Metadata update and fixes to internallinkerrors

2026-05-27 18:27:05 +08:00 · 2025-08-07 09:43:34 +10:00
parent aa15512762
commit 5415aeb9fe
20 changed files with 339 additions and 100 deletions
@@ -1,5 +1,50 @@
 # Modules Reference: Ins (Driver)

+## MicroStrain
+
+Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/microstrain)
+
+### Description
+
+MicroStrain by HBK Inertial Sensor Driver.
+Currently supports the following sensors:
+
+-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins)
+
+This driver is not included in the firmware by default.
+Include the module in firmware by setting the
+[kconfig](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) variables:
+`CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+The driver will choose /dev/ttyS4 by default if no port is specified
+
+```
+microstrain start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+microstrain stop
+```
+
+### Usage {#MicroStrain_usage}
+
+```
+MicroStrain <command> [arguments...]
+ Commands:
+   start         Start driver
+     [-d <val>]  Port
+                 values: <file:dev>, default: /dev/ttyS4
+
+   stop          Stop driver
+
+   status        Driver status
+```
+
 ## ilabs

 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
@@ -14,7 +59,7 @@ After that you can use the ILABS_MODE parameter to config outputs:
 - Only raw sensor output (the default).
 - Sensor output and INS data such as position and velocity estimates.

-Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html
+Setup/usage information: https://docs.px4.io/main/en/sensor/inertiallabs.html

 ### Examples