sbgecom: Implement sbgECom INS driver #24137

tolesam · 2024-12-19T19:33:56Z

New Feature

Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver

Bug Fixes

Fix sensor airspeed simulator units
Fix HIGHRES_IMU pressure unit

Remarks

Users of external INS (vectornav and sbgecom) need to enable the drivers in the config. As all external INS are currently enabled on some board config, CI is failing.

saengphet · 2024-12-21T09:02:56Z

Hello @tolesam I have a question. Does this PR intend to be used with the Ellipse Series, Ellipse 2 Micro Series, or both?

I'm interested in SBG products.

tolesam · 2024-12-21T13:24:38Z

Hello @tolesam I have a question. Does this PR intend to be used with the Ellipse Series, Ellipse 2 Micro Series, or both?

I'm interested in SBG products.

Hello @saengphet,
It's intended to be used with all SBG Systems' INS products.
Feel free to give us any feedback about it, we'll be happy to help you with our products' integration with this driver.
Regards,
Samuel Toledano

tolesam · 2025-01-10T16:54:29Z

Hi @dagar ,

Can you take a look at this PR please?
I see you've already integrated another INS driver and we would be happy to have sbgecom driver available on PX4 firmware as well.

Moreover, it seems the job "Build and Push Container" doesn't work on PRs, do you have any idea why?
I tried to run it locally on ubuntu-latest and it worked well.

Thanks in advance.

src/drivers/ins/sbgecom/sbgecom.patch

tolesam · 2025-02-17T10:30:59Z

Hello @bresch ,
Do you have any feedback about this PR or is there anything I can do to help move it forward?
Thanks in advance for your review.

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

src/modules/sensors/vehicle_imu/VehicleIMU.cpp

tolesam · 2025-09-02T08:17:52Z

Hi @mrpollo , @bresch ,
Is there any update about this PR on your side?
Thanks in advance for the review and your time.

tolesam · 2025-09-08T13:34:04Z

Hi @mrpollo , @bresch ,
Is there any update about this PR on your side?
Thanks in advance for the review and your time.

src/drivers/drv_sensor.h

Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

github-actions · 2025-09-10T19:48:21Z

/en/sensor/sbgecom.md

LinkedFileMissingAnchor: #SENS_SBG_CFG not found in ../advanced_config/parameter_reference.md (/home/runner/work/PX4-Autopilot/PX4-Autopilot/docs/en/advanced_config/parameter_reference.md)
LinkedFileMissingAnchor: #SBG_BAUDRATE not found in ../advanced_config/parameter_reference.md (/home/runner/work/PX4-Autopilot/PX4-Autopilot/docs/en/advanced_config/parameter_reference.md)
LinkedFileMissingAnchor: #SBG_MODE not found in ../advanced_config/parameter_reference.md (/home/runner/work/PX4-Autopilot/PX4-Autopilot/docs/en/advanced_config/parameter_reference.md)
LinkedFileMissingAnchor: #SBG_CONFIGURATION_EN not found in ../advanced_config/parameter_reference.md (/home/runner/work/PX4-Autopilot/PX4-Autopilot/docs/en/advanced_config/parameter_reference.md)
LinkedFileMissingAnchor: #SBG_BAUDRATE not found in ../advanced_config/parameter_reference.md (/home/runner/work/PX4-Autopilot/PX4-Autopilot/docs/en/advanced_config/parameter_reference.md)

tolesam · 2025-09-11T08:22:28Z

@dakejahl
Thank you for your review and approval yesterday, I've updated this branch with your suggestion and rebased it to fix doc check job which was failing.

hamishwillee · 2025-09-11T08:32:02Z

The docs flaws can be ignored - they will be fixed in post process. The macOS flaws may be real.

@dakejahl You can merge if you are happy - the docs are OK.

addressed

* Add new INS driver sbgECom Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver * Fix sensor airspeed simulator units * Fix HIGHRES_IMU pressure unit * Allow HIGHRES_IMU to support 4 IMUs * sbgECom: Add documentation * Use submodule instead of fetching sbgECom using CMake * Remove patch strategy * Fix dates * Remove patch file * Update SBG dev type ID Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

tolesam changed the title ~~Implement sbgECom INS driver~~ sbgecom: Implement sbgECom INS driver Dec 20, 2024

tolesam force-pushed the dev/sbgecom_driver branch from f1fcfb3 to 96003fb Compare December 20, 2024 18:36

tolesam force-pushed the dev/sbgecom_driver branch 2 times, most recently from 72a92c0 to ffe24c4 Compare January 9, 2025 09:16

tolesam force-pushed the dev/sbgecom_driver branch 3 times, most recently from 862fbd7 to 7627a34 Compare January 14, 2025 17:01

bresch previously requested changes Jan 15, 2025

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src/drivers/ins/sbgecom/sbgecom.patch Outdated Show resolved Hide resolved

tolesam requested a review from bresch January 15, 2025 14:31

tolesam force-pushed the dev/sbgecom_driver branch 5 times, most recently from 5a85ddd to a70bb76 Compare January 27, 2025 16:00

tolesam force-pushed the dev/sbgecom_driver branch from a70bb76 to 7545084 Compare January 31, 2025 16:04

tolesam mentioned this pull request Jan 31, 2025

Add sbgECom driver documentation PX4/PX4-user_guide#3529

Closed

tolesam force-pushed the dev/sbgecom_driver branch 4 times, most recently from 667bca1 to ffeede9 Compare February 7, 2025 15:17

tolesam force-pushed the dev/sbgecom_driver branch 4 times, most recently from b227586 to 550b04a Compare February 17, 2025 09:46

bresch reviewed Feb 17, 2025

View reviewed changes

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp Outdated Show resolved Hide resolved

bresch reviewed Feb 17, 2025

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src/modules/sensors/vehicle_imu/VehicleIMU.cpp Outdated Show resolved Hide resolved

tolesam force-pushed the dev/sbgecom_driver branch from c3dee13 to 5cac32c Compare August 19, 2025 12:41

tolesam force-pushed the dev/sbgecom_driver branch from 5cac32c to 136ae9c Compare September 8, 2025 11:44

tolesam force-pushed the dev/sbgecom_driver branch from 136ae9c to fcd1f4f Compare September 10, 2025 08:52

dakejahl previously approved these changes Sep 10, 2025

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src/drivers/drv_sensor.h Outdated Show resolved Hide resolved

tolesam dismissed dakejahl’s stale review via 4d88514 September 10, 2025 19:40

Samuel Toledano and others added 10 commits September 10, 2025 21:47

Fix sensor airspeed simulator units

028e688

Fix HIGHRES_IMU pressure unit

fecc9f4

Allow HIGHRES_IMU to support 4 IMUs

eedd0fe

sbgECom: Add documentation

8333314

Use submodule instead of fetching sbgECom using CMake

f105e76

Remove patch strategy

723008b

Fix dates

4551532

Remove patch file

6b5aeb0

Update SBG dev type ID

23f1c58

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

tolesam force-pushed the dev/sbgecom_driver branch from 4d88514 to 23f1c58 Compare September 10, 2025 19:47

tolesam requested review from dakejahl and hamishwillee September 11, 2025 08:21

dakejahl approved these changes Sep 11, 2025

View reviewed changes

dakejahl enabled auto-merge (squash) September 11, 2025 08:35

dakejahl merged commit b267291 into PX4:main Sep 11, 2025
70 of 72 checks passed

tolesam deleted the dev/sbgecom_driver branch September 11, 2025 09:15

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sbgecom: Implement sbgECom INS driver #24137

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tolesam commented Dec 19, 2024 •

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