Add sbgECom driver documentation

en/SUMMARY.md

@@ -284,6 +284,7 @@
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
       - [VectorNav](sensor/vectornav.md)
+      - [sbgECom](sensor/sbgecom.md)
     - [Optical Flow](sensor/optical_flow.md)
       - [ARK Flow](dronecan/ark_flow.md)
       - [PMW3901](sensor/pmw3901.md)

en/advanced_config/parameter_reference.md

@@ -30048,6 +30048,42 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 ✓ |  |  |  | 500000 |  
 
+### SBG_BAUDRATE (`INT32`) {#SBG_BAUDRATE}
+
+sbgECom serial baudrate.
+
+This parameter defines the baudrate of sbgECom serial.
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+✓ | 9600 | 921600 |  | 921600 | bit/s
+
+### SBG_CONFIGURATION_EN (`INT32`) {#SBG_CONFIGURATION_EN}
+
+sbgECom driver INS configuration enable.
+
+Enable SBG Systems INS configuration through sbgECom driver on start.
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+  |  |  |  | Disabled (0) |  
+
+### SBG_MODE (`INT32`) {#SBG_MODE}
+
+sbgECom driver mode.
+
+This parameter defines the mode of sbgECom driver.
+
+**Values:**
+
+- `0`: Sensors Only (default)
+- `1`: GNSS
+- `2`: INS
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+  | 0 | 2 |  | 0 |
+
 ### SENS_AFBR_HYSTER (`INT32`) {#SENS_AFBR_HYSTER}
 
 AFBR Rangefinder Short/Long Range Threshold Hysteresis.
@@ -31547,6 +31583,33 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 ✓ | 0 | 101 |  | 0 |  
 
+### SENS_SBG_CFG (`INT32`) {#SENS_SBG_CFG}
+
+Serial Configuration for SBG Systems products.
+
+Configure on which serial port to run sbgECom.
+
+WARNING: Depending on the used baudrate, UART RX DMA may be required.
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+✓ |  |  |  | 0 |  
+
 ### SENS_SF0X_CFG (`INT32`) {#SENS_SF0X_CFG}
 
 Serial Configuration for Lightware Laser Rangefinder (serial).

en/modules/modules_driver_ins.md

@@ -1,7 +1,65 @@
 # Modules Reference: Ins (Driver)
+
+## sbgecom
+
+Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
+
+### Description
+
+Serial bus driver for the SBG Systems products.
+
+Most boards are configured to enable/start the driver on a specified UART using the SENS_SBG_CFG parameter.
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/sbgecom.html
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+```
+sbgecom start -d /dev/ttyS0
+```
+Attempt to start driver with a specified baudrate.
+```
+sbgecom start -b 115200
+```
+Attempt to start driver with a specified INS configuration file.
+```
+sbgecom start -f /fs/microsd/custom_settings.json
+```
+Attempt to start driver with a specified INS configuration string.
+```
+sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}
+```
+Stop driver
+```
+sbgecom stop
+```
+
+<a id="sbgecom_usage"></a>
+
+### Usage
+
+```
+sbgecom <command> [arguments...]
+ Commands:
+
+   start         Start driver
+     [-d <val>]  Serial device
+                 default: /dev/ttyS0
+     [-b <val>]  Baudrate device
+                 default: 921600
+     [-f <val>]  Config JSON file path
+                 default: /etc/extras/sbg_settings.json
+     [-s <val>]  Config JSON string
+
+   status        Driver status
+
+   stop          Stop driver
+```
+
 ## vectornav
-Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
 
+Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
 
 ### Description
 
@@ -23,7 +81,9 @@ vectornav stop
 ```
 
 <a id="vectornav_usage"></a>
+
 ### Usage
+
 ```
 vectornav <command> [arguments...]
  Commands:

en/sensor/inertial_navigation_systems.md

@@ -7,6 +7,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 Systems that can be used in this way include:
 
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
+- [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 
 ## Glossary
 
@@ -20,7 +21,7 @@ The magnetometer, if present, provides sensor data that can be used to provide t
 
 An AHRS system that includes both an IMU and a processing system that can provide attitude and heading information from the IMUs raw data.
 
-### Inertial Navigation System (INS) 
+### Inertial Navigation System (INS)
 
 An INS is a navigation device that uses accelerometers, gyroscopes, possibly magnetometers, and a computer to calculate the attitude, position, and velocity of a moving object without the need for external references.
 Essentially it is an AHRS that also includes position/velocity estimation.

en/sensor/sbgecom.md

@@ -0,0 +1,148 @@
+# SBG Systems
+
+[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) …
+
+![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
+
+SBG Systems products provide a range of benefits to PX4 users and can be integrated for:
+
+- Higher accuracy heading, pitch, and roll estimates
+- More robust and reliable GNSS positioning
+- Improved positioning and attitude performance in GNSS-contested environments
+- Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
+
+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.
+
+PX4 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 estimator.
+
+The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
+In particular the following systems are recommended:
+
+- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
+- **Ellipse:** Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
+
+## Where to Buy
+
+SBG Systems solutions are available directly from [MySBG](https://account.sbg-systems.com/realms/sbg/protocol/openid-connect/auth?client_id=my-sbg-sso&redirect_uri=https%3A%2F%2Fmy.sbg-systems.com%2Foidc%3Ftarget%3D%252F&response_type=code&scope=openid+email+profile&state=93af390a93994b6c89162e080c431df9&code_challenge=1ZGBaGQhWuu5_v68vKVUaxlQqqh8UTqsV_8HwcsJrBg&code_challenge_method=S256) (FR) or through their Global Sales Representatives. For more information on their solutions or for international orders, please contact [email protected].
+
+## Hardware Setup
+
+### Wiring
+
+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).
+
+### Mounting
+
+The SBG Systems product sensor can be mounted in any orientation, in any position on the vehicle, without regard to center of gravity.
+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.
+This can be changed to any rigid rotation using the sbgECom Reference Frame Rotation register.
+
+If using a GNSS-enabled product, the GNSS antenna must be mounted rigidly with respect to the inertial sensor and with an unobstructed sky view. 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.
+
+For more mounting and configuration requirements and recommendations, see the relevant [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
+
+## Firmware Configuration
+
+### PX4 Configuration
+
+To use the sbgECom driver:
+
+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`.
+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)).
+
+    ::: warning
+    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.
+    :::
+
+3. Set [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) to the desired default baudrate value.
+4. Allow the sbgECom driver to initialize by restarting PX4.
+5. Configure driver to provide IMU data, GNSS data and INS :
+
+    1. Set [SBG_MODE](../advanced_config/parameter_reference.md#SBG_MODE) to the desired mode.
+    2. Make sensor module select sensors by enabling [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE).
+    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.).
+
+    ::: tip
+    In most cases the external IMU (SBG) 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.
+
+    Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
+    The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
+    :::
+
+    ::: warning
+    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.
+    In this case, MAVLink messages will be updated with the newly selected sensor.
+
+    If you don't want to have this fallback mechanism, you must disable unwanted sensors.
+    :::
+
+    4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN)
+
+6. Restart PX4.
+
+Once enabled, the module will be detected on boot.
+IMU data should be published at 200Hz.
+
+## SBG Systems Configuration
+
+All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
+
+1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
+2. Provide a JSON file `sbg_settings.json` containing SBG Sysytems 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.
+
+    ::: tip
+    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.
+    :::
+
+    ::: tip
+    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.
+    :::
+
+3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
+
+    - By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
+    - By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
+
+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).
+
+::: warning
+When changing SBG Systems INS settings, if the baudrate of the serial port used to communicate with PX4 autopilot is changed, the parameter [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) must be changed in accordance after settings change.
+:::
+
+## Published Data
+
+Upon initialization, the driver should print the following information to console (printed using `PX4_INFO`)
+
+- Unit model number
+- Unit hardware version
+- Unit serial number
+- Unit firmware number
+
+This should be accessible using the [`dmesg`](../modules/modules_system.md#dmesg) command.
+
+The sbgECom driver always publishes the unit's data to the following uORB topics:
+
+- [sensor_accel](../msg_docs/SensorAccel.md)
+- [sensor_gyro](../msg_docs/SensorGyro.md)
+- [sensor_mag](../msg_docs/SensorMag.md)
+
+if configured as a GNSS, publishes:
+
+- [sensor_gps](../msg_docs/SensorGps.md)
+
+and, if configured as an INS, publishes:
+
+- [estimator_status](../msg_docs/EstimatorStatus.md)
+- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
+- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
+- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
+
+::: tip
+Published topics can be viewed using the `listener` command.
+:::
+
+## Hardware Specifications
+
+- [Product Briefs](https://www.sbg-systems.com/products/)
+- [Datasheets](https://www.sbg-systems.com/contact/#products)