent 2333fb2853
commit 72796a9844
6 changed files with 373 additions and 13 deletions
@@ -1,6 +1,6 @@
 # TensorFlow Lite Micro (TFLM)

-The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
+The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.

 This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.

@@ -14274,14 +14274,14 @@ True airspeed measurement noise of the internal wind estimator(s) of the airspee

 ### ASPD_WERR_THR (`FLOAT`) {#ASPD_WERR_THR}

-Horizontal wind uncertainty threshold for synthetic airspeed.
+Horizontal wind uncertainty threshold for valid ground-minus-wind.

-The synthetic airspeed estimate (from groundspeed and heading) will be declared valid
+The airspeed alternative derived from groundspeed and heading will be declared valid
 as soon and as long the horizontal wind uncertainty is below this value.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.001    | 5        |           | 0.55    | m/s  |
+| &nbsp; | 0.01     | 5        |           | 2.      | m/s  |

 ### ASPD_WIND_NSD (`FLOAT`) {#ASPD_WIND_NSD}

@@ -17403,10 +17403,11 @@ Each threshold value is defined by the parameter indicated next to the check. Dr
 - `7`: Horizontal speed offset (EKF2_REQ_HDRIFT)
 - `8`: Vertical speed offset (EKF2_REQ_VDRIFT)
 - `9`: Spoofing
+- `10`: GPS fix type (EKF2_REQ_FIX)

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1023     |           | 1023    |
+| &nbsp; | 0        | 2047     |           | 2047    |

 ### EKF2_GPS_CTRL (`INT32`) {#EKF2_GPS_CTRL}

@@ -18015,6 +18016,26 @@ Required EPV to use GPS.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 2        | 100      |           | 5.0     | m    |

+### EKF2_REQ_FIX (`INT32`) {#EKF2_REQ_FIX}
+
+Required GPS fix.
+
+Minimum GPS fix type required for GPS usage.
+
+**Values:**
+
+- `0`: No fix required
+- `2`: 2D fix
+- `3`: 3D fix
+- `4`: RTCM code differential
+- `5`: RTK float
+- `6`: RTK fixed
+- `8`: Extrapolated
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 3       |
+
 ### EKF2_REQ_GPS_H (`FLOAT`) {#EKF2_REQ_GPS_H}

 Required GPS health time on startup.
@@ -32577,6 +32598,334 @@ INA238 Power Monitor Shunt.
 | ------- | ----------- | -------- | ---------- | ------- | ---- |
 | &check; | 0.000000001 | 0.1      | .000000001 | 0.0005  |

+### MS_ACCEL_RANGE (`INT32`) {#MS_ACCEL_RANGE}
+
+Sets the range of the accelerometer.
+
+-1 = Will not be configured, and will use the device default range,
+Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges.
+https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | -1      |
+
+### MS_ALIGNMENT (`INT32`) {#MS_ALIGNMENT}
+
+Alignment type.
+
+Select the source of heading alignment
+This is a bitfield, you can use more than 1 source
+Bit 0 - Dual-antenna GNSS
+Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity)
+Bit 2 - Magnetometer
+Bit 3 - External Heading (first valid external heading will be used to initialize the filter)
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 2       |
+
+### MS_BARO_RATE_HZ (`INT32`) {#MS_BARO_RATE_HZ}
+
+Barometer data rate.
+
+Barometer data rate
+Max Limit: 1000
+0 - Disable barometer datastream
+The max limit should be divisible by the rate
+eg: 1000 % MS_BARO_RATE_HZ = 0
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 50      |
+
+### MS_EXT_HEAD_EN (`INT32`) {#MS_EXT_HEAD_EN}
+
+Toggles external heading as an aiding measurement.
+
+0 = Disabled,
+1 = Enabled
+If enabled, the filter will be configured to accept external heading as an aiding meaurement.
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
+### MS_FILT_RATE_HZ (`INT32`) {#MS_FILT_RATE_HZ}
+
+EKF data Rate.
+
+EKF data rate
+Max Limit: 1000
+0 - Disable EKF datastream
+The max limit should be divisible by the rate
+eg: 1000 % MS_FILT_RATE_HZ = 0
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 250     |
+
+### MS_GNSS_AID_SRC (`INT32`) {#MS_GNSS_AID_SRC}
+
+GNSS aiding source control.
+
+Select the source of gnss aiding (GNSS/INS)
+1 = All internal receivers,
+2 = External GNSS messages,
+3 = GNSS receiver 1 only
+4 = GNSS receiver 2 only
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 1       |
+
+### MS_GNSS_OFF1_X (`FLOAT`) {#MS_GNSS_OFF1_X}
+
+GNSS lever arm offset 1 (X).
+
+Lever arm offset (m) in the X direction for the external GNSS receiver
+In the case of a dual antenna setup, this is antenna 1
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_GNSS_OFF1_Y (`FLOAT`) {#MS_GNSS_OFF1_Y}
+
+GNSS lever arm offset 1 (Y).
+
+Lever arm offset (m) in the Y direction for the external GNSS receiver
+In the case of a dual antenna setup, this is antenna 1
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_GNSS_OFF1_Z (`FLOAT`) {#MS_GNSS_OFF1_Z}
+
+GNSS lever arm offset 1 (Z).
+
+Lever arm offset (m) in the Z direction for the external GNSS receiver
+In the case of a dual antenna setup, this is antenna 1
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_GNSS_OFF2_X (`FLOAT`) {#MS_GNSS_OFF2_X}
+
+GNSS lever arm offset 2 (X).
+
+Lever arm offset (m) in the X direction for antenna 2
+This will only be used if the device supports a dual antenna setup
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_GNSS_OFF2_Y (`FLOAT`) {#MS_GNSS_OFF2_Y}
+
+GNSS lever arm offset 2 (Y).
+
+Lever arm offset (m) in the Y direction for antenna 2
+This will only be used if the device supports a dual antenna setup
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_GNSS_OFF2_Z (`FLOAT`) {#MS_GNSS_OFF2_Z}
+
+GNSS lever arm offset 2 (Z).
+
+Lever arm offset (m) in the X direction for antenna 2
+This will only be used if the device supports a dual antenna setup
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_GNSS_RATE_HZ (`INT32`) {#MS_GNSS_RATE_HZ}
+
+GNSS data Rate.
+
+GNSS receiver 1 and 2 data rate
+Max Limit: 5
+The max limit should be divisible by the rate
+0 - Disable GNSS datastream
+eg: 5 % MS_GNSS_RATE_HZ = 0
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 5       |
+
+### MS_GYRO_RANGE (`INT32`) {#MS_GYRO_RANGE}
+
+Sets the range of the gyro.
+
+-1 = Will not be configured, and will use the device default range,
+Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges.
+https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | -1      |
+
+### MS_IMU_RATE_HZ (`INT32`) {#MS_IMU_RATE_HZ}
+
+IMU Data Rate.
+
+IMU (Accelerometer and Gyroscope) data rate
+The INS driver will be scheduled at a rate 2\*MS_IMU_RATE_HZ
+Max Limit: 1000
+0 - Disable IMU datastream
+The max limit should be divisible by the rate
+eg: 1000 % MS_IMU_RATE_HZ = 0
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 500     |
+
+### MS_INT_HEAD_EN (`INT32`) {#MS_INT_HEAD_EN}
+
+Toggles internal heading as an aiding measurement.
+
+0 = Disabled,
+1 = Enabled
+If dual antennas are supported (CV7-GNSS/INS). The filter will be configured to use dual antenna heading as an aiding measurement.
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
+### MS_INT_MAG_EN (`INT32`) {#MS_INT_MAG_EN}
+
+Toggles internal magnetometer aiding in the device filter.
+
+0 = Disabled,
+1 = Enabled
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
+### MS_MAG_RATE_HZ (`INT32`) {#MS_MAG_RATE_HZ}
+
+Magnetometer Data Rate.
+
+Magnetometer data rate
+Max Limit: 1000
+0 - Disable magnetometer datastream
+The max limit should be divisible by the rate
+eg: 1000 % MS_MAG_RATE_HZ = 0
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 50      |
+
+### MS_MODE (`INT32`) {#MS_MODE}
+
+Toggles using the device as the primary EKF.
+
+Setting to 1 will publish data from the device to the vehicle topics (global_position, attitude, local_position, odometry), estimator_status and sensor_selection
+Setting to 0 will publish data from the device to the external_ins topics (global position, attitude, local position)
+Restart Required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 1       |
+
+### MS_SENSOR_PTCH (`FLOAT`) {#MS_SENSOR_PTCH}
+
+Sensor to Vehicle Transform (Pitch).
+
+The orientation of the device (Radians) with respect to the vehicle frame around the y axis
+Requires MS_SVT_EN to be enabled to be used
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_SENSOR_ROLL (`FLOAT`) {#MS_SENSOR_ROLL}
+
+Sensor to Vehicle Transform (Roll).
+
+The orientation of the device (Radians) with respect to the vehicle frame around the x axis
+Requires MS_SVT_EN to be enabled to be used
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_SENSOR_YAW (`FLOAT`) {#MS_SENSOR_YAW}
+
+Sensor to Vehicle Transform (Yaw).
+
+The orientation of the device (Radians) with respect to the vehicle frame around the z axis
+Requires MS_SVT_EN to be enabled to be used
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |
+
+### MS_SVT_EN (`INT32`) {#MS_SVT_EN}
+
+Enables sensor to vehicle transform.
+
+0 = Disabled,
+1 = Enabled
+If the sensor has a different orientation with respect to the vehicle. This will enable a transform to correct itself.
+The transform is described by MS_SENSOR_ROLL, MS_SENSOR_PITCH, MS_SENSOR_YAW
+Restart required
+This parameter is specific to the MicroStrain driver.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
 ### PCF8583_MAGNET (`INT32`) {#PCF8583_MAGNET}

 PCF8583 rotorfreq (i2c) pulse count.
@@ -595,6 +595,10 @@ div.frame_variant td, div.frame_variant th {
   <tr><th>Name</th><th></th></tr>
 </thead>
 <tbody>
+<tr id="rover_rover_sih_rover_ackermann">
+ <td>SIH Rover Ackermann</td>
+ <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 1104</p></td>
+</tr>
 <tr id="rover_rover_generic_rover_differential">
 <td>Generic Rover Differential</td>
 <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 50000</p></td>
@@ -1,12 +1,11 @@
 # Modules Reference: Communication

-
-
 ## frsky_telemetry

 Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)

 FrSky Telemetry support. Auto-detects D or S.PORT protocol.
+
 ### Usage {#frsky_telemetry_usage}

 ```
@@ -30,8 +29,8 @@ frsky_telemetry <command> [arguments...]

 Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink)

-
 ### Description
+
 This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection.
 It communicates with the system via uORB: some messages are directly handled in the module (eg. mission
 protocol), others are published via uORB (eg. vehicle_command).
@@ -43,6 +42,7 @@ For a running instance, streams can be configured via `mavlink stream` command.
 There can be multiple independent instances of the module, each connected to one serial device or network port.

 ### Implementation
+
 The implementation uses 2 threads, a sending and a receiving thread. The sender runs at a fixed rate and dynamically
 reduces the rates of the streams if the combined bandwidth is higher than the configured rate (`-r`) or the
 physical link becomes saturated. This can be checked with `mavlink status`, see if `rate mult` is less than 1.
@@ -51,12 +51,15 @@ physical link becomes saturated. This can be checked with `mavlink status`, see
 functionality, this needs to be take into account, in order to avoid race conditions and corrupt data.

 ### Examples
+
 Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s:
+
 ```
 mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
 ```

 Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
+
 ```
 mavlink start -u 14556 -r 1000000
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
@@ -83,7 +86,8 @@ mavlink <command> [arguments...]
                 default: 127.0.0.1
     [-m <val>]  Mode: sets default streams and rates
                 values: custom|camera|onboard|osd|magic|config|iridium|minimal|
-                 extvision|extvisionmin|gimbal|uavionix, default: normal
+                 extvision|extvisionmin|gimbal|onboard_low_bandwidth|uavionix|lo
+                 w_bandwidth|distance_sensor, default: normal
     [-n <val>]  wifi/ethernet interface name
                 values: <interface_name>
     [-c <val>]  Multicast address (multicasting can be enabled via
@@ -123,11 +127,12 @@ mavlink <command> [arguments...]

 Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/uorb)

-
 ### Description
+
 uORB is the internal pub-sub messaging system, used for communication between modules.

 ### Implementation
+
 The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
 This is achieved by having a separate buffer between a publisher and a subscriber.

@@ -139,7 +144,9 @@ If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can
 modules are allowed to publish which topics. This is used for system-wide replay.

 ### Examples
+
 Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
+
 ```
 uorb top
 ```
@@ -198,7 +198,7 @@ It takes in 15 input values and outputs 4 control actions.
 Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
 Outputs: [Actuator motors(4)]

-### Usage {#mc-nn-control_usage}
+### Usage {#mc_nn_control_usage}

 ```
 mc_nn_control <command> [arguments...]
@@ -124,7 +124,7 @@ make px4_fmu-v6x boardconfig
 After uploading, check that the required modules are present.

 ::: note
-To use rover in SIH you must also add the [rover modules](../config_rover/index.md#flashing-the-rover-build) to your board configuration or use the rover build.
+To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration.
 :::

 ## Starting SIH
@@ -139,7 +139,7 @@ To set up/start SIH:
   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
-   - **SIH Ackermann Rover** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
+   - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)

 The autopilot will then reboot.
 The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.