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158 lines
9.7 KiB
Markdown
158 lines
9.7 KiB
Markdown
# SBG Systems INS/AHRS (Pulse, Ellipse, etc.)
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[SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
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PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
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## Загальний огляд
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SBG Systems products provide a range of benefits to PX4 users and can be integrated for:
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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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The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
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The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
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Зокрема, рекомендуємо наступні системи:
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- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
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- **Ellipse:** Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
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## Де купити
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SBG Systems solutions are available directly from [MySBG](https://my.sbg-systems.com) (FR) or through their Global Sales Representatives. For more information on their solutions or for international orders, please contact contact@sbg-systems.com.
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## Налаштування програмного забезпечення
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### Підключення
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Connect any unused flight controller serial interface, such as a spare `GPS` or `TELEM` port, to the SBG Systems product MAIN port (required by PX4).
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### Встановлення
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The SBG Systems product sensor can be mounted in any orientation, in any position on the vehicle, without regard to center of gravity.
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All SBG Systems product sensors default to a coordinate system of x-forward, y-right, and z-down, making the default mounting as connector-back, base down.
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This can be changed to any rigid rotation using the sbgECom Reference Frame Rotation register.
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Якщо використовується продукт з підтримкою GNSS, антена GNSS повинна бути жорстко монтуватися щодо інерційного датчика та мати необмежений вид на небо. If using a dual-GNSS-enabled product (Ellipse-D), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
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For more mounting and configuration requirements and recommendations, see the relevant [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
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## Конфігурація прошивки
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### Конфігурація PX4
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To use the sbgECom driver:
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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_SBGECOM` or `CONFIG_COMMON_INS`.
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2. [Set the parameter](../advanced_config/parameters.md) [SENS_SBG_CFG](../advanced_config/parameter_reference.md#SENS_SBG_CFG) to the hardware port connected to the SBG Systems product (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
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::: warning
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Disable or change port of other sensors that are using the same one, for example [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) if using GPS1 port.
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:::
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3. Set [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) to the desired default baudrate value.
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4. Allow the sbgECom driver to initialize by restarting PX4.
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5. Configure driver to provide IMU data, GNSS data and INS :
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1. Set [SBG_MODE](../advanced_config/parameter_reference.md#SBG_MODE) to the desired mode.
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2. Make sensor module select sensors by enabling [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE).
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3. Prioritize SBG Systems 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 (SBG) 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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За потреби ви можете перевірити [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID), щоб побачити ідентифікатор пристрою.
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Пріоритет становить 0-255, де 0 абсолютно вимкнено, а 255 - найвищий пріоритет.
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:::
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::: warning
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When configuring both SBG Systems and Pixhawk sensors to have non-zero priority, if the selected sensor is errored (timeout), it can change during operation without being notified.
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In this case, MAVLink messages will be updated with the newly selected sensor.
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If you don't want to have this fallback mechanism, you must disable unwanted sensors.
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:::
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4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
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6. Перезавантажте PX4.
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Після активації модуль буде виявлено при завантаженні.
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IMU data should be published at 200Hz.
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## SBG Systems Configuration
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All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
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1. Enable [SBG_CONFIGURE_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURE_EN).
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2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.
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::: tip
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The settings can be retrieved using [sbgEComAPI](https://github.com/SBG-Systems/sbgECom/tree/main/tools/sbgEComApi) or [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/1.3/#tag/Settings) and then modified as a JSON file.
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:::
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::: tip
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The settings file can be provided in the SD card in q`/fs/microsd/etc/extras/sbg_settings.json` to avoid rebuilding a new firmware to change JSON settings file.
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:::
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3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
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- By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
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- By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
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For older Ellipse SBG Systems INS or to configure any SBG Systems INS directly, all commands and registers can be found in the [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
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:::warning
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If the baudrate of the serial port on the INS product (used to communicate with PX4) is changed, the parameter [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) must be changed to match.
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:::
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## Опубліковані дані
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При ініціалізації водій повинен надрукувати наступну інформацію до консолі (надруковано за допомогою `PX4_INFO`)
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- Номер моделі блока
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- Версія апаратної одиниці
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- Номер серійного номеру блока
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- Номер прошивки одиниці
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Цей текст має бути доступний за допомогою команди [`dmesg`](../modules/modules_system.md#dmesg).
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The sbgECom driver always publishes the unit's data to the following uORB topics:
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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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if configured as a GNSS, publishes:
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- [sensor_gps](../msg_docs/SensorGps.md)
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and, if configured as an INS, publishes:
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- [estimator_status](../msg_docs/EstimatorStatus.md)
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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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:::tip
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Опубліковані теми можна переглянути за допомогою команди `listener`.
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:::
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## Характеристики обладнання
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- [Product Briefs](https://www.sbg-systems.com/products/)
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- [Datasheets](https://www.sbg-systems.com/contact/#products)
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