Adding MicroStrain driver documentation

en/SUMMARY.md

@@ -276,6 +276,7 @@
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
       - [VectorNav](sensor/vectornav.md)
+      - [MicroStrain](sensor/microstrain.md)
     - [Optical Flow](sensor/optical_flow.md)
       - [ARK Flow](dronecan/ark_flow.md)
       - [PMW3901](sensor/pmw3901.md)

en/_sidebar.md

@@ -275,6 +275,7 @@
       - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
       - [VectorNav](/sensor/vectornav.md)
+      - [MicroStrain](/sensor/microstrain/md)
     - [Optical Flow](/sensor/optical_flow.md)
       - [ARK Flow](/dronecan/ark_flow.md)
       - [PMW3901](/sensor/pmw3901.md)

en/sensor/microstrain.md

@@ -0,0 +1,79 @@
+# MicroStrain
+
+MicroStrain by HBK provides high-performance inertial sensors engineered for reliability and precision in challenging environments. Widely used across industries like aerospace, robotics, industrial automation, and research, MicroStrain sensors are optimized for real-time, accurate motion tracking and orientation data.
+
+![CV7](../../assets/hardware/sensors/inertial/3dm-cv7-hbk.png)
+
+The driver currently supports the following hardware:
+
+- [`MicroStrain CV7-AHRS`](https://www.microstrain.com/inertial-sensors/3dm-cv7-ahrs)
+- [`MicroStrain CV7-AR`](https://www.microstrain.com/inertial-sensors/3dmcv7-ar)
+
+For more information, including user manuals and datasheets, please refer to the sensors product page.
+
+## Where to Buy
+
+MicroStrain sensors can be purchased through HBK’s official [MicroStrain product page](https://www.microstrain.com/inertial-sensors/all-sensors) or through authorized distributors globally. For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.microstrain.com/contact-sales)
+
+## Hardware Setup
+
+### Wiring
+
+Connect the main UART port of the MicroStrain sensor to any unused serial port on the flight controller. This port needs to be specified while starting the device.
+
+### Mounting
+
+The MicroStrain sensor can be mounted in any orientation. 
+The default coordinate system uses X for the front, Y for the right, and Z for down, with directions marked on the device.
+
+## Firmware Configuration
+
+### PX4 Configuration
+
+To use the MicroStrain 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_MICROSTRAIN` or `CONFIG_COMMON_INS`.
+2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor
+3. To prioritize MicroStrain sensor output, adjust the priority level of individual sensors from 0-100 using the following parameters:
+
+   - [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO)
+   - [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO)
+   - [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO)
+   - [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO)
+
+   where n corresponds to the index the sensor corresponds to.
+
+   ::: tip
+   Sensors can be identified by their device id, which can be found by checking the parameters:
+
+   - [CAL_ACCn_ID](../advanced_config/parameter_reference.md#CAL_ACC0_ID)
+   - [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID)
+   - [CAL_MAGn_ID](../advanced_config/parameter_reference.md#CAL_MAG0_ID)
+   - [CAL_BAROn_ID](../advanced_config/parameter_reference.md#CAL_BARO0_ID)
+   :::
+
+4. Reboot and start the driver
+
+## MicroStrain Configuration
+
+By default, accel and gyro data will be published 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz.
+This can be changed by adjusting the following parameters
+
+- [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ)
+- [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ)
+- [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ)
+
+The driver will automatically configure data outputs based on the specific sensor model and available data streams.
+
+## Published Data
+
+The MicroStrain driver publishes sensor data which can be found on the following UOrb topics:
+
+- [sensor_accel](../msg_docs/SensorAccel.md)
+- [sensor_gyro](../msg_docs/SensorGyro.md)
+- [sensor_mag](../msg_docs/SensorMag.md)
+- [sensor_baro](../msg_docs/SensorBaro.md)
+
+::: tip
+Published topics can be viewed using the `listener` command.
+:::