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193 lines
4.4 KiB
Markdown
193 lines
4.4 KiB
Markdown
# Modules Reference: Ins (Driver)
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## MicroStrain
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Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/microstrain)
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### Опис
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MicroStrain by HBK Inertial Sensor Driver.
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Currently supports the following sensors:
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-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins)
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This driver is not included in the firmware by default.
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Include the module in firmware by setting the
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[kconfig](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) variables:
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`CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
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### Приклади
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Attempt to start driver on a specified serial device.
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The driver will choose /dev/ttyS4 by default if no port is specified
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```
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microstrain start -d /dev/ttyS1
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```
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Stop driver
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```
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microstrain stop
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```
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### Usage {#MicroStrain_usage}
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```
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MicroStrain <command> [arguments...]
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Commands:
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start Start driver
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[-d <val>] Port
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values: <file:dev>, default: /dev/ttyS4
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stop Stop driver
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status Driver status
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```
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## eulernav_bahrs
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Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
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### Опис
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Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
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### Приклади
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Attempt to start driver on a specified serial device.
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```
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eulernav_bahrs start -d /dev/ttyS1
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```
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Stop driver
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```
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eulernav_bahrs stop
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```
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### Usage {#eulernav_bahrs_usage}
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```
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eulernav_bahrs <command> [arguments...]
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Commands:
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start Start driver
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-d <val> Serial device
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status Print driver status
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stop Stop driver
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```
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## ilabs
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Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
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### Опис
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Serial bus driver for the ILabs sensors.
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Most boards are configured to enable/start the driver on a specified UART using the SENS_ILABS_CFG.
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After that you can use the ILABS_MODE parameter to config outputs:
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- Only raw sensor output (the default).
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- Sensor output and INS data such as position and velocity estimates.
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Setup/usage information: https://docs.px4.io/main/en/sensor/inertiallabs.html
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### Приклади
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Attempt to start driver on a specified serial device.
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```
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ilabs start -d /dev/ttyS1
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```
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Stop driver
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```
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ilabs stop
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```
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### Usage {#ilabs_usage}
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```
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ilabs <command> [arguments...]
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Commands:
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start Start driver
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-d <val> Serial device
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status Driver status
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stop Stop driver
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status Print driver status
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```
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## sbgecom
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Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
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Description du module
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### Usage {#sbgecom_usage}
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```
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sbgecom <command> [arguments...]
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Commands:
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start Start driver
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[-d <val>] Serial device
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default: /dev/ttyS0
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[-b <val>] Baudrate device
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default: 921600
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[-f <val>] Config JSON file path
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default: /etc/extras/sbg_settings\.json
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[-s <val>] Config JSON string
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status Driver status
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stop Stop driver
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```
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## vectornav
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Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
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### Опис
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Драйвер послідовної шини для VectorNav VN-100, VN-200, VN-300.
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Більшість плат налаштовано на увімкнення/запуск драйвера на вказаному UART за допомогою параметра SENS_VN_CFG.
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Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/vectornav.html
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### Приклади
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Attempt to start driver on a specified serial device.
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```
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vectornav start -d /dev/ttyS1
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```
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Stop driver
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```
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vectornav stop
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```
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### Usage {#vectornav_usage}
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```
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vectornav <command> [arguments...]
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Commands:
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start Start driver
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-d <val> Serial device
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status Driver status
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stop Stop driver
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status Print driver status
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```
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