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z_XNbP=3*SqIAW&x)^n|(u@zsiTahgaEBg8tQP&x0em>o3W3*Qu1d<2zt~h zpIBJ>DbUpDFaXwIV4)N{xlk#y08kyzoo7AtPiK1T@2IL1}P;kMK%{SYhHL{;lKJQ4hYxfG42-FdH!TYPxK2z>KBNnUL zVrU0N-Rv6Mp1rrd&OSYbus;#o6Ld(y?9afYGYI{SBHBh#n5K0^vFqb8kELHC4|)!J z)ZP3!e;NPRNl}$uzz$tlOi7sUtV7bXXV!tN#;MOZ296VmtR1iCaten~w-zXe6fl1V z6l?zE?D1uOEjq@8yAcoxWO4Hf&=i^KpD`!%+q0*prmPXVb@Kxq+$p)ZA6fBz$T6fL zCpIG(zJmiv>x!*&b8}xCSZhQv@bCJ*(GbZt**;HOJ?~-2fr 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. +:::