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External INS for main IMU plus GNSS correction on Pixhawk 2 #11842

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itsyaboiwillyd opened this issue Jul 18, 2019 · 9 comments
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External INS for main IMU plus GNSS correction on Pixhawk 2 #11842

itsyaboiwillyd opened this issue Jul 18, 2019 · 9 comments

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@itsyaboiwillyd
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itsyaboiwillyd commented Jul 18, 2019 •
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Hello! I am new to the drone game but have doing a lot of research over the last few weeks on integrating an external INS as the main source of IMU and GNSS data for the Pixhawk 2. I have the ability to output data from my INS upon power up, sending data is not my problem. I know I will have to input data via the to SPI bus via DF17 connector, but what I cannot find information on is firmware modifications that need to be made to be able to use (ie re-mapping variables) external INS. My motivation for this is to have a much higher accuracy than the on-board IMU provides for the Pixhawk 2 and to use the GNSS receiver to correct data when it can. Thank you!!
@IamPete1
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We now support external vector nav systems.

@itsyaboiwillyd
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itsyaboiwillyd commented Aug 23, 2021 via email

@rmackay9
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@itsyaboiwillyd, I'm afraid we don't have any docs yet for the external ahrs support (it is on the to-do list though) but in short, AP only supports the vectornav external ahrs and a couple of parameters are here.

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itsyaboiwillyd commented Feb 24, 2023 via email

@itsyaboiwillyd
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itsyaboiwillyd commented Feb 28, 2023 via email

@itsyaboiwillyd
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itsyaboiwillyd commented Mar 1, 2023 via email

@itsyaboiwillyd
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itsyaboiwillyd commented Mar 8, 2023 via email

@itsyaboiwillyd
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itsyaboiwillyd commented Mar 9, 2023 via email

@IamPete1
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IamPete1 commented Mar 9, 2023

I'm going to lock this conversation, seems its just getting spammed.

@ArduPilot ArduPilot locked as spam and limited conversation to collaborators Mar 9, 2023
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@rmackay9 @IamPete1 @itsyaboiwillyd