docs: Add InertialLabs sensors configuration page

docs/en/SUMMARY.md

@@ -279,6 +279,7 @@
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
       - [VectorNav](sensor/vectornav.md)
+      - [InertialLabs](sensor/inertiallabs.md)
     - [Optical Flow](sensor/optical_flow.md)
       - [ARK Flow](dronecan/ark_flow.md)
       - [ARK Flow MR](dronecan/ark_flow_mr.md)

docs/en/sensor/inertiallabs.md

@@ -0,0 +1,91 @@
+# Inertial Labs
+
+Inertial Labs designs and develops [IMU](https://inertiallabs.com/products/imu-inertial-measurement-units/), [AHRS](https://inertiallabs.com/products/ahrs/), [GNSS/INS](https://inertiallabs.com/products/ins-inertial-navigation-systems/) and [other](https://inertiallabs.com/) solutions.
+
+![INS-U](../../assets/hardware/sensors/inertial/ilabs-ins-u.png)
+
+Sensors connection is "plug-and-play" and it uses universal protocol for [all Inertial Labs sensors](https://inertiallabs.com/).
+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)
+- Work in different spoofing and jamming conditions
+
+PX4 can use these as an [external INS](../sensor/inertial_navigation_systems.md).
+Sensor outputs configuration:
+
+- Only raw sensor output (the default).
+- Sensor output and INS data such as position and velocity estimates proccessed by internal EKF algorithm.
+
+## Where to buy
+
+[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
+Recommended sensors:
+
+- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
+- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
+
+## Hardware Setup
+
+### Wiring
+
+Connect the sensor to any unused flight controller serial interface, such as a spare `GPS` or `TELEM`.
+
+### Mounting
+
+The Inertial Labs sensors can be mounted in any orientation. Coordinates rotation is configurable.
+
+## Firmware Configuration
+
+### PX4 Configuration
+
+To use the Inertial Labs driver:
+
+1. Build the firmware with InertialLabs module. Include it in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig): Drivers -> INS -> ilabs.
+1. [Set the parameter](../advanced_config/parameters.md) [SENS_ILABS_CFG](../advanced_config/parameter_reference.md#SENS_ILABS_CFG) to the hardware port connected to the sensor, such as a spare `GPS` or `TELEM`. For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
+1. Allow the driver to initialize by restarting PX4.
+1. Configure driver as either an external INS or to provide raw data:
+   - For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
+   - For raw inertial sensors data:
+     1. Set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`
+     1. If internal sensors are enabled, prioritize Inertial Labs 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 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.
+     :::
+
+1. Restart PX4.
+
+Once enabled, the module will be detected on boot.
+
+## Inertial Labs sensor Configuration
+
+You can find configuration details in the device ICD.
+This process is usually short and takes a few minutes, depending on the sensor and the installation conditions on the vehicle.
+
+## Published Data
+
+- [sensor_accel](../msg_docs/SensorAccel.md)
+- [sensor_gyro](../msg_docs/SensorGyro.md)
+- [sensor_mag](../msg_docs/SensorMag.md)
+- [sensor_baro](../msg_docs/SensorBaro.md)
+- [sensor_gps](../msg_docs/SensorGps.md)
+
+and, if enabled as an external INS, publishes:
+
+- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
+- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
+- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
+
+or, if enabled as external sensor only, publishes:
+
+- `external_ins_local_position`
+- `external_ins_global_position`
+- `external_ins_attitude`
+
+::: tip
+Published topics can be viewed using the `listener` command.
+:::