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125 lines
6.7 KiB
Markdown
125 lines
6.7 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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- Higher accuracy heading, pitch, and roll estimates
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- More robust and reliable GNSS positioning
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- Improved positioning and attitude performance in GNSS-contested environments
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- Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
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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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## Where to Buy
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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/wp-content/uploads/2026/01/INS-U_INS-U-OEM_Datasheet_REV2.18_JAN2026.pdf): 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/wp-content/uploads/2025/12/INS-DU_INS-DU-OEM_Datasheet_REV1.00_DEC2025.pdf): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
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## Hardware Setup
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### Wiring
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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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### Mounting
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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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## Firmware Configuration
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### PX4 Configuration
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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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- Make sure the UART RX-buffer for the serial port connected to the INS is at least **600 bytes**.
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::: tip
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For example, when using `TELEM2` on Pixhawk 6X, add the following setting to [defconfig](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig):
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`CONFIG_UART5_RXBUFSIZE=600`
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Note that the mapping between UART number and port name can usually be found in your board's [Serial Port Mapping](../flight_controller/pixhawk6x.md#serial-port-mapping) section.
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:::
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- 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_ILABS`.
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In the kconfig interface: 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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::: 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. Allow the Inerital Labs driver to initialize by restarting PX4.
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4. Configure driver to provide IMU data or Raw sensors data :
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- For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
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In this case, the [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN), [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE), and [SENS_MAG_MODE](../advanced_config/parameter_reference.md#SENS_MAG_MODE) parameters are disabled at startup (set to `0`). Аnd the INS's internal EKF is used for orientation.
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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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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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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.
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Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
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The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
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:::
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::: warning
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When configuring both Inertial Labs 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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5. Restart PX4.
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Once enabled, the module will be detected on boot.
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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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## Published Data
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These uORB topics are published:
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- [sensor_accel](../msg_docs/SensorAccel.md)
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- [sensor_gyro](../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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- [estimator_status](../msg_docs/EstimatorStatus.md)
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- [estimator_status_flags](../msg_docs/EstimatorStatusFlags.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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Published topics can be viewed using the `listener` command.
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:::
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