SPH Engineering SkyHub User Manual page 105

Guidelines for navigation values
choosing
Parameter
LOGS_LEVEL
LOGS_PATH
ROS_ENV
SDK_PATH
MODULES_PATH
PAYLOADS_PATH
GROUND_LOG_M
S
UI_MESSAGES
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.
HORIZONTAL_ACCEL_MSS parameter
If the drone is heavy and it is important to maintain smoothness during acceleration and
deceleration, it is better to set a value not exceeding 1 m/s2 at the waypoints. At the same
time, long acceleration and deceleration can increase the total flight time, which will
negatively affect the work productivity. The maximum value is 10 m/s2, but there is a
possibility to run into the limitations of the autopilot/drone, as it may not be able to provide
the specified speed and acceleration. That is, the target point will move ahead of the current
position and the drone will have to catch up with it, exceeding the specified speed on the
route. This is also true for stopping at a point: the drone can fly over it (overshoot).
Copyright © 2019—2025, SPH Engineering
Default Value
info
/tmp
/opt/ugcs/ros/galactic
/opt/ugcs/skyhub-ros
/var/skyhub/modules
/etc/skyhub/payloads.conf
100
default
Description
Detail level of log messages: INFO,
ERROR, WARN, DEBUG
Where to create internal logs
Where to look for installed ROS
framework
Where to look for installed Skyhub SDK
Where to look for ROS packages for
payloads
Path for file with ROS modules
metadata
Threshold interval to send message to
CPM
Which messages send to CPM UI. "all"
or "important" only or "default" for all
except unimportant
105
SkyHub User Manual
Revision 14 • December 2024