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103 lines
6.0 KiB
Markdown
103 lines
6.0 KiB
Markdown
# Inertial Labs INS (All sensors, including INS-U/INS-DU)
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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.
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A universal protocol is used for [all Inertial Labs sensors](https://inertiallabs.com/).
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Benefits to PX4 users:
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- Вища точність оцінки напрямку, крену та кочення
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- Більш надійна геоприв'язка GNSS
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- Покращена точність позиціонування та установки під час конфлікту супутникового зв'язку
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- Продуктивність при динамічних умовах (наприклад, запуски катапультою, операції VTOL, високі g або високі операції з великою кутовою швидкістю)
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- Work in different spoofing and jamming conditions
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PX4 can use these 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.
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The mode is configurable using a parameter.
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## Де купити
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[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
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Recommended sensors:
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- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
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- [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.
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## Налаштування програмного забезпечення
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### Підключення
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Connect the sensor to any unused flight controller serial interface, such as a spare `GPS` or `TELEM`.
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### Встановлення
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The Inertial Labs sensors can be mounted in any orientation.
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You can set offsets for coordinate axes in the sensor-configuration software that is provided with your sensor.
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## Конфігурація прошивки
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### Конфігурація PX4
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To use the Inertial Labs driver:
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1. Build the firmware with the [ilabs](../modules/modules_driver_ins.md#ilabs) module.
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The module is included by default for many boards.
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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.
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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.
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2. [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`.
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Make sure that nothing else is configured to use the port (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
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3. Перезавантажте PX4.
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4. Налаштуйте водія як зовнішній INS або надайте сирові дані:
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- For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
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- For raw inertial sensors, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`.
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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.).
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::: tip
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In most cases the external IMU is the highest-numbered.
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Ви можете отримати список доступних компонентів IMU, використовуючи [`uorb top -1`](../middleware/uorb.md#uorb-top-command), ви можете відрізняти їх за допомогою команди [`listener`](../modules/modules_command.md#listener) та розглядаючи дані чи просто швидкості.
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:::
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5. Перезавантажте PX4.
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Після активації модуль буде виявлено при завантаженні.
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## Inertial Labs Sensor Configuration
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Perform sensor configuration according to the Interface Control Document (ICD) that comes with each device.
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The sensor-configuration software allows you to set the baurate and the data format, and you can also adjust the orientation axes if the sensor wasn't oriented in the normal way.
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This process is usually short and takes a few minutes, depending on the sensor and the installation conditions on the vehicle.
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## Опубліковані дані
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These uORB topics are published:
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- [sensor_accel](../msg_docs/SensorAccel.md)
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- [датчик_гіроскопа](../msg_docs/SensorGyro.md)
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- [sensor_mag](../msg_docs/SensorMag.md)
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- [sensor_baro](../msg_docs/SensorBaro.md)
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- [sensor_gps](../msg_docs/SensorGps.md)
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If enabled as an external INS, publishes:
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- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
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- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
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- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
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If enabled as external sensor only:
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- `external_ins_local_position`
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- `external_ins_global_position`
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- `external_ins_attitude`
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:::tip
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Опубліковані теми можна переглянути за допомогою команди `listener`.
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:::
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