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z049HC9&Ynr%9IdDulPRR?d>@(zCAf?>1i-+J+ZO1==wQcG|S*@(d{k6qAO2{8q(VY ziJy>d7ybrX`XZNW8^muU@nVgg(=A|l7&uF<0BZlI0+p7BN#oN&!=!$DY$Otg*oC_Vjl0vSjaekA;@Lh()UVy%H*G z_)tXMfN-zgf7zf*-h6Ssyngpi1icozt5#Nj6E?6mu1iz^`DSx#kJGZKds#t9SHCtp-a)92vB2qc%@}L1eM5nBY?w-ac)a- z<(#LooM<&a27|#PNzh}4)4@E_)jG0{mQXikQ&D$hYvre*g_ zy@nkoJH{28xM^Z!<~(X_LP1@vXZC%r`2VETIk_bPteJuJMF%6Z9ADu5ZV8i|K}w2 c276DOQYeLy98bT-!NI}NRMmUZqGFHuKRo{tiU0rr literal 0 HcmV?d00001 diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 618ac5cb48..b7301ed721 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -279,6 +279,7 @@ - [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) - [Optical Flow](sensor/optical_flow.md) - [ARK Flow](dronecan/ark_flow.md) - [ARK Flow MR](dronecan/ark_flow_mr.md) diff --git a/docs/en/sensor/inertiallabs.md b/docs/en/sensor/inertiallabs.md new file mode 100644 index 0000000000..0e480c9cba --- /dev/null +++ b/docs/en/sensor/inertiallabs.md @@ -0,0 +1,91 @@ +# Inertial Labs + +Inertial Labs designs and develops [IMU](https://inertiallabs.com/products/imu-inertial-measurement-units/), [AHRS](https://inertiallabs.com/products/ahrs/), [GNSS/INS](https://inertiallabs.com/products/ins-inertial-navigation-systems/) and [other](https://inertiallabs.com/) solutions. + +![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: + +- Higher accuracy heading, pitch, and roll estimates +- More robust and reliable GNSS positioning +- Improved positioning and attitude performance in GNSS-contested environments +- 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: + +- 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 + +[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/). +Recommended sensors: + +- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary. +- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading. + +## Hardware Setup + +### Wiring + +Connect the sensor to any unused flight controller serial interface, such as a spare `GPS` or `TELEM`. + +### Mounting + +The Inertial Labs sensors can be mounted in any orientation. Coordinates rotation is configurable. + +## Firmware Configuration + +### PX4 Configuration + +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. 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.). + + ::: tip + In most cases the external IMU is the highest-numbered. + You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates. + ::: + +1. Restart PX4. + +Once enabled, the module will be detected on boot. + +## 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 + +- [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: + +- [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: + +- `external_ins_local_position` +- `external_ins_global_position` +- `external_ins_attitude` + +::: tip +Published topics can be viewed using the `listener` command. +:::