sbgecom: Implement sbgECom INS driver

.gitmodules

@@ -100,3 +100,6 @@
 [submodule "src/drivers/ins/microstrain/mip_sdk"]
 	path = src/drivers/ins/microstrain/mip_sdk
 	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
+[submodule "src/drivers/ins/sbgecom/sbgECom"]
+	path = src/drivers/ins/sbgecom/sbgECom
+	url = https://github.com/PX4/sbgECom.git

docs/en/SUMMARY.md

@@ -281,6 +281,7 @@
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
       - [InertialLabs](sensor/inertiallabs.md)
+      - [sbgECom](sensor/sbgecom.md)
       - [VectorNav](sensor/vectornav.md)
     - [Optical Flow](sensor/optical_flow.md)
       - [ARK Flow](dronecan/ark_flow.md)

docs/en/releases/main.md

@@ -52,7 +52,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Sensors
 
-- TBD
+- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
 
 ### Simulation
 

docs/en/sensor/inertial_navigation_systems.md

@@ -9,6 +9,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 INS systems that can be used as a replacement for EKF2 in PX4:
 
 - [InertialLabs](../sensor/inertiallabs.md)
+- [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.
 - [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.
 
 ## PX4 Firmware

docs/en/sensor/sbgecom.md

@@ -0,0 +1,150 @@
+# SBG Systems INS/AHRS (Pulse, Ellipse, etc.)
+
+[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.
+
+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.
+
+![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
+
+## Overview
+
+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.
+
+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://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.
+
+## 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 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.
+
+   ::: 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
+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.
+:::
+
+## 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)

src/drivers/drv_sensor.h

@@ -256,6 +256,8 @@
 #define DRV_INS_DEVTYPE_MICROSTRAIN	0xEA
 #define DRV_INS_DEVTYPE_BAHRS           0xEB
 
+#define DRV_INS_DEVTYPE_SBG		0xEC
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/ins/Kconfig

@@ -5,7 +5,8 @@ menu "Inertial Navigation Systems (INS)"
         select DRIVERS_INS_VECTORNAV
         select DRIVERS_INS_ILABS
         select DRIVERS_INS_MICROSTRAIN
-	select DRIVERS_INS_EULERNAV_BAHRS
+        select DRIVERS_INS_EULERNAV_BAHRS
+        select DRIVERS_INS_SBGECOM
         ---help---
             Enable default set of INS sensors
     rsource "*/Kconfig"

src/drivers/ins/sbgecom/CMakeLists.txt

@@ -0,0 +1,73 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_compile_definitions(SBG_CONFIG_LOG_MAX_SIZE=128)
+
+set(SBGECOM_DIR ${CMAKE_CURRENT_SOURCE_DIR}/sbgECom)
+px4_add_git_submodule(TARGET git_sbgECom PATH ${SBGECOM_DIR})
+
+add_subdirectory(sbgECom)
+
+add_dependencies(sbgECom prebuild_targets)
+
+target_compile_options(sbgECom
+        PRIVATE
+        -Wno-format
+        -Wno-format-security
+        -Wno-bad-function-cast
+        -Wno-double-promotion
+        -Wno-type-limits
+        -Wno-maybe-uninitialized
+        -Wno-float-equal
+)
+
+if("${PX4_PLATFORM}" MATCHES "nuttx")
+    target_compile_definitions(sbgECom PUBLIC __NUTTX__)
+endif()
+
+
+px4_add_module(
+	MODULE drivers__ins__sbgecom
+	MAIN sbgecom
+	INCLUDES
+		sbgECom/common
+		sbgECom/src
+	COMPILE_FLAGS
+	SRCS
+		sbgecom.cpp
+		sbgecom.hpp
+	MODULE_CONFIG
+		module.yaml
+	DEPENDS
+		sbgECom
+	)

src/drivers/ins/sbgecom/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_INS_SBGECOM
+	bool "sbgecom"
+	default n
+	---help---
+		Enable support for sbgecom

src/drivers/ins/sbgecom/module.yaml

@@ -0,0 +1,50 @@
+module_name: sbgECom
+
+serial_config:
+    - command: sbgecom start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_SBG_CFG
+        group: Sensors
+
+parameters:
+    - group: Sensors
+      definitions:
+        SBG_MODE:
+            description:
+                short: sbgECom driver mode
+                long: |
+                    Modes available for sbgECom driver.
+                    In Sensors Only mode, use external IMU and magnetometer.
+                    In GNSS mode, use external GNSS in addition to sensors only mode.
+                    In INS mode, use external Kalman Filter in addition to GNSS mode.
+
+                    In INS mode, requires EKF2_EN 0. Keeping both enabled
+                    can lead to an unexpected behavior and vehicle instability.
+            category: System
+            type: enum
+            values:
+                0: Sensors Only
+                1: GNSS
+                2: INS (default)
+            default: 2
+        SBG_BAUDRATE:
+            description:
+                short: sbgECom driver baudrate
+                long: |
+                    Baudrate used by default for serial communication between PX4
+                    and SBG Systems INS through sbgECom driver.
+            category: System
+            type: int32
+            min: 9600
+            max: 921600
+            default: 921600
+            reboot_required: true
+        SBG_CONFIGURE_EN:
+            description:
+                short: sbgECom driver INS configuration enable
+                long: |
+                    Enable SBG Systems INS configuration through sbgECom driver
+                    on start.
+            category: System
+            type: boolean
+            default: 0