SPH Engineering SkyHub User Manual

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SkyHub

User Manual

Revision 14

December 2024

Integrated Systems

sphengineering.com | ugcs@ugcs.com

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Summary of Contents for SPH Engineering SkyHub

Page 1 SkyHub User Manual Revision 14 December 2024 Integrated Systems sphengineering.com | ugcs@ugcs.com...
Page 2 • ALTIMETER_MONITOR and ROS_BRIDGE enable switches are removed 30.08.2023 • TX Frequency configuration for RadSys zGPR • ROS support plugin configuration was changed • Skyhub cable LEDs behavior desctiption • QuSpin Gen-2 magnetometer configuration • Lightware SF-30D configuration update • US-D1 configuration update 14.11.2022 •...
Page 3 • Changed the Description section • Removed the Attollo WASP-200 altimeter description • Removed the Lightware SF11/C altimeter description • Removed the UgCS SkyHub Device section • Removed the Kits section Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 4 • Changed the MAV/COMPONENT_ID default value • Changed the default DJI flight mode for Grasshopper • Updated the minimum required UgCS-CPM version • Updated the table of contents • Removed the MAX_FLIGHT_SPEED_MPS config parameter Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 5 • Updated the desktop application using description • Updated the configuration description 29.05.2020 • Added the Gas detector kit description • Added the Echosounder kit description • Fixed typos 20.04.2020 • Initial release Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 6 ........23 Setup the SkyHub Device .
Page 8 • SkyHub can supply NMEA coordinate stream to the external sensor. Some sensors have internal data recorders but require an external GPS receiver. SkyHub can act as such an additional GPS receiver by providing the UAV coordinates to sensors.
Page 9 Altimeter Payload Payload Wi-Fi Drone Ground Radio Link Laptop Custom UgCS UgCS Payload USB / Wi-Fi Ground Telemetry Client Monitor Module Figure 1.2 — Pixhawk autopilot based drone interaction diagram Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 10 SENSYS (GPS-out) / R4 from Skyhub SENSYS MagDrone R1 QuSpin QTFM-Gen2 UART Tested for MagArrow / Geometrics compatibility MagArrow-SX with TTF Tested for GSMP-35U / GEM Systems compatibility with TTF Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 11 Emlid Reach M2 UART / USB Water sampler Tested with messenger GPIO / PWM Ruttner water Engineering release device sampler Geolux LX-80 UART / CAN Geolux RSS2-300W UART / CAN Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 12 Read this user manual carefully before you use the appliance and save it for future reference. In order to avoid damage to components, all connections to the SkyHub device must be made with the device unpowered. Copyright © 2019—2025, SPH Engineering...
Page 13 SkyHub. Power-on checks The cable connecting SkyHub and DJI M350 RTK drones has built-in LED indicators. You may check the connection condition by their examination: Figure 3.1 — Numbered LEDs on cable • LED1 lights up when the power is coming from the drone.
Page 14 Important: It is strongly recommended to switch on a remote controller before any operations with the SkyHub Wi-Fi. After powering on the SkyHub operates as Wi-Fi access point with following credentials: • SSID: UgCS-SkyHub-****** (where ****** is the SkyHub serial number) •...
Page 15 Parameters for wired connection are: • IP address: 10.2.0.1 • Port: 22 • Username: root • Password: <empty> SkyHub runs DHCP service onboard, therefore, the PC’s IP address will be assigned automatically after connection. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 16 M300 / M350 SkyHub User Manual Access to Onboard File System One may use any SCP client to access the SkyHub file system. For example, one may use WinSCP. Figure 4.3 — WinSCP settings While pressing the Login button one may choose between login via SCP (to have access to the file system).
Page 18 UgCS Companion application establishes connection with SkyHub automatically if DJI driver is enabled. SkyHub indicator on upper left corner of the application turns green if connection is established. If there is more than one computer with UgCS used in the network, tap on UgCS indicator in upper left corner of UgCS Companion application to access the list of UgCS instances available and select necessary one.
Page 19 Setup Interface to ArduPilot SkyHub User Manual Setup Interface to ArduPilot SkyHub can be connected to the flight controller flashed with the ArduPilot 4.x.x firmware. 1. Make sure UgCS version 4.3 or higher is used (download links can be found in Prerequisites section) and VSM for ArduPilot vehicles is installed.
Page 20 6. Open application Mission Planner, connect it to the vehicle autopilot and check serial port settings used for SkyHub communication. Check port configured baud rate. Speed should be the same as configured at SkyHub side in the [MAV] section of the SkyHub config (recommended 230400). If adjustment is needed don’t forget write them and restart autopilot.
Page 21 SkyHub and autopilot. Figure 4.9 — Mission Planner MAVlink inspector data Vehicle 2 and Comp 5 correspond to configured at SkyHub System (2) and Component (5) 9. In case of correct Autopilot, UgCS and SkyHub configuration, Payload data b64 is displayed at drone telemetry in UgCS.
Page 23 Setup Interface to PX4 SkyHub User Manual Setup Interface to PX4 SkyHub can be connected to the flight controller flashed with the PX4 1.10.x or higher firmware. 1. Make sure UgCS version 4.3 or higher is used (download links can be found in Prerequisites section) and VSM for PX4 vehicles is installed.
Page 24 COMPONENT_ID value in the [MAV] section of the SkyHub config. Make sure that V2_EXTENSION parameter is set to TRUE in the [MAV] section of the SkyHub config. ArduPilot/PX4 Configuration to find all available settings with default values and descriptions.
Page 25 Figure 4.14 — SkyHub PX4 TELEM2 port data forwarding configuration 9. Change baudrate for the TELEM2 Serial Port (recommended 230400). Speed should be the same as configured at SkyHub side in the [MAV] section of the SkyHub config. Figure 4.15 — SkyHub PX4 TELEM2 port baudrate configuration Copyright ©...
Page 26 Setup Interface to PX4 SkyHub User Manual Note: SkyHub subscribes to the following MAVLink messages with telemetry rate defined by the TELEMETRY_RATE parameter in the MAV section in SkyHub config file: GPS2_RAW GPS_RAW_INT GLOBAL_POSITION_INT ATTITUDE SYSTEM_TIME HEARTBEAT DISTANCE_SENSOR Copyright © 2019—2025, SPH Engineering...
Page 27 The second important step is to configure used autopilot and payloads. Pay attention that related section will be available for configuration only after it enabling and SkyHub restart. For example, DJI autopilot related parameters are collected within the [DJI] section:...
Page 28 Setup the SkyHub Device SkyHub User Manual [ROS_PAYLOADS] AINSTEINUSD1=false EBINGERUPEX740=false GEOLUXLX80=false GEOLUXRSS=false LIGHTWARESF30D=false QSPINQTFM=false SENSYSMAGDRONER1=false GNSSOUT=false FTTECHNOLOGIESFT742=false NANORADARMR72=false NANORADARNRA24=false UNIVERSAL=false For a more detailed description of the configuration file, see Configuration Parameters. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 29 MIN_ALTITUDE_M or ascending above MAX_ALTITUDE_M make the drone stop and hover, and go to the safe altitude. To select primary altimeter to be used as an altitude source by default setup this parameter: Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 30 Move the drone by hands before a flight to be sure the altimeter operates well. See the Nanoradar NRA24 Altimeter Configuration section to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 31 • Maximum altitude: 50 m Important: The altimeter will report 0.5 meters even if the distance from the altimeter to the ground/object is less than 0.5 meters. Ainstein US-D1 Altimeter Configuration for details. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 32 OFFSET_RIGHT_M_1=0.25 ; 25 cm alongside the traverse line OFFSET_RIGHT_M_2=-0.25 ; -25 cm alongside the traverse line (left offset) RadSys Zond Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 33 2. Set the code of trace time range per sample, sample count, pulse delay, and stacking fields in the [RADSYS_ZGPR] section: [RADSYS_ZGPR] PULSE_DELAY=174 SAMPLE_COUNT=512 STACKING=128 TIME_RANGE_PER_SAMPLE=7 TX_FREQUENCY_KHZ=300 RadSys zGPR Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 34 Set to 90 degrees for disabling. 3. Set the MIN_SENSOR_DEPTH_M parameter in the [ECHOLOGGER_ECT] section for data filtering by echosounder depth value while recording. Set to zero for disabling: [ECHOLOGGER_ECT] MAX_SENSOR_ANGLE_DEG=10 MIN_SENSOR_DEPTH_M=0.1 Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 35 1 sec 40 m 0.2 sec 80 m 0.25 sec 2 sec 100 m 0.33 sec 2.5 sec Echologger ECT400 Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 36 Important: There will be no depth measurements if depth will be larger than range specified for particular frequency. Larger range will require larger interval and provide less readings per second. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 37 Note the data rate in the ECHOSOUNDER mode is significantly lower than in the NMEA one. Strongly recommended to set the INTERVAL_S value in the ECHOLOGGER_DUAL section according to the table: Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 38 Important: if the improper value of sampling rate sets for a certain range, Echologger ECT D052/D032 can reset continuously until the proper value is set. Echologger ECT D052/D032 Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 39 FREQUENCY_LOW_HZ=200000 Please note that these parameters are not used to change frequency of echosounder because frequencies are fixed for a particular model. They are utilized for correct echosounder data handling. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 40 Note the data rate in the ECHOSOUNDER mode is significantly lower than in the NMEA one. Strongly recommended to set the INTERVAL_S value in the ECHOLOGGER_DUAL section according to the table: Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 41 Important: if the improper value of sampling rate sets for a certain range, Echologger ECT D24s can reset continuously until the proper value is set. Echologger ECT D24s Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 42 1. Set PERGAM_FALCON item to true in [PAYLOADS] section: [PAYLOADS] PERGAM_FALCON=true 2. Choose the appropriate SERIAL_DEVICE in the [PERGAM_FALCON] section: [PERGAM_FALCON] SERIAL_DEVICE=/dev/ttyUSB0 Pergam Laser Falcon Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 43 1. Before use FTT FT742 sensor should be configured to use NMEA messages and compass disabled. If compass enabled, SkyHub will log reported values anyway, but to get accurate readings it is recommended to rely on Heading of the drone and wind direction relative to the sensor body, and calculate wind direction accordingly.
Page 44 Payload Message ID value to 195 by clicking the settings button. See the Nanoradar MR72 Configuration section to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 45 Figure 5.1 — Emlid Reach M2 Port Pinouts 3. If USB connection is used, USB cable +5 wire should be isolated from SkyHub. Make sure that there is a stable power source for Emlid Reach M2, only the red LED lights up when the receiver lacks power.
Page 46 Important: GPS Receiver loads settings from separate config file. The file location: /etc/skyhub/gnss.conf. File format: INI (https://en.wikipedia.org/wiki/INI_file) 8. Check parameters in gnss.config file. Set SERIAL_DEVICE to /dev/ttyUSBX (X is the USB port number) when the USB connection is used with SkyHub of both generations: [GNSS] BAUD_RATE=115200 ;...
Page 47 Magnetometer module relies on the ROS subsystem. So, the first steps are ROS Bridge setup ROS Bridge Configuration. Then set QSPINQTFM to true in [ROS_PAYLOADS] section: [ROS_PAYLOADS] QSPINQTFM=true Restart the Skyhub and add such section for every QuSpin device instance: [ROS_MAGNETOMETER_QSPINQTFM_0] ACCEL_DATA_LOGGING=OFF ALTITUDE_SOURCE=v1:altimeter:default:0 BAUD_RATE=230400 FILTER=OFF MAGNETIC_ENVIRONMENT=AVERAGE OFFSET_FORWARD_M=0.0...
Page 48 Metal detector module relies on the ROS subsystem. So, the first steps are ROS Bridge setup ROS Bridge Configuration. Then set EBINGERUPEX740 to true in [ROS_PAYLOADS] section: [ROS_PAYLOADS] EBINGERUPEX740=true Ebinger UPEX-740 Configuration to find all available settings with default values and descriptions. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 49 Set ENABLE_PPS item to true in [ROS_MONITOR_GNSSOUT_0] section: [ROS_MONITOR_GNSSOUT_0] ENABLE_PPS=true By default, SkyHub supports the connector 2 as the PPS signal source and the connector 5 as output for the PPS signal consumer. Note: Please, contact our support team if PPS Sync configuration changes are required.
Page 50 ROS Bridge Setup ROS Bridge plugin is a key component for interaction with ROS framework. All ROS-based payload drivers use this module to interact with core SkyHub services (ground software connections, log files, flight controller data acquisition). This process always starts automatically at the Skyhub startup.
Page 51 For accurate altitude transition it is recommended to set turn type Stop & turn. Example: WP#3 - AGL 20m, WP#4 - AGL 5m, WP#5 - Rangefinder 3m, WP#6 - Rangefinder 1m Figure 6.1 — Transition from AGL to Rangefinder mode Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 52 4. Ensure that the drone with a correct profile appears in the UgCS on the PC and all drone indicators (battery, uplink, downlink, satellites) are green. Select the drone and the mission. 5. Ensure the only used payloads are true in the [PAYLOADS] section in the SkyHub configuration file. Each payload should be properly configured (see Payloads Setup).
Page 53 Log Files Management below for details). 7. Start the UgCS-CPM and UgCS application on PC. Check the UgCS, Drone, and SkyHub indicators are green. Add the Terrain Following widget and other widgets related to connected payloads by clicking the plus button.
Page 54 Attention: It is strongly recommended not to set Target Altitude more than 10 meters for the laser altimeter above water Attention: AGL and AMSL waypoints are navigated using GPS. SkyHub altitude safety check will trigger failsafe if drone flying to AGL or AMSL waypoint will go below MIN_ALTITUDE_M + 10.
Page 55 14. 16. After the mission has been completed the drone stops at the last waypoint then climbs to increase its altitude to value configured in skyhub.conf file section [TF] value FAIL_SAFE_ALTITUDE_M. 17. Switch the flight mode to N-Mode to take control, then return the drone to the desired landing position, and land the drone manually.
Page 56 7. Start the UgCS-CPM application and connect to UgCS with default credentials. Check the UgCS, Drone, and SkyHub indicators are green. Add the Terrain Following widget and other widgets related to connected payloads by clicking the plus button. Copyright © 2019—2025, SPH Engineering...
Page 57 16. Press the Activate button in the Grasshopper widget to start the flight in grasshopper mode. The alternative way to activate it is to move the flight mode switch to F-mode. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 58 Obstacle Avoidance Configuration) so if the previous SkyHub session was finished with activated mode, SkyHub restores activation status in the new session. In this case UgCS-CPM contains the Deactivate button. Obstacle Avoidance mode, when it’s activated, has two possible states: Copyright ©...
Page 59 Conditions of auto switching to ARMED state are defined with parameters ACTIVATION_ALTITUDE_M and ACTIVATION_SPEED_MPS in the [OA] section in skyhub.conf file. If the drone (UAV) ascends above ACTIVATION_ALTITUDE_M and the speed above ACTIVATION_SPEED_MPS, Obstacle Avoidance becomes ARMED, otherwise it stays DISARMED. The UgCS-CPM displays the Obstacle Avoidance ARMED or Obstacle Avoidance DISARMED message in UgCS-CPM log.
Page 60 Also, depending on the concrete payload used one may get following log files: • GPR data log in SEG-Y format: *-gpr.sgy • Echosounder data log in SEG-Y format: *-echo.sgy • Echosounder data log in NMEA format: *-nmea.txt Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 61 There are two ways to download log files: • Using UgCS-CPM (see Log Files Management) • With any web browser via HTTP protocol (supported for SkyHub 2 only) When the second way is chosen, open http://10.1.0.1 (Wi-Fi) or http://192.168.0.33 (Ethernet) in your browser and choose the required log file from a list of all recorded ones.
Page 62 Number of next waypoint being Next WP navigated by the drone Velocity Horizontal velocity • ON: RTK used RTK Status • OFF: RTK not used RTK latitude coordinates corrected for Latitude RTK drone center Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 63 Measured inphase for 0.5 m CM:CV1.0 mS/m Measured conductivity for 1.0 m CM:IV1.0 Measured inphase for 1.0 m Table 6.5 — Position Log. Echosounder Columns Description Column name Unit Description Echosounder Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 64 Support for dual frequency echosounder Trace number in SEG-Y file for low ECHO:Trace Lo acoustic frequency. Support for dual frequency echosounder ECHO:Pitch Pitch angle received from the payload Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 65 • 9: stop, no measuring Table 6.7 — Position Log. GPS Receiver Columns Description Column name Unit Description GPS Receiver GNSS:Date Date GNSS:Time Time GNSS:Latitude Latitude GNSS:Longitude Longitude Altitude above/below mean-sea-level GNSS:Altitude (geoid) Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 66 Measured response in channel 1 MD:Channel 2 Measured response in channel 2 MD:Channel 3 Measured response in channel 3 MD:Channel 4 Measured response in channel 4 MD:Top Channel Measured response in top channel Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 67 (see Connect to SkyHub Using Ethernet). 2. Go to Settings > SkyHub and make sure the IP-address corresponds to the connection way. 3. Open UgCS-CPM and go to Tools > Manage Logs. 4. Press the Browse button to choose the destination folder for log files.
Page 68 Connect to SkyHub Using Ethernet). 2. Open UgCS-CPM and go to Tools > Manage SkyHub 3. The SkyHub (Aux) indicator is green when there is the connection to the SkyHub device via Ethernet or Wi-Fi and red otherwise. Copyright © 2019—2025, SPH Engineering...
Page 69 7. Wait for the progress bar becomes filled and check the firmware version after it appears. 8. Click the Back button to return on the main CPM page. Wait for the SkyHub device reboots and click the Reconnect button. Figure 6.7 — CPM. Manage SkyHub window Copyright ©...
Page 70 3. Upload manually the firmware to MicroSD root (path: /run/media/mmcblk1p1) by FTP/SCP client. 4. Connect to SkyHub via ssh and move to the MicroSD root. 5. Unpack the firmware package and manually run the script to uninstall the SkyHub firmware from the device: $ tar -xvf skyhub-*.tar.gz $ skyhub-*/uninstall.sh...
Page 71 7 • Configuration Parameters • Configuration file location: /etc/skyhub/skyhub.conf • File format: INI (https://en.wikipedia.org/wiki/INI_file) Important: The SkyHub device should be restarted after any change in the configuration file by reboot command or by power cycling. SkyHub Configuration Table 7.1 — SkyHub settings...
Page 72 Set to true if used. Using the Nanoradar NRA24 radar NANORADARNRA24 false altimeter. Set to true if used. Using the Nanoradar MR72 radar NANORADARMR72 false obstacle detector. Set to true if used. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 73 Select specified altimeter to fill ALT: v1:altimeter: columns. ALTIMETER_SOURCE default:0 First configured altimeter will be choosen with default mask /data/ Where to write managed logs in Skyhub DATALOG_DIR skyhub_logs filesystem Start new log file at every reached LOG_PER_LINE false waypoint.
Page 74 Description Begin to write logs without taking off or START_ENABLED false CPM activation. Set to true start log writing at startup. Table 7.2 — SkyHub advanced settings Parameter Default Value Description [APP] Log the system info such as CPU SYSINFO_LOG...
Page 75 DJI response timeout, s SENDING_PERIOD_MS Period of data sending to ground, ms UART serial device. Default value SERIAL_DEVICE /dev/ttyAMA2 depends on the SkyHub generation Alternative connection with USB USB_DEVICE enabled cable Set to true for M350. Set to false for FORCE_TRUNCATE false other DJI drones.
Page 76 Autopilot Configuration SkyHub User Manual Parameter Default Value Description UART serial device. Default value SERIAL_DEVICE /dev/ttyAMA2 depends on the SkyHub generation SYSTEM_ID MAVLink system Id of SkyHub TELEMETRY_RATE Telemetry frequency, Hz Using MAVLink V2_EXTENSION V2_EXTENSION true messages. Set to false to disable it.
Page 77 Flight Control Mode Configuration SkyHub User Manual Flight Control Mode Configuration True Terrain Following Configuration Table 7.5 — TTF settings Parameter Default Value Description [TF] FAIL_SAFE_ALTITUDE_M Fail safe altitude, m Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 78 Grasshopper Configuration Table 7.6 — GH settings Parameter Default Value Description [GH] DESCENT_ALTITUDE_M Target descending altitude, m DESCENT_SPEED_MPS Descent rate, m/s FAIL_SAFE_ALTITUDE_M Fail safe altitude, m TARGET_ALTITUDE_M Target flight altitude, m Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 79 Distance less which safety action SAFETY_DISTANCE_LIMIT_M activates, m • OBSTACLE_DETECTOR: Use external or embedded obstacle detector as a source OBSTACLE_DET SAFETY_DISTANCE_SOURCE ECTOR • ALTIMETER: Use external altimeter as obstacle distance source Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 80 List of embedded sensors used for FRONT BACK obstacle detection. Remove list EMBEDDED_SENSORS LEFT RIGHT UP members to disable corresponding DOWN sensors. If list is empty embedded sensors are not used. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 81 0.1 – 10 the trajectory. m/s3 The proportional component of the PID 0.4 Permissible controller for calculating the speed POS_P range: 0.1 – 1 from the position error in the horizontal plane. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 82 Acceptable DEBUG_LOG this value can be set to “true”. The values: false, debug log will record controller true operation events for further analisys of the processing logic. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 83 With default mask value (v1:altimeter::) the first configured altimeter will be used as an altitude source. Table 7.9 — TTF Feeder settings Parameter Default Value Description [ROS_MONITOR_TTF_0] Mask to select altimeneter as TTF SOURCE v1:altimeter:: source Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 84 Table 7.11 — Nanoradar NRA24 altimeter settings Parameter Default Value Description [ROS_ALTIMETER_NANORADARNRA24_0] Averaging factor. The more is the AVERAGING smoother but rarer. UART_BAUD_RATE 115200 UART baud rate, bps UART_SERIAL_DEVICE /dev/ttyS0 UART serial device. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 85 Altimeter Configuration SkyHub User Manual Lightware SF30/D Altimeter Configuration This driver supports multiple instances of SD30D altimeters connected to the same SkyHub device. You should provide additional section for every configured instance (zero-base): [ROS_ALTIMETER_LIGHTWARESF30D_0] IS_FILTERED=false RATE_HZ=39 RETURN_MODE=LAST UART_BAUD_RATE=115200 UART_SERIAL_DEVICE=/dev/ttyAMA1 Table 7.12 — Lightware SF30/D altimeter settings...
Page 86 UART serial device Configure Altimeter Monitor Altimenter Monitor will be started automatically at the Skyhub startup. There is no option to enable or disable it. This node works as a single instance. You should provide the only section of monitor...
Page 87 • CIRCLE: Circle mode Offset of the first antenna alongside the OFFSET_FORWARD_M_1 heading line, m Offset of the second antenna alongside OFFSET_FORWARD_M_2 the heading line, m Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 88 50, 100, 200, 300, 500. Trace time range for the second channel, TIME_RANGE_NS_2 See TIME_RANGE_1 values. Note: When using the Aero version of RadSys Zond radar, all fields are ignored apart PULSE_DELAY_1 and TIME_RANGE_NS_1. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 89 5: 142.857 ps TIME_RANGE_PER_SAMPLE 6: 178.571 ps 7: 250.000 ps 8: 357.143 ps 9: 500.000 ps 10: 625.000 ps 11: 714.286 ps 12: 1.00 ns 13: 1.25 ns 14: 2.50 ns Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 90 MIN_SENSOR_DEPTH_M cable (set by CABLE_LENGTH_M parameter in the ECHOSOUNDER section) and current altitude. The data are not recorded if the sensor depth is lower than specified value, m. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 91 (used for debugging only) SkyHub 2: /dev/ttymxc1 Serial device name. Default value SERIAL_DEVICE SkyHub 3: depends on the SkyHub generation /dev/ttyAMA3 Transmitted pulse length, micro second. TXLENGTH_US The value is automatically increased if it is less than the required value.
Page 92 1, 1.5, 2, 3, 5, 10, 15, 20, 30, 40, 50, 60, 70, 80, 90, 100, 120, 150, 200 meters Log the raw data from echosounder RAW_LOG false (used for debugging only) Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 93 ECHOSOUNDER mode. Only fixed ranges are available: 100000, 50000, 25000, 12500, 6250 Hz Serial device name. Default value SERIAL_DEVICE /dev/ttyAMA3 depends on the SkyHub generation Transmitted pulse length for high TXLENGTH_HIGH_US acoustic frequency, microsecond Transmitted pulse length for low TXLENGTH_LOW_US acoustic frequency, microsecond Copyright ©...
Page 94 Amplifying gain for low acoustic GAIN_LOW_DB frequency, dB Data filtering by tilt. The data are not MAX_SENSOR_ANGLE_DEG recorded if the sensor tilt value is greater than the specified value, degree. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 95 ECHOSOUNDER mode. Only fixed ranges are available: 100000, 50000, 25000, 12500, 6250 Hz Serial device name. Default value SERIAL_DEVICE /dev/ttyAMA3 depends on the SkyHub generation Transmitted pulse length for high TXLENGTH_HIGH_US acoustic frequency, microsecond Transmitted pulse length for low TXLENGTH_LOW_US acoustic frequency, microsecond Copyright ©...
Page 96 Pergam Laser Falcon board and can be sent upon request. The stored information is updated every 500 ms. The FREQUENCY_HZ parameter only sets the frequency of requests from SkyHub to the Pergam Laser Falcon, while the Pergam Laser Falcon continues to work according to its scheme.
Page 97 Drop Messenger Configuration SkyHub User Manual Drop Messenger Configuration Table 7.23 — Pergam Laser Falcon settings Parameter Default Value Description [DROP_MESSENGER] Flip payload power for time to release POWER_CYCLE_S holder, sec. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 98 MAX_WIND_SPEED_MPS Max wind speed value, m MIN_WIND_SPEED_MPS Min wind speed value, m Generate additional log file with raw RAW_LOG false data Value ID used with CPM to distinguish PAYLOAD_ID values Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 99 /dev/ttyAMA3 UART serial device. Ignore side sectors during distance to IGNORE_SIDE_SECTORS false obstacle definition RAW_LOG false Generate additional log with raw data. Payload ID used for values selection in PAYLOAD_ID Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 100 Payload ID to show in Custom PAYLOAD_ID Payload Monitor widget. Samples rate in ms between SENSOR_DATA_RATE_MS samples. Minimal recommended value is 4 ms Serial device name. Default value SERIAL_DEVICE /dev/ttyAMA3 depends on the SkyHub generation Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 101 Magnetometer Configuration SkyHub User Manual Parameter Default Value Description By default value is empty. Slave SERIAL_DEVICE_S MagNIMBUS serial device name Turn On or OFF vector mode of VECTOR_MODE data reading. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 102 Default Value Description BAUD_RATE 38400 UART baud rate, bps Serial device name. Default value SERIAL_DEVICE /dev/ttyAMA3 depends on the SkyHub generation Payload ID to show in Custom PAYLOAD_ID Payload Monitor widget. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 103 Payload ID to display value on the PAYLOAD_ID UgCS-CPM widget SERIAL_DEVICE /dev/ttyAMA3 TIME_FORMAT HH:mm:ss.zzz Time format in Position Log Important: GPS Receiver loads settings from separate config file. See details in GPS Receiver Setup. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 104 Table 7.29 — GPS Output settings Parameter Default Value Description [ROS_MONITOR_GNSSOUT_0] UART serial device. Default value SERIAL_DEVICE /dev/ttyAMA4: depends on the SkyHub generation BAUD_RATE 115200 UART baud rate, bps List of message to be generated. This module implements only RMC,GGA and MESSAGES RMC GGA ZDA ZDA message types.
Page 105 Guidelines for navigation values choosing Skyhub provides a number of parameters that allow you to adjust the flight algorithms. This section provides a description of the expected impact of the provided parameters, but the specific values a re entirely dependent on the user’s task and the actual conditions: wind speed, altitude, acceptable accuracy and required speed.
Page 106 (Bzz - bzzz - bzzz…). If the value is small, then the speed changes sluggishly and the obstacles avoiding can be very smooth and with a noticeable delay. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 107 The influence of the parameter increases with flight altitude increasing. At low altitudes, the difference lies within the altitude hold error. Note: Please, contact our support team if additional informantion is required. Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...
Page 108 All other trademarks and registered trademarks mentioned in this document are the property of their respective owners. Document License Document contents are licensed under Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0). Latest documentation is available on integrated.ugcs.com integrated.ugcs.com ugcs@ugcs.com www.ugcs.com Copyright © 2019—2025, SPH Engineering Revision 14 • December 2024...