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Industrial Solutions

SkyHubUser Manual

industrial.ugcs.comSeptember 2020 Revision 4

Revision History

Revision Date Description

4 05.11.2020 • Added the True Terrain Following v2.0 settings• Added the resuming and pausing TTF from UgCS-CPM

description• Added the Geonics EM-61 metal detector description• Added the IGNORE_ERRORS to common altimeter settings• Added the SEG-Y Postprocessing Tool description• 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

3 03.09.2020 • Added the ArduPilot connection description• Added the Grasshopper Mode• Added the firmware uninstalling description• Added the payload plugin start delay description• Added the Lighware SF11/C laser altimeter description• Changed default Payload and Autopilot plugins loading

settings to false• Updated the RadSys Zond description related to the new

Lite version• Updated the desktop application using description• Updated the configuration description

2 29.05.2020 • Added the Gas detector kit description• Added the Echosounder kit description• Fixed typos

1 20.04.2020 • Initial release

SkyHub User Manual

Copyright © 2019—2020, SPH Engineering 2 Revision 4 • September 2020

Table of Contents

51 • Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Features

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Applications

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Kits

72 • SkyHub Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Overview

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Specifications

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Connectors

133 • True Terrain Following Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Radar Altimeter: Nanoradar NRA24

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Laser Altimeter: Attollo WASP-200

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Laser Altimeter: Lightware SF11/C

164 • Ground-Penetrating Radar Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Low Frequency GPR: Radarteam Cobra

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17High Frequency GPR: RadSys Zond

185 • Echosounder Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Echologger ECT400 Echosounder

196 • Gas Detector Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Gas Detector: Pergam Falcon

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Gas Detector: Pergam LMm

217 • Metal Detector Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Metal Detector: Geonics EM-61

238 • Assembling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23DJI M600 / M600 Pro

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26DJI M210 / M210 V2

329 • Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Prerequisites

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Setup the SkyHub Device

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Setup the Mobile Application

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Setup Interface to DJI Autopilot

SkyHub User Manual


. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Setup Interface to ArduPilot

4310 • Payloads Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Altimeter Setup

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Ground-Penetrating Radar Setup

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Echosounder Setup

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Gas Detector Setup

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Metal Detector Setup

5411 • Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54True Terrain Following

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Grasshopper Mode (beta)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59About Log Files

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Log Files Management

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62SEG-Y Postprocessing Tool

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Update Firmware

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Uninstall Firmware

6712 • Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67SkyHub Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70Autopilot Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Flight Control Mode Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Altimeter Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76GPR Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Echosounder Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Gas Detector Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Metal Detector Configuration

8313 • Legal Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Disclaimer

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Trademarks

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Document License

SkyHub User Manual


1 • Description

The SkyHub solution is a hardware and software set designed to enhance UAV capabilities forindustrial purposes.

SkyHub solution functions:

• Getting data from an external payload• Getting flight parameters from a flight controller• Data converting and recording in a format convenient for processing and analysis• Implementing custom flight control algorithms• Extended UAV diagnostics

Features• Fully isolated and ESD-protected

external interfaces• Reliable and convenient connectors

with lock, ideal for airborne applications• 12 V power output with switch-off

function for payload connecting

• 3× UART / 1x RS-232 / 1× I²C / Ethernet/ Wi-Fi / Bluetooth interfaces (dependson the SkyHub edition, see Kits)

• Protection against input power’sinverse polarity

• Extended operating temperature rangefrom −25°C to +85°C

Applications• Custom payload integration with drone• Advanced UAV flight control scenarios

• Using drones in an adverseenvironment

1 • Description SkyHub User Manual


DJI GNSSReceiver

DJI FlightController

DJI AirDownlink

DJI C

AN B

us

API Port UART

Laser / RadioAltimeter

I²C / UART

Onboard Software(UgCS SkyHub)

PayloadDataLog

DronePosition

Log

SystemLog

Payload Payload

Ethernet Bluetooth / Wi-Fi

DJI OnboardSDK

UgCS SkyHub

Drone

Ground

DJI RemoteController

Radio Link

UgCS for DJI Mobile Application

Mobile Device

Laptop

Wi-Fi / Bluetooth

UgCSClient

UgCSUCS

CustomPayloadMonitor

Wi-Fi

USB

UART / RS-232

Figure 1.1 — Interaction diagram

KitsSPH Engineering provides various kits for different usage scenarios:

• True Terrain Following (TTF) kit• Ground Penetrating Radar (GPR) kit (includes TTF kit)• Gas Detector kit (with or without TTF kit)• Echosounder kit (includes TTF kit)

Any kit provided includes the SkyHub device, cables, and related software.

One may extend the SkyHub solution capabilities by adding custom payloads using SkyHubSDK. Find more details here: https://github.com/ugcs/skyhub-sdk

The SkyHub device has several editions allowing to connect different payloads:

• 3× UART edition• 2× UART / 1× I²C edition• 2× UART / 1× RS-232 edition

Also, one UART / RS-232 can provide either 5 V or 12 V voltage up to 1 A for the payloadpowering.

Kits SkyHub User Manual


https://github.com/ugcs/skyhub-sdk

2 • SkyHub Device

OverviewThe main device elements are illustrated below.

1 5432

1 Ethernet connector

Communicates with Ethernet-basedpayloads (see Ethernet)

2 Antenna connector

For connecting Wi-Fi/Bluetoothantenna or antenna cable (seeAntenna)

3 12V LED (red)

Indicates the presence of 12V poweroutput

4 12V power output

Feeds the payload (see 12V PowerOutput)

5 Power input

Main power input (see Power Input)

54 1086

97 6 UART2 / RS-232 / I²C combined

Depends on the edition selected (seeUART2 / RS-232 / I²C)

7 Core power LED (green)

Indicates the presence of core power

8 UART1

Communicates with UART-basedpayloads (see UART1)

9 Power LED (green)

Indicates the presence of inputpower

10 UART0

Communicates with the flightcontroller (see UART0)

2 • SkyHub Device SkyHub User Manual


SpecificationsGeneral

Compatible drones• DJI M210 / M210 V2• DJI M600 / M600 Pro• Custom frames based on DJI A3 flight controller

Temperature range −25°C to +85°C

Power input 15 V to 36 V, 3 W without payload, up to 15 W with payload

Power output 12 V, up to 1 A

Computational Core

System-on-Module Digi ConnectCore 6UL

CPU NXP i.MX6UL

CPU frequency up to 528 MHz

RAM 256 Mbytes

Flash 256 Mbytes

MicroSD 32 Gbytes, industrial grade

OS Yocto Project Linux

Interfaces

UART up to 3 (depends on the edition selected)

RS-232 up to 1 (depends on the edition selected)

I²C up to 1 (depends on the edition selected)

Wi-Fi Dual-band 802.11ac

Bluetooth 4.2 with BLE support

Ethernet 10/100 Mbit

Mechanical

Dimensions (L × W × H) 109 × 69 × 34 mm

Weight 245 g with mountings

Specifications SkyHub User Manual


Mechanical

TTF kit total weight 413 g

ConnectorsPower Input

• Mating connector on the cable side: Amass XT30U-F• Voltage range: 15 V to 36 V• Protected against reverse polarity

12

Pinout (device side)

Pin Name Description

1 +V Power supply voltage

2 GND Power supply ground

12V Power Output• Mating connector on the cable side: Amass XT30U-M• Voltage: 12 V ± 1%• Current: up to 1 A

1 2



1 +12V Power output voltage

2 GND Power output ground

UART0Dedicated to communicating with the flight controller.

• Mating connector on the cable side: Lemo FGG.0B.303• Logic level: 3.3 V• Serial device path: /dev/ttymxc3• Isolated from the CPU• ESD-protected

Connectors SkyHub User Manual


1

2 3



1 UART0_TX UART0 transmit line

2 UART0_RX UART0 receive line

3 GND Ground

UART1Dedicated to communicating with the payload equipped with the UART interface.


12

3 4

5



1 +5V 5 V output voltage

2 +3V3 3.3 V output voltage



5 GND Ground

UART2 / RS-232 / I²CThe function of this connector depends on the selected edition while ordering. Also, one maychoose the power output voltage of either 5 V or 12 V.

Attention! Only one particular interface is available after the purchase and it can’t bechanged.



UART2Dedicated to communicating with the payload equipped with the UART interface.


1

2 3

4



1 +5V or +12V 5 V / 12 V output voltage up to 1 A(depends on the edition)



4 GND Ground

RS-232Dedicated to communicating with the payload equipped with the RS-232 interface.

• Mating connector on the cable side: Lemo FGG.0B.304• Logic level (typical): −5.4 V to +5.4 V• Serial device path: /dev/ttymxc1• Isolated from the CPU• ESD-protected

1

2 3

4



1 +5V or +12V 5 V / 12 V output voltage up to 1 A(depends on the edition)

2 RS232_RX RS-232 receive line

3 RS232_TX RS-232 transmit line

4 GND Ground



I²CDedicated to communicating with the payload equipped with the I²C interface.

• Mating connector on the cable side: Lemo FGG.0B.304• Logic level: 3.3 V• Isolated from the CPU• ESD-protected

1

2 3

4



1 +5V 5 V output voltage

2 SDA I²C data line

3 SCL I²C clock line

4 GND Ground

EthernetDedicated to communicating with the payload equipped with the Ethernet interface.

• Mating connector on the cable side: RJ-45• Bitrate: 10/100 Mbit

Antenna• Mating connector on the cable side: Reverse-Polarity (RP) SMA Male• Frequency: combined 2.4 and 5 GHz



3 • True Terrain Following Kit

The True Terrain Following (TTF) enables the drone (UAV) to accurately follow the terrainduring the flight, based on data received from the laser or radar altimeter. True TerrainFollowing enables the drone to fly at low and constant AGL altitudes (up to 1 meter) without aneed to import precise Digital Elevation Model (DEM) height-map into UgCS.

Components:

• SkyHub device• Laser altimeter: Attollo WASP-200, Lightware SF11/C, or• Radar altimeter: Nanoradar NRA24• Mounting kit, cables

Radar Altimeter: Nanoradar NRA24Nanoradar NRA24 is the compact K-band radar altimeter. It adopts 24GHz-ISM frequencyband with the advantages of 2 cm measuring accuracy, small size, high sensitivity,lightweight, and stable performance.

Figure 3.1 — Nanoradar NRA24 altimeter

Specifications

Interface UART

Effective measurementrange 0.1 m to 30 m

Measuring accuracy 2 cm

Power input 5 V to 20 V, 1.5 W


Weight 168 g with mountings

3 • True Terrain Following Kit SkyHub User Manual


Laser Altimeter: Attollo WASP-200Attollo WASP-200 is the ultra-compact laser rangefinder device. It is capable to measure thedistance quickly and accurately and supports range update rates of up to 56ranges-per-second with improved accuracy at lower repetition rates with a variety of filteringand averaging features.

Figure 3.2 — Attollo WASP-200 altimeter

Specifications

Interface UART

Effective measurementrange 0.2 m to 125 m

Measuring accuracy < 10 cm

Power input 5 V to 16 V, < 75 mA


Weight 30 g

Laser Altimeter: Attollo WASP-200 SkyHub User Manual


Laser Altimeter: Lightware SF11/CLightWare SF11/C LIDAR Range Sensor is a compact, lightweight altimeter forabove-ground-level measurement. It supports range update rates of 20 ranges-per-second,includes serial, I²C and USB interfaces.

Figure 3.3 — Lightware SF11/C altimeter

Specifications

Interface I²C, UART, USB

Effective measurementrange 0 m to 120 m

Measuring accuracy ± 10 cm

Power input 5 V, < 200 mA

Temperature range 0°C to +40°C

Weight 35 g

Laser Altimeter: Lightware SF11/C SkyHub User Manual


4 • Ground-Penetrating Radar Kit

Ground-penetrating radar (GPR) kit aims to locate underground objects, explore soil layers, forbathymetry purposes.

Components:

• SkyHub device with True Terrain Following Kit• Low frequency or high frequency GPR• Cables

Low Frequency GPR: Radarteam CobraLow frequency GPR is more appropriate for detecting large objects, soil profiling, bathymetry.It is characterized by larger penetrating depth and larger detectable object dimensions.

Figure 4.1 — Low frequency GPR

Specifications

Center frequency 80 MHz 124 MHz

Frequency range 20 MHz to 140 MHz 20 MHz to 280 MHz

Bandwidth 120 MHz 260 MHz

Dimensions (L × W × H) 139 × 15 × 21 cm 92 × 22 × 22 cm

Weight 4.9 kg 4.6 kg

4 • Ground-Penetrating Radar Kit SkyHub User Manual


High Frequency GPR: RadSys ZondHigh frequency GPR it characterized by increased resolution allowing to detect smallerobjects. Also, it is more compact and lightweight. The drawback is lower penetrating depth.High frequency GPR is ideal for small object detection, surface layer soil profiling.

Figure 4.2 — High Frequency GPR

Specifications

Center frequency 1000 MHz 500 MHz

Frequency range 600 MHz to 1300 MHz 200 MHz to 900 MHz

Bandwidth 700 MHz 800 MHz

Dimensions (L × W × H) 41 × 31 × 18 cm 41 × 31 × 18 cm

Weight 3.2 kg 3.2 kg

High Frequency GPR: RadSys Zond SkyHub User Manual


5 • Echosounder Kit

Echosounder kit is designed for bathymetric purposes, detection of underwater objects.

Components:

• SkyHub device with True Terrain Following Kit• Echosounder Echologger ECT400 with load• Mounting kit and cable

Echologger ECT400 EchosounderEchologger ECT400 is one of the smallest and lightest precision echosounders capable ofmeasuring both accurate backscatter and depth data.

Figure 5.1 — Echologger ECT400 with load, mounting kit, and cable

Specifications

Interface RS-232

Effective measurement range 0.15 m to 100 m

Measuring accuracy > 7.5 mm

Power input 8 V to 75 V, 2 W


Sensor weight 270 g

Total kit weight 2500 g

5 • Echosounder Kit SkyHub User Manual


6 • Gas Detector Kit

Gas detecor kit aims to detecting methane gas leaks from a distance. Applications are gasline and tank inspections, landfill emission monitoring, and surveys in difficult to accessareas.

Components:

• SkyHub device with or without True Terrain Following Kit• Gas detector: Pergam Falcon or Pergam LMm• Mounting kit and cable

Gas Detector: Pergam FalconLaser Falcon is a laser-type methane gas detector. Weight of the product allows airbornemethane monitoring.

Figure 6.1 — Pergam Falcon

Specifications

Interface USB

Effective measurementrange 1 ppm×m to 50000 ppm×m

Measuring accuracy ±10%

Detection distance 0.5 m to 100 m

Power input 5 V to 18 V


Weight 230 g

6 • Gas Detector Kit SkyHub User Manual


Gas Detector: Pergam LMmThe LMm (Laser Methane mini) is designed to remotely detect methane, as well as other gasmixtures containing methane (natural gas or similar gases). It allows to quickly and safely findthe point of gas leakage by pointing the laser beam at the studied area.

Figure 6.2 — Pergam LMm

Specifications

Interface UART

Effective measurementrange 1 ppm×m to 50000 ppm×m

Measuring accuracy ±10%

Detection distance 0.5 m to 30 m

Power supply Battery pack

Battery life per charge 5 h


Weight 600 g (including battery unit)

Gas Detector: Pergam LMm SkyHub User Manual


7 • Metal Detector Kit

Metal detector kit aims to locate underground metal objects, for geo-research purposes.

Components:

• SkyHub device with or without True Terrain Following Kit• Metal detector: Geonics EM-61• Mounting kit and cable

Metal Detector: Geonics EM-61Geonics EM-61 Metal Detector is high power, high sensitivity metal detector suitable forapplications in the detection of both ferrous and non-ferrous metal. Insensitive to commonsources of both geologic and cultural noise, the metal detector can be operated withoutcompromise to data quality in most survey environments.

Figure 7.1 — Geonics EM-61

Specifications

Interface RS232, USB (USB-RS232 adapter required)

Power input 12 V

Detection depth 5 m

Device dimensions (L × Wx H) 14 x 28 x 9 cm

Antenna dimensions (L ×W) 105 x 54 cm

Weight 6 kg with mountings and antenna

7 • Metal Detector Kit SkyHub User Manual


Specifications


7 • Metal Detector Kit SkyHub User Manual


8 • Assembling

Assembling instructions differ depending on the drone used:

• DJI M600 / M600 Pro• DJI M210 / M210 V2

DJI M600 / M600 ProSkyHub Device

1. Stick a velcro to the SkyHub’s top side.

Figure 8.1 — Velcro on the top side of the SkyHub

2. Stick the second part of the velcro to the bottom side of the drone.

8 • Assembling SkyHub User Manual


Figure 8.2 — Velcro on the bottom side of the drone

3. Mount the SkyHub onto the drone and connect the cables.

4. Connect the SkyHub to the drone’s power outlet (DC-18V) using included power cable.

Attention! Do not connect any payload to this connector unless you are sure about thepayload’s power voltage range.



Figure 8.3 — Connecting the SkyHub to power

5. Connect the SkyHub to the flight controller’s API port using included interface cable.Pay attention to the correct connector orientation (left pin should be empty as on thephoto).

Figure 8.4 — Connecting the SkyHub to the flight controller

6. The mounted SkyHub with connected cables is shown on the Figure 8.5.

Figure 8.5 — The SkyHub mounted onto the M600 drone



DJI M210 / M210 V2SkyHub Device

1. Unscrew the original cable cover using a 1.5 hex driver. The screws will be used to fixthe customized cable cover in place.

Figure 8.6 — M210 TTF kit

2. Snap the SkyHub on the right leg of the drone.

Figure 8.7 — SkyHub on the M210 leg

DJI M210 / M210 V2 SkyHub User Manual


3. Open the leg brace, slide the SkyHub up and close the leg brace. Check that theretaining tab is fixed by the leg brace and the brace is closed completely.

Figure 8.8 — M210 leg brace

4. Snap the wire assembly onto the rear right propeller arm. Ensure that the gray SkyHubconnectors are on the SkyHub side.

Figure 8.9 — Wire assembly

5. Put the 3-pin rectangular connector through the hole in the cable cover. Pushing it inas far as it goes will make it easier to plug the connector into the drone.



Figure 8.10 — 3-pin rectangular connector to be plugged into the drone

6. Plug the connector into the drone. The white stripe is on the top.

Figure 8.11 — 3-pin rectangular connector plugged into the drone

7. Push the cable cover over the connector making sure that the connector is fullyseated.



Figure 8.12 — M210 cable cover to be pushed

8. Push the cable cover fully into place. Screw the cable cover to the drone using thescrews from the original.

Figure 8.13 — M210 cable cover installed

9. Make the connections to the SkyHub. Attention! The data connectors have a differentnumber of pins. Be sure to use the appropriate connectors and to line up the red dots.



Figure 8.14 — SkyHub installed and connected

10. Plug the power cable into the drone.

Figure 8.15 — Power cable connected to the M210

11. The installation is complete. The end result is shown on the Figure 8.16



Figure 8.16 — The SkyHub mounted onto the M210 drone



9 • Preparation

PrerequisitesRequired desktop software:

• DJI Assistant 2 for Autopilot or DJI Assistant 2 for Matrice• UgCS v3.7 or higher (referred below as UgCS)• UgCS Custom Payload Monitor v3.11.0 or higher (referred below as UgCS-CPM)• Putty SSH Client• WinSCP

Required mobile software:

• For DJI A3 / M600 / M600 Pro: DJI GO• For DJI M210 / M210 V2: DJI Pilot• UgCS for DJI v2.23 or higher (referred below as UgCS for DJI)

Connect to SkyHub Using Wi-FiImportant: It is strongly recommended to switch off DJI Remote Controller before anyoperations 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)• Passphrase: 12341234

One may connect to the SkyHub via SSH protocol (e.g. using PuTTY or WinSCP).

• IP address: 10.1.0.1• Port: 22• Username: root• Password:

Connect to SkyHub Using EthernetParameters for wired connection are:

• IP address: 192.168.0.33• Port: 22• Username: root• Password:

9 • Preparation SkyHub User Manual


https://www.dji.com/a3/info#downloadshttps://www.dji.com/matrice-200-series/info#downloadshttps://www.ugcs.com/downloadhttps://industrial.ugcs.com/dl/s/ugcs-cpm-windowshttps://www.chiark.greenend.org.uk/~sgtatham/putty/latest.htmlhttps://winscp.net/eng/download.phphttps://play.google.com/store/apps/details?id=dji.pilothttps://play.google.com/store/apps/details?id=com.dji.industry.pilothttps://www.ugcs.com/direct-download-ugcs-for-dji

SkyHub runs DHCP service onboard, therefore, the PC’s IP address will be assignedautomatically after connection.

Access to Onboard File SystemOne may use any SCP client to access the SkyHub file system. For example, one may useWinSCP.

Figure 9.1 — WinSCP settings

While pressing the Login button one may choose between login via SCP (to have access to thefile system) or opening with PuTTY (for SSH access).

• Home directory for root user: /home/root/• MicroSD root: /run/media/mmcblk1p1/• Configuration file: /etc/skyhub/skyhub.conf• Logs directory: /run/media/mmcblk1p1/skyhub_logs/

9 • Preparation SkyHub User Manual


Setup the SkyHub DeviceIn order to configure the SkyHub software one should edit skyhub.conf file located in/etc/skyhub/ directory. This configuration file has a widely used INI like file format. Thedefault configuration file created automatically if the configuration file doesn’t exist.

The first step is to enable the only used autopilot and disable others. Go to [AUTOPILOTS]sections and set the corresponding field to true. For example, when using the solution withDJI drones:

[AUTOPILOTS]DJI=true

The second important step is to configure used autopilot and payloads. For example, DJIautopilot related parameters are collected within the [DJI] section:

[DJI]APP_ID=1071019APP_KEY=42873781474d507ebf72353187ea0af50cbd926b3b790e6cf0cdf8292330b25dBAUD_RATE=230400RESPONSE_TIMEOUT_S=1SENDING_PERIOD_MS=20SERIAL_DEVICE=/dev/ttymxc3

Within [PAYLOADS] section set to true for the only used payloads and false for theunused ones. For example, when using the high frequency GPR with the radar altimeter:

[PAYLOADS]ATTOLLO_WASP=falseECHOLOGGER_ECT=falseNANORADAR_NRA=truePERGAM_LMM=falseRADARTEAM_COBRA=falseRADSYS_ZOND=true

Enable the one requiered flight algorithm. The default configuraton is:

[ALGORITHMS]GRASSHOPPER=trueTERRAIN_FOLLOWING=true

Only one flight algorithm can be used during one flight. This is determined at the missionsettings step in the UgCS Client and UgCS-CPM. If the algorithm is not used, it isrecommended to set false to disabling unused algorithms.

TTF and GH settings are collected within the [TF] or [GH] section. Most of the parametersare to be kept with default values while getting started.

Setup the SkyHub Device SkyHub User Manual


One may choose the altitude source for the flight algorithm. The AUTOPILOT value is usefulwhen trying to run algorithm in simulator mode:

[TF]ALTITUDE_SOURCE=AUTOPILOT[GH]ALTITUDE_SOURCE=AUTOPILOT

Do not forget to restore the ALTIMETER value before the real flight:

[TF]ALTITUDE_SOURCE=ALTIMETER[GH]ALTITUDE_SOURCE=ALTIMETER

For a more detailed description of the configuration file, see Configuration Parameters.

Setup the Mobile ApplicationOne should enable custom payload support in the UgCS for DJI mobile application. Afterstarting the application go to Menu > Drone Specific Settings and enable the correspondingcheckbox.

Figure 9.2 — Enable Custom Payload checkbox

Setup the Mobile Application SkyHub User Manual


Setup Interface to DJI AutopilotTo allow the SkyHub to connect to the DJI autopilot, one should activate and setup theOnboard SDK for its device. The following steps are described for the DJI A3 flight controllerbut may be applied to another DJI product with a minor difference.

Option 1: Using Default Credentials (Recommended)It is recommended to use default credentials provided with the software pack:

• Login: [email protected]• Password: request when ordering the kit

1. Connect the DJI flight controller to the PC, run the DJI Assistant 2, and press the Loginbutton.

Figure 9.3 — DJI Assistant 2 start window

2. Enter the credentials mentioned above and press Sign in.

Setup Interface to DJI Autopilot SkyHub User Manual


Figure 9.4 — DJI Assistant 2 login window

3. Switch on the drone, wait for the device to appear, open the main window, thenchoose the SDK tab and check Enable API Control and Ground Station Statuscheckboxes.

Figure 9.5 — Enable API control in DJI Assistant 2



4. When available: Choose the Basic Settings > Remote Controller tab, check the EnableMultiple Flight Mode checkbox, and configure the flight mode switch to be in P-modefor left and right positions while being in A-mode for the middle position.

Figure 9.6 — Enable API control in DJI Assistant 2

5. An alternative way to activate the Multiple Flight Mode is to go to the DJI GO app >Camera View > > Enable Multiple Flight Mode.

6. Switch on the DJI Remote Controller, run DJI GO (DJI Pilot), choose Me tab, pressLogin button.

7. Enter the credentials mentioned above and press Login.

8. Choose Equipment tab, wait for A3 / M600 / M600 Pro / M210 / M210 V2, then pressCamera button.

Figure 9.7 — DJI GO screens



9. Restart the drone by a power cycle. The SkyHub device should be properly connectedto the flight controller.

10. Wait for the SkyHub firmware loads and starts. The DJI mobile application mayrequest you about additional permissions for the Onboard SDK. Confirm all of themallowing the SkyHub to access the DJI autopilot.

Now the flight controller is ready to be connected via Onboard SDK. Default DJI App ID andKey are used.

Important: The DJI flight controller may not activate from the first attempt. If there is noconnection with flight controller after full system setup, try to repeat steps from 8 to 10several times with the drone power cycling.

Option 2: Using User’s CredentialsOtherwise, one may use his credentials while the DJI flight controller activating. In this case,follow the steps described below.

1. Create an account on https://developer.dji.com/ then enter to Apps tab in thedeveloper area.

2. Choose ONBOARD SDK and press CREATE APP.

Figure 9.8 — DJI Developer area

3. Enter corresponding information and press CREATE.



https://developer.dji.com/

Figure 9.9 — Create app

4. Follow steps from received activation email.

5. Return to the DJI Developer area and open app details. Remember APP ID and AppKey values.

Figure 9.10 — Getting App ID and Key from App Information

6. Write these values to corresponding configuration fields in skyhub.conf (APP_IDand APP_KEY accordingly in [DJI] section) as described in Setup the SkyHubDevice. Do not forget to restart the SkyHub after changing parameters.

7. Follow the steps from 1 to 9 from the previous section but using own DJI credentials.



Important: The DJI flight controller may not activate from the first attempt. If there is noconnection with flight controller after full system setup, try to repeat steps from 7 to 9 fromthe previous section several times with the drone power cycling.



Setup Interface to ArduPilotSkyHub can be connected to the flight controller flashed with the ArduPilot firmware.

1. Check UgCS version. Make sure you have the UgCS version 3.7.167 or higher(download links can be found in Prerequisites section).

2. Ardupilot VSM configuration. Open vsm-ardupilot.conf in text editor. Find anduncomment the following settings:

mavlink.vsm_system_id = 255mavlink.protocol_version = 2vehicle.ardupilot.custom_payload.enable = yesvehicle.ardupilot.custom_payload.onboard.system_id = 2vehicle.ardupilot.custom_payload.onboard.component_id = 5vehicle.ardupilot.custom_payload.onboard.network = 0

3. ArduPilot configuration. ArduPilot must have one of its telemetry ports configured tosupport MAVLink2 protocol and with the baud rate equal to the one defined in SkyHubBAUD_RATE property in [MAV] section:

[AUTOPILOTS]MAVPILOT=true[MAV]SERIAL_PROTOCOL=2SERIAL_BAUD=57600

4. Match configured values with the SkyHub configuration file accordingly:COMPONENT_ID, SYSTEM_ID, BAUD_RATE (see ArduPilot Configuration section formore detail).

5. NRA24 configuration. To connect altimeter directly to the autopilot and use theproprietary flight algorithm is needed to set the following fields in the ArduPilotconfiguration:

RNGFND1_TYPE,11SERIAL4_BAUD,115SERIAL4_PROTOCOL,9

Setup Interface to ArduPilot SkyHub User Manual


10 • Payloads Setup

Choose the usage scenario below:

• Altimeter Setup• Nanoradar NRA24 Altimeter Setup• Attollo WASP-200 Altimeter Setup• Lightware SF11/C Altimeter Setup

• Ground-Penetrating Radar Setup• Low Frequency GPR Setup• High Frequency GPR Setup

• Echosounder Setup• Echologger ECT400 Setup

• Gas Detector Setup• Pergam Falcon Setup• Pergam LMm Setup

Altimeter SetupThere are common altimeter settings in the [ALTIMETER] section. Check whether minimumand maximum values correspond to your needs:

[ALTIMETER]MIN_ALTITUDE_M=0.5MAX_ALTITUDE_M=20

These values are used to bound valid drone altitude values. When the drone flies out of thelimits, the operator will be notified. Also, while flying in TF mode, descending belowMIN_ALTITUDE_M or ascending above MAX_ALTITUDE_M make the drone hover and go tothe safe altitude.

Another parameter to be set is the sensor’s zero-level above ground when the drone stands atthe surface:

[ALTIMETER]ZERO_LEVEL_M=0.4

The ZERO_LEVEL_M value will be subtracted from the distance reported by the rangefinderresulting in the true drone’s altitude above ground level.

10 • Payloads Setup SkyHub User Manual


Nanoradar NRA24 Altimeter Setup

1. Set NANORADAR_NRA item to true in [PAYLOADS] section:

[PAYLOADS]NANORADAR_NRA=true

2. Choose the appropriate SERIAL_DEVICE in the [NANORADAR_NRA] sectiondepending on which connector it is connected to. Set it to /dev/ttymxc5 whenconnecting to the 5-pin Lemo connector (see UART1) or to /dev/ttymxc1 whenconnecting to the 4-pin Lemo connector (see UART2):

[NANORADAR_NRA]SERIAL_DEVICE=/dev/ttymxc5 ; UART1 (5-pin Lemo); orSERIAL_DEVICE=/dev/ttymxc1 ; UART2 (4-pin Lemo)

Important: Nanoradar NRA24 radar altimeter doesn’t detect any reflection from the groundwhen there is no motion due to technological limitations. Therefore, it starts to measure thealtitude only after takeoff. Move the drone by hands before a flight to be sure the altimeteroperates well.

See the Nanoradar NRA24 Altimeter Configuration section to find all available settings withdefault values and descriptions.

Attollo WASP-200 Altimeter Setup

1. Set ATTOLLO_WASP item to true in [PAYLOADS] section:

[PAYLOADS]ATTOLLO_WASP=true

2. Choose the appropriate SERIAL_DEVICE in the [ATTOLLO_WASP] sectiondepending on which connector it is connected to. Set it to /dev/ttymxc5 whenconnecting to the 5-pin Lemo connector (see UART1) or to /dev/ttymxc1 whenconnecting to the 4-pin Lemo connector (see UART2):

[ATTOLLO_WASP]SERIAL_DEVICE=/dev/ttymxc5 ; UART1 (5-pin Lemo); orSERIAL_DEVICE=/dev/ttymxc1 ; UART2 (4-pin Lemo)



See Attollo WASP-200 Altimeter Configuration to find all available settings with default valuesand descriptions.

Lightware SF11/C Altimeter Setup

1. Set LIGHTWARE_SF item to true in [PAYLOADS] section:

[PAYLOADS]LIGHTWARE_SF=true

2. Choose the appropriate CONNECTION_TYPE in the [LIGHTWARE_SF] sectiondepending on which SkyHub connectors it is used to. Set it to I2C when usedconnector configured as an I²C interface or to UART when used connector configuredas an UART interface:

[LIGHTWARE_SF]CONNECTION_TYPE=I2C; orCONNECTION_TYPE=UART

3. Choose the appropriate SERIAL_DEVICE in the [LIGHTWARE_SF] section if theUART connection type has been chosen. Set it to /dev/ttymxc5 when connecting tothe 5-pin Lemo connector (see UART1) or to /dev/ttymxc1 when connecting to the4-pin Lemo connector (see UART2):

[LIGHTWARE_SF]SERIAL_DEVICE=/dev/ttymxc5 ; UART1 (5-pin Lemo); orSERIAL_DEVICE=/dev/ttymxc1 ; UART2 (4-pin Lemo)

See Lightware SF11/C Altimeter Configuration to find all available settings with default valuesand descriptions.



Ground-Penetrating Radar SetupLow Frequency GPR Setup

1. Set RADARTEAM_COBRA item to true in [PAYLOADS] section:

[PAYLOADS]RADARTEAM_COBRA=true

2. Set MODEL and TIME_RANGE parameters in the [RADARTEAM_COBRA] sectionaccording to concrete GPR model used:

[RADARTEAM_COBRA]MODEL=SE-150TIME_RANGE_NS=800

See Low Frequency GPR Configuration to find all available settings with default values anddescriptions.

Ground-Penetrating Radar Setup SkyHub User Manual


High Frequency GPR Setup

1. Every new device is to be calibrated before using. One should find the appropriatevalues of the pulse delay. Connect the GPR to the PC, run the Prism 2 software, andfind the required pulse delay while using the desired mode, time range, sample count.

Figure 10.1 — Prism 2 setup window

2. While using dual-channel GPR model one may choose either single-channel ordual-channel mode by setting the MODE parameter in the [RADSYS_ZOND] section:

[RADSYS_ZOND]MODE=CHANNEL_1 ; Single-channel; orMODE=TWO_CHANNELS ; Dual-channel



3. Set the trace time range, sample count, pulse delay, and filter in the correspondingfields in the [RADSYS_ZOND] section:

[RADSYS_ZOND]FILTER_1=OFFFILTER_2=OFFMODE=TWO_CHANNELSPULSE_DELAY_1=297PULSE_DELAY_2=301SAMPLE_COUNT=256TIME_RANGE_NS_1=300TIME_RANGE_NS_2=300

Note: When using the Lite version of RadSys Zond radar, fields MODE, SAMPLE_COUNT, andTIME_RANGE are ignored.

4. While using dual-channel mode one may setup the antenna offsets in thecorresponding fields:

[RADSYS_ZOND]OFFSET_FORWARD_M_1=0.1 ; 10 cm alongside the heading lineOFFSET_FORWARD_M_2=0.1OFFSET_RIGHT_M_1=0.25 ; 25 cm alongside the traverse lineOFFSET_RIGHT_M_2=-0.25 ; -25 cm alongside the traverse line (left offset)

See High Frequency GPR Configuration to find all available settings with default values anddescriptions.



Echosounder SetupThere are common echosounder settings in the [ECHOSOUNDER] section. Check whetherminimum and maximum values correspond to your needs:

[ECHOSOUNDER]MIN_DEPTH_M=0.5MAX_DEPTH_M=20

These values are used to bound valid echosounder depth values. When the depth value is outof the limits, the operator will be notified.

Another parameter to be set is the length of the echosounder cable:

[ECHOSOUNDER]CABLE_LENGTH_M=0

This parameter is set to zero by default. If set to the value greater than zero, it is used todetermine whether the echo sounder is immersed in water. When the drone altitude becomeslower than the cable length, it means the echosounder is immersed in water.

Also, the cable length parameter is used to find the True Depth value. True Depth is acalculated value of depth from the surface resulting from the echosounder’s value and thecurrent altitude using the specified cable length parameter.

The True Depth value is recorded as a separate column in the position log file andechosounder NMEA log (see About Log Files). Also, this data is sent to the PC application.

Echologger ECT400 Setup

1. Set ECHOLOGGER_ECT item to true in [PAYLOADS] section:

[PAYLOADS]ECHOLOGGER_ECT=true

2. Set the MAX_SENSOR_ANGLE_DEG parameter in the [ECHOLOGGER_ECT] section fordata filtering by echosounder tilt while recording. Set to 90 degrees for disabling.

3. Set the MIN_SENSOR_DEPTH_M parameter in the [ECHOLOGGER_ECT] section fordata filtering by echosounder depth value while recording. Set to zero for disabling:

[ECHOLOGGER_ECT]MAX_SENSOR_ANGLE_DEG=10MIN_SENSOR_DEPTH_M=0.1

Echosounder Setup SkyHub User Manual


4. Set the RANGE_M, DEADZONE_MM parameters in the [ECHOLOGGER_ECT] sectionaccording to the water body to be explored:

[ECHOLOGGER_ECT]DEADZONE_MM=300RANGE_M=10

5. One may choose the output data format for Echologger ECT400. The NMEA value isuseful when only NMEA log file should be recorded. The ECHOSOUNDER mode is usedto record both NMEA and SEG-Y logs:

[ECHOLOGGER_ECT]MODE=NMEA; orMODE=ECHOSOUNDER

Note the data rate in the ECHOSOUNDER mode is significantly lower than in the NMEA one.

Table 10.1 — Maximum data rate against range in NMEA and Echosounder mode

Range NMEA mode Echosounder mode

2 m 10 Hz 4 Hz

10 m 10 Hz 2 Hz

20 m 1 Hz

40 m 5 Hz

80 m 4 Hz 0.5 Hz

100 m 3 Hz 0.4 Hz

See Echologger ECT400 Configuration to find all available settings with default values anddescriptions.

Echosounder Setup SkyHub User Manual


Gas Detector SetupThere are common gas detector settings in the [GAS_DETECTOR] section. Check whetherminimum and maximum values correspond to your needs:

[GAS_DETECTOR]MIN_CONCENTRATION_PPM=0MAX_CONCENTRATION_PPM=1000

These values are used to bound valid gas detector values. When the gas concentration is outof the limits, the operator will be notified.

Another parameter to be set is the sensor’s background value:

[GAS_DETECTOR]ZERO_LEVEL_PPM=0

The ZERO_LEVEL_PPM value will be subtracted from the gas concentration reported by thegas detector resulting in the true gas concentration.

Pergam Falcon Setup

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

See Pergam Falcon Configuration to find all available settings with default values anddescriptions.

Pergam LMm Setup

1. Set PERGAM_LMM item to true in [PAYLOADS] section:

[PAYLOADS]PERGAM_LMM=true

Gas Detector Setup SkyHub User Manual


2. Choose the appropriate SERIAL_DEVICE in the [PERGAM_LMM] section dependingon which connector it is connected to. Set it to /dev/ttymxc5 when connecting tothe 5-pin Lemo connector (see UART1) or to /dev/ttymxc1 when connecting to the4-pin Lemo connector (see UART2):

[PERGAM_LMM]SERIAL_DEVICE=/dev/ttymxc5 ; UART1 (5-pin Lemo); orSERIAL_DEVICE=/dev/ttymxc1 ; UART2 (4-pin Lemo)

See Pergam LMm Configuration to find all available settings with default values anddescriptions.

Gas Detector Setup SkyHub User Manual


Metal Detector SetupThere are common metal detector settings in the [METAL_DETECTOR] section. Checkwhether minimum and maximum values correspond to your needs:

[METAL_DETECTOR]MIN_OUTPUT_VALUE_MV=0MAX_OUTPUT_VALUE_MV=1000

These values are used to bound valid metal detector values. When the output value is out ofthe limits, the operator will be notified.

Geonics EM-61 Setup

1. Set GEONICS_EM_61 item to true in [PAYLOADS] section:

[PAYLOADS]GEONICS_EM_61=true

2. Choose the appropriate SERIAL_DEVICE in the [GEONICS_EM_61] section:

[GEONICS_EM_61]GEONICS_EM_61=/dev/ttyUSB0 ; USB-RS232 connection; orGEONICS_EM_61=/dev/ttymxc1 ; onboard RS232 connection

Important: in current version we recommended to use USB connection with USB-RS232adapter based on CH341 or FTDI FT232RQ.

See Geonics EM-61 Configuration to find all available settings with default values anddescriptions.

Metal Detector Setup SkyHub User Manual


11 • Getting Started

It is strongly recommended to verify any usage scenario using the simulator before startingthe real flight. There is a dedicated simulator mode in the UgCS for DJI mobile application. Goto Menu > Simulator to enable or disable it.

Figure 11.1 — Enable Simulator mode

True Terrain FollowingSimulator Mode

1. Connect to the SkyHub (see Connect to SkyHub Using Wi-Fi or Connect to SkyHubUsing Ethernet) and set the ALTITUDE_SOURCE field in the [TF] section toAUTOPILOT (see True Terrain Following Configuration for additional options).Disconnect from the SkyHub.

2. Start the PC and connect it to the Wi-Fi network. Start the UgCS and plan a mission forthe drone.

3. Turn on the drone, the payload, and SkyHub device.

4. Connect the mobile device to the same Wi-Fi network as the PC. Turn on the DJIRemote Controller. Be sure that the flight mode switch on the remote controller is inthe P-mode. Run the UgCS for DJI mobile application. Wait for the application showsthe main window and connects to the UgCS. UCS connection indicator in the UgCS forDJI should become green.

5. Click Menu, choose Simulator, and enable the Simulator checkbox.

11 • Getting Started SkyHub User Manual


6. Make sure that the drone with a correct profile appears in the UgCS on the PC and alldrone indicators (battery, uplink, downlink, satellites) are green. Select the drone andthe mission.

Figure 11.2 — Good (left) and bad (right) vehicle state in UgCS

7. Start the UgCS-CPM application and connect to the UgCS with default credentials.Check the UgCS, Drone, and SkyHub indicators are green. Add the Terrain Followingwidget and other widgets related to connected payloads by clicking the plus button.

Figure 11.3 — UgCS and UgCS-CPM application open side-by-side

8. Upload the route to the drone. After that, click the Read button in the Terrain Followingwidget (UgCS-CPM), then click Configure and make sure theTerrain Following ENABLED message appears in the UgCS-CPM log window atthe bottom side. If not, toggle the flight mode switch to A-mode and back then tryagain to press the Configure button.

9. Arm the drone using the remote controller then take off at the valid altitude (seeAltimeter Setup for details).

10. Click the Activate button in the Terrain Following widget to activate the terrainfollowing algorithm. Check the drone simulator has started a mission.



11. Make sure the data from connected payloads are displayed in UgCS-CPM. Try tomove the UAV and check the sensors’ response.

12. Land the drone simulator after the mission has been completed and try to downloadlog files (see Log Files Management below). Check the log files for validity.

13. Erase all log files.

14. Restore the SkyHub settings in the [TF] section before the real flight. Set theALTITUDE_SOURCE field back to ALTIMETER. For more details about configurationsettings, see True Terrain Following Configuration.

FlightConfiguration steps to be done before the real flight are similar to ones described above forsimulator mode. Use the checklist below:

1. Make sure the ALTITUDE_SOURCE field in the [TF] section is set to ALTIMETER.

2. Check the altitude limits MIN_ALTITUDE_M and MAX_ALTITUDE_M in the[ALTIMETER] section.

3. Set the ZERO_LEVEL_M value in the [ALTIMETER] section according to the realposition of the altimeter.

4. Make sure the only used payloads are true in the [PAYLOADS] section. Everypayload should be properly configured (see Payloads Setup).

5. Erase old log files if they are not more needed (see Log Files Management below fordetails).

6. Connect both the PC and the mobile device to the same Wi-Fi network.

7. Switch on the drone and the remote controller. Make sure the flight mode switch is inP-mode. Run UgCS, UgCS for DJI, and make sure the drone has a good status inUgCS.

8. Run UgCS-CPM, wait for all indicators become green, and press the Start button.

9. Check the Altimeter widget for it displays the altimeter data. Note that there is no datafrom the radar altimeter until the drone is moving. Gently shake the drone by handuntil the altitude starts to change. Note the altitude limits may be changed in Settings> Altimeter window.

10. Upload the route to the drone using UgCS.

11. Go to the Terrain Following widget, press Read to read current TTF settings.

12. Set the Target Altitude, Safe Altitude, and Speed to desired values.

13. Press the Configure button. Wait for the Terrain Following ENABLED message.

14. If there is no message mentioned above, change the flight mode switch to A-modethen return it back to P-Mode. Repeat steps from 10 to 13 until Terrain Followingbecomes enabled.



15. Take off using the remote controller or from the UgCS and rise up to the appropriatealtitude (see limits from step 2).

16. Press the Activate button in the Terrain Following widget to start the flight interrain-following mode. The alternative way to activate it is to move the flight modeswitch to A-Mode then to F-mode. The alternative way doesn’t support with M210series DJI drones.

17. You may interrupt the flight by moving the flight mode switch to A-Mode then toP-mode. The flight can be resumed by moving the flight mode switch to A-mode thento F-mode. During pause you may manually control the drone, for example fly aroundan obstacle. In this case the drone returns to the nearest point on the route by theshortest way after resumption. Interruption and resumption using the remotecontroller don’t support with M210 series DJI drones. You might use buttons Pauseand Resume in the Terrain Following widget (UgCS-CPM).

18. If the drone descends below the minimum allowed altitude or ascends above themaximum allowed altitude (see step 2), it stops then climbs to increase its altitude tovalue configured at step 12.

19. After the mission has been completed the drone stops at the last waypoint thenclimbs to increase its altitude to value configured at step 12.

20. Move the flight mode switch to P-Mode to take control, then return the drone to thedesired landing position, and land. If the flight has been ended over the desiredlanding point, press the Land button in UgCS.

21. Download log files (see Log Files Management).

Grasshopper Mode (beta)Simulator Mode

1. Connect to the SkyHub (see Connect to SkyHub Using Wi-Fi or Connect to SkyHubUsing Ethernet) and set the ALTITUDE_SOURCE field in the [GH] section toAUTOPILOT (see Grasshopper Mode Configuration (beta) for additional options).Disconnect from the SkyHub

2. Start the PC and connect it to the Wi-Fi network. Start the UgCS and plan a mission forthe drone. The descent points must be set as camera shot action.

3. Turn on the drone, the payload, and SkyHub device. Be sure that the flight modeswitch on the remote controller is in the P-mode.

4. Connect the mobile device to the same Wi-Fi network as the PC. Turn on the DJIRemote Controller. Be sure that the flight mode switch on the remote controller is inthe P-mode. Run the UgCS for DJI mobile application. Wait for the application showsthe main window and connects to the UgCS. UCS connection indicator in the UgCS forDJI should become green.

5. Click Menu, choose Simulator and enable the Simulator checkbox.

Grasshopper Mode (beta) SkyHub User Manual


6. Make sure that the drone with a correct profile appears in the UgCS on the PC and alldrone indicators (battery, uplink, downlink, satellites) are green. Select the drone andthe mission.

7. Start the UgCS-CPM application and connect to the UgCS with default credentials.Check the UgCS, Drone, and SkyHub indicators are green. Add the Grasshopperwidget and other widgets related to connected payloads by clicking the plus button.

8. Upload the route to the drone. The descent points must be set as camera shotaction. After that, click the Read button in the Grasshopper widget (UgCS-CPM), thenclick Configure and make sure the Grasshopper ENABLED message appears in theUgCS-CPM log window at the bottom side. If not, toggle the flight mode switch toA-mode and back then try again to press the Configure button.

9. Make sure the data from connected payloads are displayed in UgCS-CPM andpayloads send data.

10. Run the Auto Mode from UgCS-Client to activate the Grasshopper Mode algorithm.Check the drone simulator has started a mission.

11. Land the drone simulator after the mission has been completed and try to downloadlog files (see Log Files Management below). Check the log files for validity.

12. Erase all log files.

13. Restore the SkyHub settings in the [GH] section before the real flight. Set theALTITUDE_SOURCE field back to ALTIMETER. For more details about configurationsettings, see Grasshopper Mode Configuration (beta).

FlightConfiguration steps to be done before the real flight are similar to ones described above forsimulator mode. Use the checklist below:

1. Make sure the ALTITUDE_SOURCE field in the [GH] section is set to ALTIMETER.

2. Check the altitude limits MIN_ALTITUDE_M and MAX_ALTITUDE_M in the[ALTIMETER] section.

3. Set the ZERO_LEVEL_M value in the [ALTIMETER] section according to the realposition of the altimeter.

4. Make sure the only used payloads are true in the [PAYLOADS] section. Everypayload should be properly configured (see Payloads Setup).

5. Erase old log files if they are not more needed (see Log Files Management below fordetails).

6. Connect both the PC and the mobile device to the same Wi-Fi network.

7. Switch on the drone and the remote controller. Make sure the flight mode switch is inP-mode. Run UgCS, UgCS for DJI, and make sure the drone has a good status inUgCS.

Grasshopper Mode (beta) SkyHub User Manual


8. Run UgCS-CPM, wait for all indicators become green, and press the Start button.

9. Check the Altimeter widget for it displays the altimeter data. Note that there is no datafrom the radar altimeter until the drone is moving. Gently shake the drone by handuntil the altitude starts to change. Note the altitude limits may be changed in Settings> Altimeter window.

10. Upload the route to the drone using UgCS.

11. Go to the Grasshopper widget, press Read to read current PM settings.

12. Set the Target Altitude and Hover Time. If Hover Time is negative drone will behovered on each descent point, to continue mission you should move the flight modeswitch from P to central position and backward to P-mode.

13. Press the Configure button. Wait for the Grasshopper ENABLED message.

14. Run the Auto Mode from UgCS-Client to activate the Grasshopper algorithm.

15. If emergency situation occurs, you may interrupt the flight by moving the flight modeswitch to A-Mode or press button Return To Home. The mission can’t be resumedafter emergency interruption, you should reload the route (see step 10).

16. If the drone descends below the minimum allowed altitude or ascends above themaximum allowed altitude (see step 2), it stops and the route pauses. You maymanually correct drone position. The flight can be resumed by moving the flight modeswitch to A-mode then to P-mode.

17. After the mission has been completed the drone stops at the last waypoint.

18. Return the drone to the desired landing position, and land. If the flight has been endedover the desired landing point, press the Land button in UgCS.

19. Download log files (see Log Files Management).

About Log FilesLogs are stored in the skyhub_logs folder on the microSD card.

There are two types of obligatory log files:

• Position log: *-position.csv• System log: *-system.log

Position logs (-position.csv suffix) contain drone position data (GPS coordinates,attitude, altitude, etc.) followed with the payload’s specific parameters, if any.

System logs (-system.log extension) is a journal of various system events. Please keep itwhile contacting our support team.

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

About Log Files SkyHub User Manual


• Echosounder data log in NMEA format: *-nmea.txt• Gas detector data log in NMEA format: *-pergam.txt

GPR data logs (-gpr.sgy suffix) contain radar trace data in SEG-Y format. These files can beanalyzed in PC applications such as Prism2 or similar software capable to read and processGPR data in SEG-Y format.

Echosounder data logs in SEG-Y format (-echo.sgy suffix) contain sounding trace data.These file can also be analyzed in the SEG-Y data processing software.

Echosounder data logs in NMEA 0183 format (-nmea.txt suffix) contain bathymetric data.These files can be processed in any software capable of handling data in NMEA 0183 format(e.g. ReefMaster).

Gas detector data logs in mixed NMEA 0183 + raw messages format (-pergam.txt suffix)contain measured concentration data. These files can be processed in Pergam’s proprietarysoftware.

The filename contains the sequential numbers (000001, 000002, etc.) before the timesynchronization and date/time (in YEAR-MONTH-DAY-HOUR-MIN-SEC format) after thesynchronization with the GPS. The time is UTC.

Logging (except system log) is started only by command from UgCS-CPM (using theRecord/Stop button) or automatically after taking off. The system log begins after onboardsoftware is started.

The logs with the same file names have been created simultaneously. When the filename is tobe changed (e.g. after the time synchronization) a new set of logs is created.

The logs can be automatically divided by file size, time, trace count (GPR or echosounderonly), and waypoints. This option is turned off by default. To enable it, set correspondingparameters to values greater than zero in the [APP] section. More than one parameter can beset simultaneously, in this case splitting will be fulfilled when the first of selected conditionsoccurs:

[APP]LOG_SPLIT_SIZE_MB=0 ; megabytesLOG_SPLIT_TIME_S=0 ; secondsLOG_SPLIT_TRACES=0LOG_SPLIT_WAYPOINTS=0 ; 0 or 1

When LOG_SPLIT_WAYPOINTS is set to 1 or another value greater than zero, each log file willcontain one flight line with two waypoints.

There are two ways to download log files:

• Using UgCS-CPM (see Log Files Management)• With any web browser via HTTP protocol

About Log Files SkyHub User Manual


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.

Log Files Management

1. Connect the PC to the SkyHub using Wi-Fi (see Connect to SkyHub Using Wi-Fi) or bywire (see Connect to SkyHub Using Ethernet).

2. Go to Settings > SkyHub and make sure the IP-address corresponds to the connectionway.

3. Open UgCS-CPM and go to Tools > Manage Logs.

4. Press the Browse button to choose the destination folder for log files.

5. Use the date and file extension filters to choose log files to be downloaded.

6. You can write custom extension if needed in the corresponding textbox.

7. Press the Download button and wait for downloading has been finished.

8. After the log files are not more needed you may delete them all using the Erase Allbutton.

9. If you need to delete only certain files you may set the date and file extension filtersthen press the Erase button.

10. You also have 2 options for downloading and deleting depending on logs creationdate: All dates and Today.

11. Note, if you choose Today, UgCS-CPM will work not only with today’s logs but withyesterday’s and tomorrow’s. The reason is the possible difference between local dateand the UTC one used in log file names.

Log Files Management SkyHub User Manual


http://10.1.0.1http://192.168.0.33

Figure 11.4 — UgCS-CPM. Manage logs window

SEG-Y Postprocessing ToolThe SkyHub writes *.sgy files with GPS coordinates received from drone. If it’s nessessaryto have more precise coordinates of drone you can use optional external PPK device (e.g.Emlid R2). The UgCS-CPM SEG-Y Postprocessing Tool can replace GPS coordinates in *.sgyfiles with PPK using the *-position.csv log file and *.pos PPK log. GPS coordinatesreplacement is fulfilled by linear interpolation.

1. Get all required log files to your desktop with installed UgCS-CPM: SEG-Y log (*.sgy),Position log (*-position.csv) and PPK log from PPK device (*.pos). See LogFiles Management to find instructions how to download logs from SkyHub device.

2. Open UgCS-CPM and go to Tools > SEG-Y Postprocessing.

3. Press the Browse buttons to choose the required log files.

SEG-Y Postprocessing Tool SkyHub User Manual


Figure 11.5 — UgCS-CPM SEG-Y Postprocessing Tool

4. Press the Start button. After few seconds UgCS-CPM will create a new *-ppk.sgyfile near with original SEG-Y file.

5. Open created file by compatible software.

SEG-Y Postprocessing Tool SkyHub User Manual


Update Firmware


2. Open UgCS-CPM and go to Tools > Manage SkyHub

Figure 11.6 — SkyHub settings window

3. The SkyHub (Aux) indicator is green when there is the connection to the SkyHubdevice via Ethernet or Wi-Fi and red otherwise.

4. The latest SkyHub firmware compatible with the installed UgCS-CPM is located inUgCS-CPM/firmware folder. Also, the latest SkyHub firmware is available here:https://industrial.ugcs.com/dl/s/skyhub-armhf

5. Click the Browse button and choose the firmware archive file then press the Updatebutton.

6. Wait for the progress bar becomes filled and check the firmware version after itappears.

Update Firmware SkyHub User Manual


https://industrial.ugcs.com/dl/s/skyhub-armhf

Figure 11.7 — Updated firmware

Update Firmware SkyHub User Manual


Uninstall FirmwareImportant: This article is intended for advanced users only.


2. Download the latest firmware from our website:https://industrial.ugcs.com/dl/s/skyhub-armhf

3. Upload manually the firmware to MicroSD root (path: /run/media/mmcblk1p1) byFTP/SCP client.

4. Connect to the SkyHub via ssh and move to the MicroSD root.

5. Unpack the firmware package and manually run the script to uninstall the SkyHubfirmware from the device:

$ tar -xvf skyhub-armhf-*.tar.gz$ skyhub-armhf-*/uninstall.sh

If the firmware is uninstalled, the configuration file is also deleted, but log files in the folder/run/media/mmcblk1p1/skyhub_logs/ are kept.

Uninstall Firmware SkyHub User Manual


https://industrial.ugcs.com/dl/s/skyhub-armhf

12 • 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 fileby reboot command or by power cycling.

SkyHub Configuration

Table 12.1 — SkyHub settings

ParameterDefaultValue

Description

[ALGORITHMS]

GRASSHOPPER true Using the Grasshopper algorithm.Set to false if not used.

TERRAIN_FOLLOWING trueUsing the True Terrain Followingalgorithm.Set to false if not used.

[APP]

DISABLE_WIFI_IN_AIR falseDisable Wi-Fi when the drone is in air.Set to true for Wi-Fi stops workingafter takeoff.

LOG_SPLIT_SIZE_MB 0 Log splitting by file size, MB

LOG_SPLIT_TIME_S 0 Period of log splitting, s

LOG_SPLIT_TRACES 0Log splitting by trace number(applicable to GPR and echosounderonly)

LOG_SPLIT_WAYPOINTS 0Log splitting by waypoint count. Whenset to 1, each log will contain one linewith two waypoints.

MIN_FREE_SPACE_MB 300 Minimum allowable free space on themicroSD card, MB

PAYLOAD_START_DELAY_S 5 Start payload plugins delay, s

12 • Configuration Parameters SkyHub User Manual


https://en.wikipedia.org/wiki/INI_file


Description

POSITION_LOG_PERIOD_MS 100 Period of writing to position log, ms

STATUS_PERIOD_MS 500 Period of payload status sending toground, ms

TELEMETRY_PERIOD_MS 200 Telemetry data refresh period, ms

[AUTOPILOTS]

DJI false Using the DJI autopilot.Set to true if DJI drone is used.

MAVPILOT falseUsing the MAVLink-based autopilot.Set to true if ArduPilot-driven drone isused.

[PAYLOADS]

ATTOLLO_WASP falseUsing the Attollo WASP-200 laseraltimeter.Set to true if used.

ECHOLOGGER_ECT falseUsing the Echologger ECT400echosounder.Set to true if used.

LIGHTWARE_SF falseUsing the Lightware SF11/C laseraltimeter.Set to true if used.

NANORADAR_NRA falseUsing the Nanoradar NRA24 radaraltimeter.Set to true if used.

PERGAM_FALCON false Using the Pergam Falcon gas detector.Set to true if used.

PERGAM_LMM false Using the Pergam LMM gas detector.Set to true if used.

RADARTEAM_COBRA falseUsing the Radarteam Cobra lowfrequency GPR.Set to true if used.

RADSYS_ZOND falseUsing the RadSys Zond-12e highfrequency GPR.Set to true if used.



Table 12.2 — SkyHub advanced settings


Description

[APP]

VERBOSE false Log the debug info to the system log(used for debugging only)



Autopilot ConfigurationDJI Autopilot Configuration

Table 12.3 — DJI autopilot settings


Description

[DJI]

APP_ID 1071019 DJI App ID

APP_KEY 42873…30b25 DJI App Key

BAUD_RATE 230400 UART baud rate, bps

RESPONSE_TIMEOUT_S 1 DJI response timeout, s

SENDING_PERIOD_MS 20 Period of data sending to ground, ms

SERIAL_DEVICE /dev/ttymxc3 UART serial device

ArduPilot Configuration

Table 12.4 — ArduPilot connection settings


Description

[MAV]


COMPONENT_ID 5 MAVLink component Id of SkyHub

SENDING_PERIOD_MS 20Delay between sends of sensor datafrom internal queue to the groundstation.

SERIAL_DEVICE /dev/ttymxc3 UART serial device

SYSTEM_ID 2 MAVLink system Id of SkyHub

V2_EXTENSION falseUsing MAVLink V2_EXTENSIONmessages.Set to true to enable it.

Autopilot Configuration SkyHub User Manual


Flight Control Mode ConfigurationTrue Terrain Following Configuration

Table 12.5 — TTF settings


Description

[TF]

ACCEL_XY 0.5 Horizontal acceleration, m/s²

ACCEPTANCE_RADIUS_M 1Radius of waypoint neighborhood inwhich it is considered the vehiclereached the waypoint, m

ALTITUDE_SOURCE ALTIMETER

• ALTIMETER: Use externalaltimeter as altitude source

• AUTOPILOT: Use autopiot asaltitude source

ALT_ACCEL 0.5 Vertical acceleration, m/s²

ALT_P 1 Proportional term of the PID altitudecontroller, m/s²

CLIMB_RATE 1 Climb rate, m/s

DESCENT_RATE 1 Descent rate, m/s

FAIL_SAFE_ALTITUDE_M 20 Fail safe altitude, m

FLIGHT_SPEED_MPS 1

Fligh speed, m/s. Maximum allowedvalue is 3.5 m/s when whenVELOCITY_CONTROL is set to false andequals 20 m/s whenVELOCITY_CONTROL is set to true

POS_P 0.5

Proportional term of the PID positioncontroller, m/s². The higher value, thefaster the vehicle approaches to thewaypoint. Recommended range is from0.4 to 0.7

TARGET_ALTITUDE_M 3 Target flight altitude, m

Flight Control Mode Configuration SkyHub User Manual



Description

TURN_TYPE SPLINE

• SPLINE: Spline turn mode• STRAIGHT: Straight turn mode• STOP_AND_TURN: Turn mode

with stop

VELOCITY_CONTROL false

• false: Flight is controlled byposition (TTF v1.0)

• true: Flight is controlled byvelocities (TTF v2.0)

Grasshopper Mode Configuration (beta)

Table 12.6 — GH settings


Description

[GH]

ALTITUDE_SOURCE ALTIMETER

• ALTIMETER: Use externalaltimeter as altitude source

• AUTOPILOT: Use autopilot asaltitude source

HOVER_TIME_S 3

Drone hover time at the measuringpoint, s.Set the negative value (ex. -1) formanual operation mode.

TARGET_ALTITUDE_M 2 Target descending altitude, m

VERTICAL_SPEED_MPS 1Vertical speed, m/s.Doesn’t set in current version. Defaultvalue is used only.

Flight Control Mode Configuration SkyHub User Manual


Altimeter Configuration

Table 12.7 — Common altimeter settings


Description

[ALTIMETER]

IGNORE_ERRORS 0 Maximum number of ignoring failsreceived in a row

MAX_ALTITUDE_M 20 Max altitude value, m

MIN_ALTITUDE_M 0.5 Min altitude value, m

ZERO_LEVEL_M 0 Altimeter position above ground level

LP_FILTER_LENGTH 0

(experimental option) Low-pass filterlength. Filter disabled by default (i.e.length equals 0). Available options are:0, 8, 12, 16, 20, 24, 28, 32

Altimeter Configuration SkyHub User Manual


Nanoradar NRA24 Altimeter Configuration

Table 12.8 — Nanoradar NRA24 altimeter settings


Description

[NANORADAR_NRA]

AVERAGING 2 Averaging factor. The more is thesmoother but rarer.


SERIAL_DEVICE /dev/ttymxc5UART serial device:

• /dev/ttymxc5 for UART1 (5-pin)• /dev/ttymxc1 for UART2 (4-pin)

Attollo WASP-200 Altimeter Configuration

Table 12.9 — Attollo WASP-200 altimeter settings


Description

[ATTOLLO_WASP]

AVERAGING 8 Averaging factor. The more is thesmoother but rarer.


FREQUENCY_HZ 7 Measuring frequency, Hz





Lightware SF11/C Altimeter Configuration

Table 12.10 — Lightware SF11/C altimeter settings


Description

[LIGHTWARE_SF]

CONNECTION_TYPE I2CConnection type:

• I2C for I²C connection• UART for serial connection

I2C_DEVICE_ADDRESS 0x66 I²C device address in hexadecimalnotation

UART_BAUD_RATE 115200 UART baud rate, bps





GPR ConfigurationLow Frequency GPR Configuration

Table 12.11 — Low Frequency GPR settings


Description

[RADARTEAM_COBRA]

BLUETOOTH_NAME RT[0-9]+ Bluetooth name of GPR device. May bea regular expression.

MODEL SE-150 GPR model. Added to the SEG-Y logheader.

TELEMETRY_PERIOD_MS 2000 Telemetry data refresh rate, ms

TIME_RANGE_NS 800Trace time range, ns:

• 800 for newer devices• 1600 for older devices

High Frequency GPR Configuration

Table 12.12 — High Frequency GPR settings


Description

[RADSYS_ZOND]

FILTER_1 OFF

High pass filter for the first channel:• OFF: High pass filter is off• WEAK: Weak high pass filter• STRONG: Strong high pass filter• SUPER_STRONG: Super strong

high pass filterThis parameter is also applicable insingle-channel mode.

FILTER_2 OFF High pass filter for the second channel.See FILTER_1 values.

IP_ADDRESS 192.168.0.10 IP-address of the GPR

GPR Configuration SkyHub User Manual



Description

MODE CHANNEL_1

GPR channel mode:• CHANNEL_1: Single-channel, the

first channel is active• CHANNEL_2: Single-channel, the

second channel is active• TWO_CHANNELS: Dual-channel,

both channels are active• TX1_RX2: The first channel

transmitter to the second channelreceiver

• TX2_RX1: The second channeltransmitter to the first channelreceiver

• CIRCLE: Circle mode

OFFSET_FORWARD_M_1 0 Offset of the first antenna alongside theheading line, m

OFFSET_FORWARD_M_2 0 Offset of the second antenna alongsidethe heading line, m

OFFSET_RIGHT_M_1 0 Offset of the first antenna alongside thetraverse line, m

OFFSET_RIGHT_M_2 0 Offset of the second antenna alongsidethe traverse line, m

PORT 23 TCP-port of the GPR

PULSE_DELAY_1 0

Pulse delay for the first channel. Shouldbe set up during the calibration.From 0 to 1023.This parameter is also applicable insingle-channel mode.

PULSE_DELAY_2 0 Pulse delay for the second channel.See PULSE_DELAY_1 values.

RAW_LOG false Log the raw data from echosounder(used for debugging only)




Description

SOUNDING_MODE SOUNDING

Possible values are:• SOUNDING: Normal operation

mode• CALIBRATION: Sine wave with

frequency 20 MHz• TEST: Sine wave with constant

period for any settings

SAMPLE_COUNT 256 Sample count per trace:128, 256, 512, 1024

TELEMETRY_PERIOD_MS 2000 Telemetry data refresh rate, ms

TIME_RANGE_NS_1 300

Trace time range for the first channel,ns:12, 25, 50, 100, 200, 300, 500, 800,1200, 2000.This parameter is also applicable insingle-channel mode.

TIME_RANGE_NS_2 300Trace time range for the secondchannel, ns.See TIME_RANGE_1 values.



Echosounder Configuration

Table 12.13 — Common echosounder settings


Description

[ECHOSOUNDER]

CABLE_LENGTH_M 0 Echosounder cable length, m

MAX_DEPTH_M 20 Max depth value, m

MIN_DEPTH_M 0.5 Min depth value, m

Echologger ECT400 Configuration

Table 12.14 — Echologger ECT400 settings


Description

[ECHOLOGGER_ECT]

ALT_THRESHOLD_PCT 10 Altimeter threshold in percents of a fullscale


DEADZONE_MM 300 Near field zone where detection isignored, mm


GAIN_DB 0 Amplifying gain, dB

MODE NMEA

• NMEA: Ouptut data in NMEAformat only

• ECHOSOUNDER: Output data inNMEA and SEG-Y formats

RANGE_M 8 Measuring range, m

RAW_LOG false Log the raw data from echosounder(used for debugging only)

Echosounder Configuration SkyHub User Manual



Description

SERIAL_DEVICE /dev/ttymxc1 Serial device name. Use UART2 (4-pin)only.

START_DELAY_S 45 Start delay, s

TXLENGTH_US 50

Transmitted pulse length, microsecond.The value is automatically increased ifit is less than the required value.

MAX_SENSOR_ANGLE_DEG 10Data filtering by tilt. The data are notrecorded if the sensor tilt value isgreater than the specified value, degree.

MIN_SENSOR_DEPTH_M 0.1

Data filtering by sensor dept in thewater.Sensor depth is calculated as adifference between the length of thecable (set by CABLE_LENGTH_Mparameter in the ECHOSOUNDERsection) and current altitude.The data are not recorded if the sensordepth is lower than specified value, m.

Echosounder Configuration SkyHub User Manual


Gas Detector Configuration

Table 12.15 — Common gas detector settings


Description

[GAS_DETECTOR]

MAX_CONCENTRATION_PPM 1000 Max gas concentration, PPM

MIN_CONCENTRATION_PPM 0 Min gas concentration, PPM

ZERO_LEVEL_PPM 0 Background gas concentration value tobe subtracted, PPM

Pergam Falcon Configuration

Table 12.16 — Pergam Falcon settings


Description

[PERGAM_FALCON]


SERIAL_DEVICE /dev/ttyUSB0 UART serial device. The built-in PergamFalcon UART adapter is used.

Pergam LMm Configuration

Table 12.17 — Pergam LMm settings


Description

[PERGAM_LMM]




Gas Detector Configuration SkyHub User Manual


Metal Detector Configuration

Table 12.18 — Common metal detector settings


Description

[METAL_DETECTOR]

MAX_OUTPUT_VALUE_MV 1000 Max output metal detector value, mV

MIN_OUTPUT_VALUE_MV 0 Min output metal detector value, mV

Geonics EM-61 Configuration

Table 12.19 — Geonics EM-61 setting

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