sbgecom: Implement sbgECom INS driver

boards/cubepilot/cubeorangeplus/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/px4/fmu-v6c/default.px4board

@@ -22,7 +22,6 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y

src/drivers/drv_sensor.h

@@ -249,6 +249,8 @@
 #define DRV_BARO_DEVTYPE_AUAV		0xE7
 #define DRV_BARO_DEVTYPE_SPA06          0xE8
 
+#define DRV_INS_DEVTYPE_SBG 0xE9
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/ins/Kconfig

@@ -3,6 +3,7 @@ menu "Inertial Navigation Systems (INS)"
         bool "All INS sensors"
         default n
         select DRIVERS_INS_VECTORNAV
+        select DRIVERS_INS_SBGECOM
         ---help---
             Enable default set of INS sensors
     rsource "*/Kconfig"

src/drivers/ins/sbgecom/CMakeLists.txt

@@ -0,0 +1,60 @@
+############################################################################
+#
+#   Copyright (c) 2022 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.
+#
+############################################################################
+
+include(FetchContent)
+
+FetchContent_Declare(
+    sbgECom
+    GIT_REPOSITORY https://github.com/SBG-Systems/sbgECom.git
+    GIT_TAG 5.1.708-stable
+    GIT_SHALLOW TRUE
+    PATCH_COMMAND git apply --reverse --check "${CMAKE_CURRENT_LIST_DIR}/sbgecom.patch" || git apply --ignore-whitespace "${CMAKE_CURRENT_LIST_DIR}/sbgecom.patch"
+)
+
+FetchContent_MakeAvailable(sbgECom)
+
+px4_add_module(
+	MODULE drivers__ins__sbgecom
+	MAIN sbgecom
+	INCLUDES
+		${sbgECom_SOURCE_DIR}/common
+		${sbgECom_SOURCE_DIR}/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 (default)
+                1: GNSS
+                2: INS
+            default: 0
+        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